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Wiki source code of 10 Malfunctions

Version 6.1 by Stone Wu on 2022/06/11 14:20
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1 = **Faults and warnings handling at startup** =
2
3 == **Position control mode** ==
4
5 |(% style="text-align:center; vertical-align:middle" %)**Boot process**|(% style="text-align:center; vertical-align:middle; width:213px" %)**Fault phenomenon**|(% style="text-align:center; vertical-align:middle; width:163px" %)**Reason**|(% style="text-align:center; vertical-align:middle" %)**Confirmation method**
6 |(% rowspan="5" style="vertical-align:middle" %)(((
7 Power supply
8
9 (L1, L2, L3)
10
11 Turn on control supply (L1C, L2C)
12 )))|(% rowspan="3" style="vertical-align:middle; width:213px" %)(((
13 1. Digital tube does not light up
14 1. Voltage indicator does not light up
15 )))|(% style="vertical-align:middle; width:163px" %)Control terminal is disconnected|(% style="vertical-align:middle" %)(((
16 ✎Rewiring
17
18 ✎L1C and L2C power lines are led separately from the socket
19 )))
20 |(% style="vertical-align:middle; width:163px" %)Control the supply voltage failure|(% style="vertical-align:middle" %)Measures the AC voltage between L1C &L2C.
21 |(% style="vertical-align:middle; width:163px" %)Servo drive fault|(% style="vertical-align:middle" %)Contact the agent or customer service
22 |(% style="vertical-align:middle; width:213px" %)Panel display “Er.xx”|(% colspan="2" style="vertical-align:middle; width:1118px" %)Refer to [[10.2 Handling of faults and warnings during operation>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/10%20Malfunctions/#HFaultsandwarningshandlingduringoperation]]
23 |(% colspan="3" style="vertical-align:middle" %)After removing the fault, the servo drive panel should display "rdy"
24 |(% rowspan="4" style="vertical-align:middle" %)Servo drive enable signal is valid(S-ON is ON)|(% rowspan="2" style="vertical-align:middle; width:213px" %)The axis of servo motor is in a free running state|(% style="vertical-align:middle; width:163px" %)Servo enable signal is invalid|(% style="vertical-align:middle" %)(((
25 ✎Check whether group P06 is set the servo enable signal (DI function 1: S-ON). If it is, check whether the corresponding DI terminal logic is valid. If it is invalid,please make it valid. Refer to __[[Group P06 DI/DO configuration>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/11%20Appendix/#HGroupP06DIDOconfiguration]]__
26
27 ✎If group P06 parameters have set the servo enable signal, and the corresponding terminal logic is valid, but the panel still displays "rdy", check whether the DI terminal wiring is correct, please refer to__[[ 4 Wiring>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/04%20Wiring/]]__
28 )))
29 |(% style="vertical-align:middle; width:163px" %)Control mode error|(% style="vertical-align:middle" %)Check whether the parameter P00-01 is set correctly
30 |(% style="vertical-align:middle; width:213px" %)Panel display Er.xx|(% colspan="2" style="vertical-align:middle; width:1118px" %)Refer to [[10.2 Handling of faults and warnings during operation>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/10%20Malfunctions/#HFaultsandwarningshandlingduringoperation]]
31 |(% colspan="3" style="vertical-align:middle" %)After troubleshooting, the servo drive panel should display "run"
32 |(% rowspan="2" style="vertical-align:middle" %)Input position instruction|(% style="vertical-align:middle; width:213px" %)The motor does not rotate|(% style="vertical-align:middle; width:163px" %)U0-09 (input instruction pulse number) always displays 0|(% style="vertical-align:middle" %)✎Not input position instruction(((
33 1. Confirm whether DI terminal uses forward drive prohibited (DI function 3: POT) or reverse drive prohibited (DI function 4: NOT).
34 1. Confirm whether DI terminal uses instruction pulse input prohibited (DI function 11: INH)
35 1. When P01-06=0(position instruction source), PLC or other pulse output device do not output pulse. Please use oscilloscope to check whether there is pulse input or check U0-08 (input instruction pulse frequency). Refer to __4 Wiring__
36 1. When P01-06=1(position instruction source), please check whether the parameters of group P07 are set correctly. If yes, please confirm whether the DI function 20 (internal multi-segment position enable signal) and the corresponding DI terminal logic are set to be valid. Refer to __[[Group P07 multi-segment position>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/11%20Appendix/#HGroupP07multi-segmentposition]]__
37 )))
38 |(% colspan="3" style="vertical-align:middle" %)After troubleshooting, the servo motor should be able to rotate normally
39 |(% rowspan="3" style="vertical-align:middle" %)The motor does not rotate smoothly at low speed|(% style="vertical-align:middle; width:213px" %)Unstable low speed|(% style="vertical-align:middle; width:163px" %)Unreasonable gain setting|(% style="vertical-align:middle" %)Please adjust the gain.
40 |(% style="vertical-align:middle; width:213px" %)The motor shaft vibrates left and right|(% style="vertical-align:middle; width:163px" %)Load inertia ratio is too large|(% style="vertical-align:middle" %)After the inertia recognition is complete, performs gain adjustment.
41 |(% colspan="3" style="vertical-align:middle" %)After troubleshooting, the servo motor should be able to rotate normally
42 |(% style="vertical-align:middle" %)Normal operation|(% style="vertical-align:middle; width:213px" %)Inaccurate positioning|(% style="vertical-align:middle; width:163px" %)There is a position deviation that does not meet production requirements|(% style="vertical-align:middle" %)(((
43 ✎Confirm** **the U0-09 value (input instruction pulse number) is consistent with the actual one sent by the host computer. If not, please check confirm whether the motor is blocked.
44
45 ✎Confirm whether the device is vibrating. If yes, adjust the gain.
46
47 ✎Confirm whether the coupling at the motor shaft is locked.
48 )))
49
50 == **Speed control mode** ==
51
52 |(% style="text-align:center; vertical-align:middle" %)**Boot process**|(% style="text-align:center; vertical-align:middle" %)**Fault phenomenon**|(% style="text-align:center; vertical-align:middle" %)**Reason**|(% style="text-align:center; vertical-align:middle" %)**Confirmation method**
53 |(% rowspan="5" style="vertical-align:middle" %)(((
54 Power supply
55
56 (L1, L2, L3)
57
58 Turn on control supply (L1C, L2C)
59 )))|(% rowspan="3" style="vertical-align:middle" %)(((
60 1. Digital tube does not light up
61 1. Voltage indicator does not light up
62 )))|Control terminal is disconnected|(((
63 ✎Rewiring
64
65 ✎L1C and L2C power lines are led separately from the socket
66 )))
67 |Control the supply voltage failure|Measures the AC voltage between L1C &L2C.
68 |Servo drive fault|Contact the agent or customer service
69 |(% style="vertical-align:middle" %)Panel display “Er.xx”|(% colspan="2" %)Refer to [[10.2 Handling of faults and warnings during operation>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/10%20Malfunctions/#HFaultsandwarningshandlingduringoperation]]
70 |(% colspan="3" style="vertical-align:middle" %)After removing the fault, the servo drive panel should display "rdy"
71 |(% rowspan="4" style="vertical-align:middle" %)Servo drive enable signal is valid(S-ON is ON)|(% rowspan="2" style="vertical-align:middle" %)The axis of servo motor is in a free running state|Servo enable signal is invalid|(((
72 ✎Check whether group P06 is set the servo enable signal (DI function 1: S-ON). If it is, check whether the corresponding DI terminal logic is valid. If it is invalid,please make it valid. Refer to __[[Group P06 DI/DO configuration>>url:http://docs.we-con.com.cn/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/#_Group%20P06%20DI/DO%20configuration]]__
73
74 ✎If group P06 parameters have set the servo enable signal, and the corresponding terminal logic is valid, but the panel still displays "rdy", check whether the DI terminal wiring is correct, please refer to__[[ 4 Wiring>>url:http://docs.we-con.com.cn/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/#_Wiring]]__
75 )))
76 |Control mode error|Check whether the parameter P00-01 is set correctly
77 |(% style="vertical-align:middle" %)Panel display Er.xx|(% colspan="2" %)Refer to [[10.2 Handling of faults and warnings during operation>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/10%20Malfunctions/#HFaultsandwarningshandlingduringoperation]]
78 |(% colspan="3" style="vertical-align:middle" %)After troubleshooting, the servo drive panel should display "run"
79 |(% rowspan="2" style="vertical-align:middle" %)Input torque instruction|(% style="vertical-align:middle" %)The motor does not rotate|U0-03 (input instruction pulse number) always displays 0|(((
80 ✎AI wiring error
81
82 When selecting analog input signal, make sure that the connection of analog input terminal is correct. Refer to__[[ 4 Wiring>>url:http://docs.we-con.com.cn/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/#_Wiring]]__.
83
84 ✎Not input speed instruction or speed instruction abnormal
85
86 1. When selecting analog input signal, please confirm the AI parameters of group P05 is set correct, and then check the analog input voltage signal. It could be observed by oscilloscope or read by monitoring U0-21 and U0-22.
87 1. When the internal speed instruction is given, please confirm P01-02 (internal speed instruction )is 0.
88 1. When using multi-segment speed function, please confirm the internal speed instruction parameters 0 to 7 of group P01 are right.
89 1. Please confirm whether the ZERO-speed clamp function is used for the DI terminal. (DI function 5: ZCLAMP)
90 )))
91 |(% colspan="3" style="vertical-align:middle" %)After troubleshooting, the servo motor should be able to rotate normally
92 |(% rowspan="3" style="vertical-align:middle" %)The motor does not rotate smoothly at low speed|(% style="vertical-align:middle" %)Unstable low speed|Unreasonable gain setting|Please adjust the gain.
93 |(% style="vertical-align:middle" %)The motor shaft vibrates left and right|Load inertia ratio is too large|After the inertia recognition is complete, performs gain adjustment.
94 |(% colspan="3" style="vertical-align:middle" %)After troubleshooting, the servo motor should be able to rotate normally
95
96 ✎**Note: **VD2F does not support monitoring u0-21 and U0-22.
97
98 == **Torque control mode** ==
99
100 |(% style="text-align:center; vertical-align:middle" %)**Boot process**|(% style="text-align:center; vertical-align:middle" %)**Fault phenomenon**|(% style="text-align:center; vertical-align:middle" %)**Reason**|(% style="text-align:center; vertical-align:middle" %)**Confirmation method**
101 |(% rowspan="5" style="vertical-align:middle" %)(((
102 Power supply
103
104 (L1, L2, L3)
105
106 Turn on control supply (L1C, L2C)
107 )))|(% rowspan="3" style="vertical-align:middle" %)(((
108 1. Digital tube does not light up
109 1. Voltage indicator does not light up
110 )))|(% style="vertical-align:middle" %)Control terminal is disconnected|(% style="vertical-align:middle" %)(((
111 ✎Rewiring
112
113 ✎L1C and L2C power lines are led separately from the socket
114 )))
115 |(% style="vertical-align:middle" %)Control the supply voltage failure|(% style="vertical-align:middle" %)Measures the AC voltage between L1C &L2C.
116 |(% style="vertical-align:middle" %)Servo drive fault|(% style="vertical-align:middle" %)Contact the agent or customer service
117 |(% style="vertical-align:middle" %)Panel display “Er.xx”|(% colspan="2" style="vertical-align:middle" %)Refer to [[10.2 Handling of faults and warnings during operation>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/10%20Malfunctions/#HFaultsandwarningshandlingduringoperation]]
118 |(% colspan="3" style="vertical-align:middle" %)After removing the fault, the servo drive panel should display "rdy"
119 |(% rowspan="4" style="vertical-align:middle" %)Servo drive enable signal is valid(S-ON is ON)|(% rowspan="2" style="vertical-align:middle" %)The axis of servo motor is in a free running state|(% style="vertical-align:middle" %)Servo enable signal is invalid|(% style="vertical-align:middle" %)(((
120 ✎Check whether group P06 is set the servo enable signal (DI function 1: S-ON). If it is, check whether the corresponding DI terminal logic is valid. If it is invalid,please make it valid. Refer to __[[Group P06 DI/DO configuration>>url:http://docs.we-con.com.cn/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/#_Group%20P06%20DI/DO%20configuration]]__
121
122 ✎If group P06 parameters have set the servo enable signal, and the corresponding terminal logic is valid, but the panel still displays "rdy", check whether the DI terminal wiring is correct, please refer to__[[ 4 Wiring>>url:http://docs.we-con.com.cn/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/#_Wiring]]__
123 )))
124 |(% style="vertical-align:middle" %)Control mode error|(% style="vertical-align:middle" %)Check whether the parameter P00-01 is set correctly
125 |(% style="vertical-align:middle" %)Panel display Er.xx|(% colspan="2" style="vertical-align:middle" %)Refer to [[10.2 Handling of faults and warnings during operation>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/10%20Malfunctions/#HFaultsandwarningshandlingduringoperation]]
126 |(% colspan="3" style="vertical-align:middle" %)After troubleshooting, the servo drive panel should display "run"
127 |(% rowspan="2" style="vertical-align:middle" %)Input speed instruction|(% style="vertical-align:middle" %)The motor does not rotate|(% style="vertical-align:middle" %)U0-03 (input instruction pulse number) always displays 0|(% style="vertical-align:middle" %)(((
128 ✎AI wiring error
129
130 When selecting analog input signal, make sure that the connection of analog input terminal is correct. Refer to__[[ 4 Wiring>>url:http://docs.we-con.com.cn/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/#_Wiring]]__.
131
132 ✎Not input torque instruction
133
134 1. When selecting analog input signal, please confirm the AI parameters of group P05 is set correct, and then check the analog input voltage signal. It could be observed by oscilloscope or read by monitoring U0-21 and U0-22.
135 1. When the internal speed instruction is given, please confirm P01-08 (torque instruction keyboard set value) is 0.
136 )))
137 |(% colspan="3" style="vertical-align:middle" %)After troubleshooting, the servo motor should be able to rotate normally
138 |(% rowspan="3" style="vertical-align:middle" %)The motor does not rotate smoothly at low speed|(% style="vertical-align:middle" %)Unstable low speed|(% style="vertical-align:middle" %)Unreasonable gain setting|(% style="vertical-align:middle" %)Please adjust the gain.
139 |(% style="vertical-align:middle" %)The motor shaft vibrates left and right|(% style="vertical-align:middle" %)Load inertia ratio is too large|(% style="vertical-align:middle" %)After the inertia recognition is complete, performs gain adjustment.
140 |(% colspan="3" %)After troubleshooting, the servo motor should be able to rotate normally
141
142 ✎**Note: **VD2F does not support monitoring u0-21 and U0-22.
143
144 = **Faults and warnings handling during operation ** =
145
146 = **Overview** =
147
148 The faults and warnings of Wecon VD2 series servo drives are graded according to their severity, which can be divided into four grades: Category 1, Category 2, Category 3, Category 4. Severity level: Category 1> Category 2> Category 3 > Category 4, the specific classifications are as follows:
149
150 Category 1: faults cannot be cleared;
151
152 Category 2: faults are clearable;
153
154 Category 3: faults are clearable;
155
156 Category 4: warnings are clearable.
157
158 Among them, "clearable" means that the panel stops the fault display state by giving a "clear signal". The specific operations are as follows:
159
160 1. Set the function code P10-03=1 (fault clearing) or use DI function 02 (02-A-CLR, fault and warning clearing) and set it to logic valid, which can stop the fault display on the panel.
161 1. The clearing method of category 2 and category 3 clearable faults: first turn off the servo enable signal (set S-ON to OFF), then set P10-03=1 or use DI function 02.
162 1. The clearing method of category 4 of clearable warnings: set P10-03=1 or use DI function 02.
163
164 |(% style="text-align:center; vertical-align:middle" %)(((
165 (% style="text-align:center" %)
166 [[image:ksjakfjk.png]]
167 )))
168 |For some faults and warnings, you must change the settings to eliminate the causes before they can be cleared, but clearing does not mean that the changes take effect. For the changes that need to be re-powered to take effect, the power must be re-powered. For the changes that need to be stopped to take effect, the servo enable must be turned off. After the change takes effect, the servo drive can operate normally.
169
170 Associated function codes
171
172 |(% style="text-align:center; vertical-align:middle; width:131px" %)**Function Code**|(% style="text-align:center; vertical-align:middle; width:160px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:172px" %)(((
173 **Setting method**
174 )))|(% style="text-align:center; vertical-align:middle; width:181px" %)(((
175 **Effective time**
176 )))|(% style="text-align:center; vertical-align:middle; width:138px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:96px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:552px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
177 |(% style="text-align:center; vertical-align:middle; width:131px" %)P10-03|(% style="text-align:center; vertical-align:middle; width:160px" %)Fault clearing|(% style="text-align:center; vertical-align:middle; width:172px" %)(((
178 Operation setting
179 )))|(% style="text-align:center; vertical-align:middle; width:181px" %)(((
180 immediately Effective
181 )))|(% style="text-align:center; vertical-align:middle; width:138px" %)0|(% style="text-align:center; vertical-align:middle; width:96px" %)0 to 1|(% style="width:552px" %)(((
182 0: No operation
183
184 1: For clearable faults, after the cause of fault is removed, and write 1 to the function code, the drive will stop the fault display and enter the Rdy (or RUN) state again.
185
186 ✎**Note:** If the servo S-ON is valid, when the fault is removed and cleared, the servo will directly enter the Run state. When performing fault clearing actions, be sure to stop sending control instructions such as pulses to ensure personal safety.
187 )))|(% style="text-align:center; vertical-align:middle" %)-
188
189 Associated function number:
190
191 |(% style="text-align:center; vertical-align:middle" %)**Code**|(% style="text-align:center; vertical-align:middle" %)**Name**|(% style="text-align:center; vertical-align:middle; width:444px" %)**Function name**|(% style="text-align:center; vertical-align:middle; width:779px" %)**Function**
192 |(% style="text-align:center; vertical-align:middle" %)2|(% style="text-align:center; vertical-align:middle" %)A-CLR|(% style="text-align:center; vertical-align:middle; width:444px" %)Fault and warning clearing|(% style="width:779px" %)(((
193 DI port logic is invalid, no reset faults and warnings
194
195 DI port logic is valid, reset faults and warnings
196 )))
197
198 VD2 series servo drives have a fault recording function, which could record the last 5 faults and the last 5 warning names and the status parameters of servo drive when the fault or warning occurs. After the fault or warning is cleared, the fault record will still save the fault and warning.
199
200 The current fault code could be viewed through the monitoring parameter U1-01, and the current warning code could be viewed through U1-02. The monitoring U1-16 to U1-25 could display the last 5 fault codes and warning codes. Please refer to __[[Group U1 Warning monitoring>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/11%20Appendix/#HGroupU1Warningmonitoring]]__.
201
202 == **Fault and warning code table** ==
203
204 **(1) The first category (category 1 for short) The fault could not be cleared**
205
206 |(% style="text-align:center; vertical-align:middle; width:96px" %)**Category**|(% style="text-align:center; vertical-align:middle; width:274px" %)**Error name**|(% style="text-align:center; vertical-align:middle; width:377px" %)**Cause of fault**|(% style="text-align:center; vertical-align:middle; width:119px" %)**Fault code**|(% style="text-align:center; vertical-align:middle; width:605px" %)**Troubleshooting**
207 |(% style="text-align:center; vertical-align:middle; width:96px" %)Category 1|(% style="text-align:center; vertical-align:middle; width:274px" %)Parameter destruction|(% style="vertical-align:middle; width:377px" %)EEPROM could not be read and written|(% style="text-align:center; vertical-align:middle; width:119px" %)Er.01|(% style="vertical-align:middle; width:605px" %)The hardware interface could not read and write parameters, please contact the manufacturer to confirm whether the hardware is damaged.
208 |(% style="text-align:center; vertical-align:middle; width:96px" %)Category 1|(% style="text-align:center; vertical-align:middle; width:274px" %)(((
209 Parameter storage error
210 )))|(% style="vertical-align:middle; width:377px" %)(((
211 Exceptions such as the version, total number, range, and validation failure of internal parameter storage.
212
213 Possible reasons are:
214
215 ✎The drive has undergone a software upgrade
216
217 ✎In the process of parameter storage, an instantaneous power failure occurs
218
219 ✎Frequent writing of parameters
220 )))|(% style="text-align:center; vertical-align:middle; width:119px" %)Er.02|(% style="vertical-align:middle; width:605px" %)(((
221 ✎Check whether the program has been updated. If the parameter storage is abnormal due to the updated program, please update the parameters by restoring the factory default parameters and power on again.
222
223 ✎Re-power on and reset the parameters after restoring the factory default settings;
224
225 ✎Confirm whether the host computer writes parameters frequently, and modify the corresponding parameter writing method;
226 )))
227 |(% style="text-align:center; vertical-align:middle; width:96px" %)Category 1|(% style="text-align:center; vertical-align:middle; width:274px" %)ADC reference source faults|(% style="vertical-align:middle; width:377px" %)The internal analog reference source of the drive is not accurate|(% style="text-align:center; vertical-align:middle; width:119px" %)Er.03|(% style="vertical-align:middle; width:605px" %)Please power on again to determine whether the fault is eliminated; if there is still an abnormality, please contact the manufacturer.
228 |(% style="text-align:center; vertical-align:middle; width:96px" %)Category 1|(% style="text-align:center; vertical-align:middle; width:274px" %)AD current sampling conversion error|(% style="vertical-align:middle; width:377px" %)Current sampling zero drift or current sensor error|(% style="text-align:center; vertical-align:middle; width:119px" %)Er.04|(% style="vertical-align:middle; width:605px" %)Please power on again to determine whether the fault is eliminated; if there is still an abnormality, please contact the manufacturer.
229 |(% style="text-align:center; vertical-align:middle; width:96px" %)Category 1|(% style="text-align:center; vertical-align:middle; width:274px" %)FPGA communication abnormal|(% style="vertical-align:middle; width:377px" %)FPGA communication faults|(% style="text-align:center; vertical-align:middle; width:119px" %)Er.05|(% style="vertical-align:middle; width:605px" %)Please power on again to determine whether the fault is eliminated; if there is still an abnormality, please contact the manufacturer.
230 |(% style="text-align:center; vertical-align:middle; width:96px" %)Category 1|(% style="text-align:center; vertical-align:middle; width:274px" %)The FPGA program version is wrong|(% style="vertical-align:middle; width:377px" %)The FPGA program version is wrong|(% style="text-align:center; vertical-align:middle; width:119px" %)Er.06|(% style="vertical-align:middle; width:605px" %)Please power on again to determine whether the fault is eliminated; if there is still an abnormality, please contact the manufacturer.
231 |(% style="text-align:center; vertical-align:middle; width:96px" %)Category 1|(% style="text-align:center; vertical-align:middle; width:274px" %)Clock abnormal|(% style="vertical-align:middle; width:377px" %)The internal clock of the drive is disturbed or abnormal|(% style="text-align:center; vertical-align:middle; width:119px" %)Er.07|(% style="vertical-align:middle; width:605px" %)Please power on again to determine whether the fault is eliminated; if there is still an abnormality, please contact the manufacturer.
232 |(% style="text-align:center; vertical-align:middle; width:96px" %)Category 1|(% style="text-align:center; vertical-align:middle; width:274px" %)(((
233 ADC conversion undone
234 )))|(% style="vertical-align:middle; width:377px" %)ADC conversion is not complete|(% style="text-align:center; vertical-align:middle; width:119px" %)Er.60|(% style="vertical-align:middle; width:605px" %)Please power on again to determine whether the fault is eliminated; if there is still an abnormality, please contact the manufacturer.
235 |(% style="text-align:center; vertical-align:middle; width:96px" %)Category 1|(% style="text-align:center; vertical-align:middle; width:274px" %)(((
236 Internal software Fault
237 )))|(% style="vertical-align:middle; width:377px" %)Torque loop error|(% style="text-align:center; vertical-align:middle; width:119px" %)Er.61|(% style="vertical-align:middle; width:605px" %)Please power on again to determine whether the fault is eliminated; if there is still an abnormality, please contact the manufacturer.
238 |(% style="text-align:center; vertical-align:middle; width:96px" %)Category 1|(% style="text-align:center; vertical-align:middle; width:274px" %)(((
239 Internal software Fault
240 )))|(% style="vertical-align:middle; width:377px" %)Speed loop error|(% style="text-align:center; vertical-align:middle; width:119px" %)Er.62|(% style="vertical-align:middle; width:605px" %)Please power on again to determine whether the fault is eliminated; if there is still an abnormality, please contact the manufacturer.
241 |(% style="text-align:center; vertical-align:middle; width:96px" %)Category 1|(% style="text-align:center; vertical-align:middle; width:274px" %)(((
242 Internal software Fault
243 )))|(% style="vertical-align:middle; width:377px" %)Illegal instruction|(% style="text-align:center; vertical-align:middle; width:119px" %)Er.63|(% style="vertical-align:middle; width:605px" %)Please power on again to determine whether the fault is eliminated; if there is still an abnormality, please contact the manufacturer.
244 |(% style="text-align:center; vertical-align:middle; width:96px" %)Category 1|(% style="text-align:center; vertical-align:middle; width:274px" %)(((
245 Internal software Fault
246 )))|(% style="vertical-align:middle; width:377px" %)Internal RAM parameter destruction|(% style="text-align:center; vertical-align:middle; width:119px" %)Er.64|(% style="vertical-align:middle; width:605px" %)Please power on again to determine whether the fault is eliminated; if there is still an abnormality, please contact the manufacturer.
247 |(% style="text-align:center; vertical-align:middle; width:96px" %)Category 1|(% style="text-align:center; vertical-align:middle; width:274px" %)(((
248 Internal software Fault
249 )))|(% style="vertical-align:middle; width:377px" %)Internal function code parameter destruction|(% style="text-align:center; vertical-align:middle; width:119px" %)Er.65|(% style="vertical-align:middle; width:605px" %)Please power on again to determine whether the fault is eliminated; if there is still an abnormality, please contact the manufacturer.
250 |(% style="text-align:center; vertical-align:middle; width:96px" %)Category 1|(% style="text-align:center; vertical-align:middle; width:274px" %)(((
251 Motor model error
252 )))|(% style="vertical-align:middle; width:377px" %)Incorrect motor model|(% style="text-align:center; vertical-align:middle; width:119px" %)Er.26|(% style="vertical-align:middle; width:605px" %)Check whether the function code motor model setting is correct
253 |(% style="text-align:center; vertical-align:middle; width:96px" %)Category 1|(% style="text-align:center; vertical-align:middle; width:274px" %)Encoder Z pulse lost|(% style="vertical-align:middle; width:377px" %)(((
254 No Z pulse signal appears when the motor rotates more than one turn.
255
256 The possible reasons are:
257
258 ✎Wrong motor model
259
260 ✎The motor encoder is disturbed or damaged;
261 )))|(% style="text-align:center; vertical-align:middle; width:119px" %)Er.28|(% style="vertical-align:middle; width:605px" %)(((
262 ✎Check whether the motor model matches the drive model.
263
264 ✎Replace the motor and power on again.
265 )))
266 |(% style="text-align:center; vertical-align:middle; width:96px" %)Category 1|(% style="text-align:center; vertical-align:middle; width:274px" %)Incremental encoder AB count is not equal to encoder line number*4|(% style="vertical-align:middle; width:377px" %)(((
267 Incremental encoder AB count is not equal to encoder line number*4.
268
269 The possible reasons are:
270
271 ✎The motor model is wrong;
272
273 ✎Hand interference or damage to the motor encoder;
274 )))|(% style="text-align:center; vertical-align:middle; width:119px" %)Er.29|(% style="vertical-align:middle; width:605px" %)(((
275 ✎Check whether the motor model matches the drive model.
276
277 ✎Replace the motor model that matches the drive.
278 )))
279 |(% style="text-align:center; vertical-align:middle; width:96px" %)Category 1|(% style="text-align:center; vertical-align:middle; width:274px" %)Encoder UVW signal error|(% style="vertical-align:middle; width:377px" %)Motor encoder UVW signal error|(% style="text-align:center; vertical-align:middle; width:119px" %)Er.30|(% style="vertical-align:middle; width:605px" %)(((
280 ✎Check whether the motor model matches the drive model
281
282 ✎Replace the motor model that matches the drive.
283
284 ✎Replace encoder line
285 )))
286 |(% style="text-align:center; vertical-align:middle; width:96px" %)Category 1|(% style="text-align:center; vertical-align:middle; width:274px" %)(((
287 Exceeds motor maximum speed
288 )))|(% style="vertical-align:middle; width:377px" %)(((
289 Exceeding the maximum speed threshold of function code P1-10. Possible reasons are:
290
291 ✎Wrong U/V/W phase sequence of motor power line
292
293 ✎Wrong t motor model
294
295 ✎Wrong transfer wiring of motor power line
296
297 ✎Wrong wiring of motor encoder
298 )))|(% style="text-align:center; vertical-align:middle; width:119px" %)Er.32|(% style="vertical-align:middle; width:605px" %)(((
299 ✎Please check whether the motor power line is correctly wired;
300
301 ✎Confirm whether the motor model is correct;
302
303 ✎Use the correct power line and encoder line transfer wiring;
304 )))
305
306 |(% style="text-align:center; vertical-align:middle; width:96px" %)Category 1|(% style="text-align:center; vertical-align:middle; width:273px" %)Overcurrent|(% style="width:379px" %)(((
307 The drive detects that the power device has overcurrent, the possible situations are:
308
309 ✎The motor power lines U, V, W are short-circuited to the ground
310
311 ✎Short circuit between the motor power lines U, V, W
312
313 ✎The motor power lines U, V, W have poor contact
314
315 ✎The internal damage of motor
316
317 ✎The encoder cable is aging and loose
318
319 ✎Excessive fluctuation of control power supply.
320 )))|(% style="text-align:center; vertical-align:middle; width:118px" %)Er.20|(% style="vertical-align:middle; width:605px" %)(((
321 ✎Please check whether the wiring of the motor power line is correct
322
323 ✎Whether the wiring of the motor power line is loose or short-circuited
324
325 ✎Replace the motor power line transfer line
326
327 ✎Replace the motor
328
329 ✎Replace the encoder transfer line
330
331 ✎If the above methods still cannot eliminate the fault, please contact the manufacturer.
332 )))
333 |(% style="text-align:center; vertical-align:middle; width:96px" %)Category 1|(% style="text-align:center; vertical-align:middle; width:273px" %)(((
334 Braking resistor turns on abnormally
335 )))|(% style="width:379px" %)(((
336 The braking resistor bleeder is turned on, but no feedback signal is detected. The possible reasons are:
337
338 ✎The braking resistor failed to open;
339
340 ✎Braking resistor feedback detection faults;
341 )))|(% style="text-align:center; vertical-align:middle; width:118px" %)Er.24|(% style="vertical-align:middle; width:605px" %)The circuit of the brake release part may be damaged, please contact the manufacturer
342
343 **(2)The 2nd category (category 2 for short) clearable faults**
344
345 |(% style="text-align:center; vertical-align:middle; width:97px" %)**Category**|(% style="text-align:center; vertical-align:middle; width:276px" %)**Error name**|(% style="text-align:center; vertical-align:middle; width:379px" %)**Cause of fault**|(% style="text-align:center; vertical-align:middle; width:118px" %)**Fault code**|(% style="text-align:center; vertical-align:middle; width:601px" %)**Troubleshooting**
346 |(% style="text-align:center; vertical-align:middle; width:97px" %)Category 2|(% style="text-align:center; vertical-align:middle; width:276px" %)Main power supply overvoltage|(% style="vertical-align:middle; width:379px" %)(((
347 The drive detects that the bus voltage is too high. The possible reasons are:
348
349 ✎Check whether the main power input voltage is normal.
350
351 220V drive power supply voltage range: -10% to +10% (198V to 242V)
352
353 380V drive power supply voltage range: -10% to +10% (342V to 418V)
354
355 ✎The resistance of the braking resistor is too large, causing the braking energy can not be absorbed in time.
356
357 ✎The load inertia is large and the motor accelerates and decelerates too fast, and the maximum braking energy exceeds the absorbable value.
358
359 ✎The bus voltage detection deviation is too large.
360 )))|(% style="text-align:center; vertical-align:middle; width:118px" %)Er.22|(% style="vertical-align:middle; width:601px" %)(((
361 ✎Check whether the mains input voltage is too high.
362
363 ✎Check whether the resistance of the braking resistor is reasonable.
364
365 ✎Extend the acceleration and deceleration time and choose a braking resistor with a lower resistance.
366 )))
367 |(% style="text-align:center; vertical-align:middle; width:97px" %)Category 2|(% style="text-align:center; vertical-align:middle; width:276px" %)Encoder disconnection|(% style="vertical-align:middle; width:379px" %)Encoder disconnection|(% style="text-align:center; vertical-align:middle; width:118px" %)Er.27|(% style="vertical-align:middle; width:601px" %)(((
368 ✎Check whether the wiring of the motor encoder wire is loose. If it is, please tighten it.
369
370 ✎Replace the encoder cable, and then power on again.
371 )))
372 |(% style="text-align:center; vertical-align:middle; width:97px" %)Category 2|(% style="text-align:center; vertical-align:middle; width:276px" %)Power line disconnection|(% style="vertical-align:middle; width:379px" %)The motor power line is loose or disconnected|(% style="text-align:center; vertical-align:middle; width:118px" %)Er.31|(% style="vertical-align:middle; width:601px" %)(((
373 ✎Check whether the wiring of motor power line is loose, if it is loose, please tighten it.
374
375 ✎Replace motor power line transfer cable, and then power on again.
376 )))
377
378 **(3) The 3rd Category (category 3 for short) clearable faults**
379
380 |(% style="text-align:center; vertical-align:middle; width:99px" %)**Category**|(% style="text-align:center; vertical-align:middle; width:275px" %)**Error name**|(% style="text-align:center; vertical-align:middle; width:381px" %)**Cause of fault**|(% style="text-align:center; vertical-align:middle; width:118px" %)**Fault code**|(% style="text-align:center; vertical-align:middle; width:598px" %)**Troubleshooting**
381 |(% style="text-align:center; vertical-align:middle; width:99px" %)Category 3|(% style="vertical-align:middle; width:275px" %)Main power supply undervoltage|(% style="vertical-align:middle; width:381px" %)(((
382 The bus voltage of the drive is lower than the limit value:
383
384 ✎220V drive: normal bus voltage 310V, undervoltage threshold 200V
385
386 ✎380V drive: normal bus voltage 540V, undervoltage threshold 400V
387
388 The possible causes of main power supply undervoltage are:
389
390 ✎The main power supply is not connected.
391
392 ✎The input voltage is low, or the voltage drops.
393
394 ✎The internal main power relay is damaged.
395 )))|(% style="text-align:center; vertical-align:middle; width:118px" %)Er.21|(% style="vertical-align:middle; width:598px" %)(((
396 ✎Check whether the drive input voltage is low. If it is, please increase the voltage or wait for the power supply to be normal, and then power on again to see if the fault is cleared.
397
398 ✎Check the input power voltage of drive to see if the voltage drops due to the change of the power load.
399 )))
400 |(% style="text-align:center; vertical-align:middle; width:99px" %)Category 3|(% style="vertical-align:middle; width:275px" %)(((
401 Braking resistor is not connected
402 )))|(% style="vertical-align:middle; width:381px" %)(((
403 ✎When using the internal braking resistor, the shorting cap between C and D is disconnected.
404
405 ✎When using an external braking resistor, the resistor is not connected.
406
407 ✎The braking resistor status detection circuit is abnormal.
408 )))|(% style="text-align:center; vertical-align:middle; width:118px" %)Er.23|(% style="vertical-align:middle; width:598px" %)(((
409 ✎If using an internal braking resistor, please confirm whether the short-circuit jumper contact between C/D is in normal.
410
411 ✎If you use an external braking resistor, please make sure that the external braking resistor is reliably connected.
412
413 ✎If you use an external braking resistor, please confirm whether the resistance of the braking resistor is reasonable.
414
415 ✎If the above methods still cannot eliminate the fault, please contact the manufacturer.
416 )))
417 |(% style="text-align:center; vertical-align:middle; width:99px" %)Category 3|(% style="vertical-align:middle; width:275px" %)(((
418 Braking resistor resistance is too large
419 )))|(% style="vertical-align:middle; width:381px" %)The braking resistor has been turned on, but the actual bus voltage is still rising. Braking resistor resistance may be too large|(% style="text-align:center; vertical-align:middle; width:118px" %)Er.25|(% style="vertical-align:middle; width:598px" %)Please confirm whether the resistance of the braking resistor is reasonable.
420 |(% style="text-align:center; vertical-align:middle; width:99px" %)Category 3|(% style="vertical-align:middle; width:275px" %)(((
421 Power module is over temperature
422 )))|(% style="vertical-align:middle; width:381px" %)(((
423 The temperature of the power module exceeds the normal value. The possible reasons are:
424
425 ✎The cooling fan is faulty, resulting in abnormal
426
427 ✎The ambient temperature is too high.
428
429 ✎The installation of the drive is unreasonable, and the interval is too small, resulting in abnormal heat dissipation.
430 )))|(% style="text-align:center; vertical-align:middle; width:118px" %)Er.33|(% style="vertical-align:middle; width:598px" %)(((
431 ✎Confirm whether the cooling fan is operating normally. If it is not normal, please replace the drive.
432
433 ✎Improve the ambient temperature.
434
435 ✎Install the servo drive according to the installation standard.
436 )))
437 |(% style="text-align:center; vertical-align:middle; width:99px" %)Category 3|(% style="vertical-align:middle; width:275px" %)(((
438 Motor overload protection
439 )))|(% style="vertical-align:middle; width:381px" %)(((
440 The drive detects that the motor is running overloaded. The possible reasons are:
441
442 ✎The load is too large, and the motor works in a state that exceeds the rated torque for a long time.
443
444 ✎The load inertia is relatively large and the acceleration and deceleration are frequently performed at the same time.
445
446 ✎The speed loop and position loop gain parameter settings are unreasonable.
447
448 ✎The motor is blocked.
449
450 ✎Servo drive faults
451 )))|(% style="text-align:center; vertical-align:middle; width:118px" %)Er.34|(% style="vertical-align:middle; width:598px" %)(((
452 ✎Check whether the load of the motor is too large. If the load is too large, replace the motor and drive with a larger power.
453
454 ✎Increase the acceleration and deceleration time.
455
456 ✎Use the host computer software to observe the actual torque, and observe whether there is obvious speed overshoot. Adjust the appropriate loop gain parameters;
457
458 ✎Check the mechanical connection and troubleshoot.
459
460 ✎Replace servo drive.
461 )))
462 |(% style="text-align:center; vertical-align:middle; width:99px" %)Category 3|(% style="vertical-align:middle; width:275px" %)Electronic gear ratio exceeds limit|(% style="vertical-align:middle; width:381px" %)(((
463 In the electronic gear ratio setting, the numerator/denominator ratio is less than the lower limit or greater than the upper limit;
464
465 The electronic gear ratio setting range is as follows:
466
467 2500 line incremental encoder, the electronic gear ratio range is 0.01 to 100.
468
469 For a 17-bit encoder, the electronic gear ratio range is 0.001 to 500.
470
471 For a 23-bit encoder, the electronic gear ratio range is 0.001 to 32000.
472 )))|(% style="text-align:center; vertical-align:middle; width:118px" %)Er.35|(% style="vertical-align:middle; width:598px" %)(((
473 Check whether the electronic gear numerator and denominator setting values of function codes P00-17 to P00-20 meets the conditions:
474
475 the numerator/denominator is within the range, and then power on again after modification.
476 )))
477 |(% style="text-align:center; vertical-align:middle; width:99px" %)Category 3|(% style="vertical-align:middle; width:275px" %)(((
478 Position deviation is too large
479 )))|(% style="vertical-align:middle; width:381px" %)(((
480 The deviation of the current position pulse exceeds the setting value of P00-25 position deviation limit. The possible reasons for are:
481
482 ✎The motor U/V/W wire is not connected or disconnected.
483
484 ✎The phase sequence of the U/V/W wires of the motor is connected incorrectly.
485
486 ✎The motor load is too large, or the motor is blocked.
487
488 ✎The drive gain setting is unreasonable.
489
490 Position instruction equivalent speed changes too fast.
491 )))|(% style="text-align:center; vertical-align:middle; width:118px" %)Er.36|(% style="vertical-align:middle; width:598px" %)(((
492 ✎Check whether the wiring of the motor power line U/V/W is normal.
493
494 ✎Check the load condition of the motor. If the load is too large, please replace the drive and motor with higher power; if it is blocked, please check the machine.
495
496 ✎Set the gain parameters according to the method in the "Adjustment" chapter in the user manual.
497
498 ✎When the position instruction equivalent speed changes too much, the ramp time can be appropriately increased to reduce the speed change rate.
499 )))
500 |(% style="text-align:center; vertical-align:middle; width:99px" %)Category 3|(% style="vertical-align:middle; width:275px" %)(((
501 Torque saturation abnormal
502 )))|(% style="vertical-align:middle; width:381px" %)(((
503 The torque reaches the maximum torque limit and exceeds the setting time of P01-19 function code. The possible reasons are:
504
505 ✎The load is too large, and the drive outputs with maximum torque, but it still cannot reach the target speed within the predetermined time.
506
507 ✎Whether the maximum forward torque limit and the maximum reverse torque limit are set too small.
508
509 ✎The motor is blocked.
510
511 ✎P01-19 torque limit time is set too short.
512
513 ✎The motor U/V/W line phase sequence is wrong.
514 )))|(% style="text-align:center; vertical-align:middle; width:118px" %)Er.37|(% style="vertical-align:middle; width:598px" %)(((
515 ✎Confirm whether the load is too large.
516
517 ✎According to the actual application, modify the forward torque limit and the maximum reverse torque limit to appropriate values.
518
519 ✎Check whether the machine is blocked.
520
521 ✎Confirm whether the setting of the function code P01-19 is reasonable.
522
523 ✎Confirm whether the motor U/V/W line phase sequence is correct.
524 )))
525 |(% style="text-align:center; vertical-align:middle; width:99px" %)Category 3|(% style="vertical-align:middle; width:275px" %)(((
526 Main circuit electricity is lack of phase
527 )))|(% style="vertical-align:middle; width:381px" %)When the power of the three-phase drive is greater than 2.3kw, the main circuit power supply is connected to single-phase, and this fault will be reported.|(% style="text-align:center; vertical-align:middle; width:118px" %)Er.38|(% style="vertical-align:middle; width:598px" %)(((
528 ✎Whether the drive of three-phase specification is running under single-phase power supply.
529
530 ✎Check whether the main circuit input L1, L2, L3 wiring is good.
531
532 ✎The three-phase power supply is unbalanced or the three-phase voltage is too low.
533 )))
534 |(% style="text-align:center; vertical-align:middle; width:99px" %)Category 3|(% style="vertical-align:middle; width:275px" %)Emergency stop|(% style="vertical-align:middle; width:381px" %)The drive received an emergency stop instruction|(% style="text-align:center; vertical-align:middle; width:118px" %)Er.39|(% style="vertical-align:middle; width:598px" %)(((
535 ✎Check whether it is a man-made emergency shutdown protection, if so, wait for other system faults to be removed and then power on again.
536
537 ✎If it is triggered by mistake, please check whether the wiring and function configuration of the DI terminal are normal.
538 )))
539 |(% style="text-align:center; vertical-align:middle; width:99px" %)Category 3|(% style="vertical-align:middle; width:275px" %)Encoder battery failure|(% style="vertical-align:middle; width:381px" %)(((
540 ✎During power failure, the multi-turn absolute value motor is not connected to the battery.
541
542 ✎The encoder battery voltage is too low, less than 3V.
543 )))|(% style="text-align:center; vertical-align:middle; width:118px" %)Er.40|(% style="vertical-align:middle; width:598px" %)Replace with a new encoder battery
544 |(% style="text-align:center; vertical-align:middle; width:99px" %)Category 3|(% style="vertical-align:middle; width:275px" %)Motor (encoder) over temperature|(% style="vertical-align:middle; width:381px" %)The motor encoder detects that the temperature exceeds 90 degrees Celsius.|(% style="text-align:center; vertical-align:middle; width:118px" %)Er.41|(% style="vertical-align:middle; width:598px" %)Check whether the motor is overloaded
545 |(% style="text-align:center; vertical-align:middle; width:99px" %)Category 3|(% style="vertical-align:middle; width:275px" %)Encoder write faults|(% style="vertical-align:middle; width:381px" %)The encoder write operation does not respond normally|(% style="text-align:center; vertical-align:middle; width:118px" %)Er.42|(% style="vertical-align:middle; width:598px" %)Check whether the encoder and wiring are normal
546
547 **(4) The 4th category (category 4 for short) clearable warnings**
548
549 |(% style="text-align:center; vertical-align:middle; width:103px" %)**Category**|(% style="text-align:center; vertical-align:middle; width:271px" %)**Error name**|(% style="text-align:center; vertical-align:middle; width:383px" %)**Cause of fault**|(% style="text-align:center; vertical-align:middle; width:121px" %)**Fault code**|(% style="text-align:center; vertical-align:middle; width:593px" %)**Troubleshooting**
550 |(% style="text-align:center; vertical-align:middle; width:103px" %)Category 4|(% style="vertical-align:middle; width:271px" %)Overspeed alarm|(% style="vertical-align:middle; width:383px" %)The speed exceeds the alarm limit value|(% style="text-align:center; vertical-align:middle; width:121px" %)A-81|(% style="vertical-align:middle; width:593px" %)Check whether the setting value of function code P01-11 is too small, and then check whether the speed setting is too high.
551 |(% style="text-align:center; vertical-align:middle; width:103px" %)Category 4|(% style="vertical-align:middle; width:271px" %)Overload|(% style="vertical-align:middle; width:383px" %)Motor overload warning|(% style="text-align:center; vertical-align:middle; width:121px" %)A-82|(% style="vertical-align:middle; width:593px" %)Check whether the load the motor is too large. If it is, replace the motor and drive with a larger power.
552 |(% style="text-align:center; vertical-align:middle; width:103px" %)Category 4|(% style="vertical-align:middle; width:271px" %)Braking resistor is over temperature or overloaded|(% style="vertical-align:middle; width:383px" %)(((
553 ✎When the braking resistor is selected as the internal braking resistor, it means over temperature.
554
555 ✎When the braking resistor is externally connected, it means overload.
556 )))|(% style="text-align:center; vertical-align:middle; width:121px" %)A-83|(% style="vertical-align:middle; width:593px" %)(((
557 ✎Please confirm whether the load inertia is too large.
558
559 ✎Please confirm whether it starts and stops frequently, and whether the speed is too high.
560
561 ✎Please check whether the actual resistance value is greater than the set value.
562 )))
563 |(% style="text-align:center; vertical-align:middle; width:103px" %)Category 4|(% style="vertical-align:middle; width:271px" %)Parameter modification that needs to be powered on again|(% style="vertical-align:middle; width:383px" %)Modified the parameters that need to be re-powered on to take effect|(% style="text-align:center; vertical-align:middle; width:121px" %)A-84|(% style="vertical-align:middle; width:593px" %)Re-power on or clear the alarm
564 |(% style="text-align:center; vertical-align:middle; width:103px" %)Category 4|(% style="vertical-align:middle; width:271px" %)Receive position pulse when servo is OFF|(% style="vertical-align:middle; width:383px" %)Servo received pulse instruction in non-SON state or non-position mode|(% style="text-align:center; vertical-align:middle; width:121px" %)A-85|(% style="vertical-align:middle; width:593px" %)Please check the control signal timing of the host device, the servo is stopped or the pulse is still being sent in the non-position mode.
565 |(% style="text-align:center; vertical-align:middle; width:103px" %)Category 4|(% style="vertical-align:middle; width:271px" %)(((
566 Input pulse
567
568 frequency is too high
569 )))|(% style="vertical-align:middle; width:383px" %)The equivalent speed of the input frequency of the instruction pulse is too large|(% style="text-align:center; vertical-align:middle; width:121px" %)A-86|(% style="vertical-align:middle; width:593px" %)Check whether the setting of the pulse input frequency and the instruction pulse number of one turn of the motor (P00-16) or the electronic gear ratio (P00-17 to P00-20) is reasonable.
570 |(% style="text-align:center; vertical-align:middle; width:103px" %)Category 4|(% style="vertical-align:middle; width:271px" %)(((
571 Main circuit momentary
572
573 power off
574 )))|(% style="vertical-align:middle; width:383px" %)The main circuit input voltage is momentarily too low|(% style="text-align:center; vertical-align:middle; width:121px" %)A-88|(% style="vertical-align:middle; width:593px" %)Check whether the mains input has voltage, and then power on again or clear the alarm; if the mains is normal and the alarm still exists, please contact the manufacturer.
575 |(% style="text-align:center; vertical-align:middle; width:103px" %)Category 4|(% style="vertical-align:middle; width:271px" %)DI port configuration is duplicate|(% style="vertical-align:middle; width:383px" %)Different DI ports are set to the same DI function|(% style="text-align:center; vertical-align:middle; width:121px" %)A-89|(% style="vertical-align:middle; width:593px" %)✎**Note: **Check DI channel function selection: DI_1 channel function selection (P06-02) to DI_8 channel function selection (P06-23)in function code "DIDO configuration", and check whether the 8 DI channel function selections are duplicated. If yes, close the unnecessary channels, and then power on again.
576 |(% style="text-align:center; vertical-align:middle; width:103px" %)Category 4|(% style="vertical-align:middle; width:271px" %)DO port configuration is duplicate|(% style="vertical-align:middle; width:383px" %)Different DO ports are set to the same DO function|(% style="text-align:center; vertical-align:middle; width:121px" %)A-90|(% style="vertical-align:middle; width:593px" %)Check DO channel function selection: DO_1 channel function selection (P06-26) to DI_4 channel function selection (P06-32)in function code "DIDO configuration", and check whether the 4 D0 channel function selections are duplicated. If yes, close the unnecessary channels, and then power on again.
577 |(% style="text-align:center; vertical-align:middle; width:103px" %)Category 4|(% style="vertical-align:middle; width:271px" %)Parameter modification is too frequent|(% style="vertical-align:middle; width:383px" %)The frequency of communication to modify function code parameters is too frequent|(% style="text-align:center; vertical-align:middle; width:121px" %)A-91|(% style="vertical-align:middle; width:593px" %)Confirm whether the host computer writes parameters frequently, and modify the corresponding parameter writing method.
578 |(% style="text-align:center; vertical-align:middle; width:103px" %)Category 4|(% style="vertical-align:middle; width:271px" %)(((
579 low encoder battery voltage
580
581 Warning of
582 )))|(% style="vertical-align:middle; width:383px" %)Encoder battery voltage is less than 3.1V|(% style="text-align:center; vertical-align:middle; width:121px" %)A-92|(% style="vertical-align:middle; width:593px" %)Replace with a new encoder battery
583 |(% style="text-align:center; vertical-align:middle; width:103px" %)Category 4|(% style="vertical-align:middle; width:271px" %)(((
584 Encoder read and write
585
586 check abnormal and frequency is too high
587 )))|(% style="vertical-align:middle; width:383px" %)Encoder communication has timeout or CRC check error|(% style="text-align:center; vertical-align:middle; width:121px" %)A-93|(% style="vertical-align:middle; width:593px" %)Check whether the encoder wiring is disturbed
588
589 The “**✎Note” **section describes how to handle the warning of "Duplicate DI port configuration" of VD2-0XXSA1G. Due to the number of DI ports, the function codes of VD2F-0xxSA1P are different. Please refer to __[[Group P06 DI/DO configuration>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/11%20Appendix/#HGroupP06DIDOconfiguration]]__