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Wiki source code of 10 Malfunctions

Version 84.1 by Jim on 2023/06/28 16:47
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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>>||anchor="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>>https://docs.we-con.com.cn/bin/view/Servo/Manual/02%20VD2%20SA%20Series/09%20Parameters/#HGroupP06DI2FDOconfiguration]]__
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>>doc:Servo.Manual.02 VD2 SA Series.04 Wiring.WebHome]]__
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>>||anchor="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>>https://docs.we-con.com.cn/bin/view/Servo/Manual/02%20VD2%20SA%20Series/09%20Parameters/#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>>||anchor="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>>https://docs.we-con.com.cn/bin/view/Servo/Manual/02%20VD2%20SA%20Series/09%20Parameters/#HGroupP06DI2FDOconfiguration]]__
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>>doc:Servo.Manual.02 VD2 SA Series.04 Wiring.WebHome]]__
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>>||anchor="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>>doc:Servo.Manual.02 VD2 SA Series.04 Wiring.WebHome]]__.
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>>||anchor="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>>https://docs.we-con.com.cn/bin/view/Servo/Manual/02%20VD2%20SA%20Series/09%20Parameters/#HGroupP06DI2FDOconfiguration]]__
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>>doc:Servo.Manual.02 VD2 SA Series.04 Wiring.WebHome]]__
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>>||anchor="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>>doc:Servo.Manual.02 VD2 SA Series.04 Wiring.WebHome]]__.
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 * Category 2: faults are clearable;
152 * Category 3: faults are clearable;
153 * Category 4: warnings are clearable.
154
155 Among them, "clearable" means that the panel stops the fault display state by giving a "clear signal". The specific operations are as follows:
156
157 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.
158 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.
159 1. The clearing method of category 4 of clearable warnings: set P10-03=1 or use DI function 02.
160
161 |(% style="text-align:center; vertical-align:middle" %)(((
162 (% style="text-align:center" %)
163 [[image:ksjakfjk.png]]
164 )))
165 |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.
166
167 Associated function codes
168
169 |=(% 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;" %)(((
170 **Setting method**
171 )))|=(% style="text-align: center; vertical-align: middle; width: 181px;" %)(((
172 **Effective time**
173 )))|=(% 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**
174 |(% 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" %)(((
175 Operation setting
176 )))|(% style="text-align:center; vertical-align:middle; width:181px" %)(((
177 immediately Effective
178 )))|(% 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" %)(((
179 0: No operation
180
181 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.
182
183 ✎**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.
184 )))|(% style="text-align:center; vertical-align:middle" %)-
185
186 Associated function number:
187
188 |(% style="text-align:center; vertical-align:middle" %)**Code**|(% style="text-align:center; vertical-align:middle; width:108px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:303px" %)**Function name**|(% style="text-align:center; vertical-align:middle; width:779px" %)**Function**
189 |(% style="text-align:center; vertical-align:middle" %)2|(% style="text-align:center; vertical-align:middle; width:108px" %)A-CLR|(% style="text-align:center; vertical-align:middle; width:303px" %)Fault and warning clearing|(% style="width:779px" %)(((
190 DI port logic is invalid, no reset faults and warnings
191
192 DI port logic is valid, reset faults and warnings
193 )))
194
195 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.
196
197 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>>https://docs.we-con.com.cn/bin/view/Servo/Manual/02%20VD2%20SA%20Series/09%20Parameters/#HGroupU1Warningmonitoring]]__.
198
199 == **Fault and warning code table** ==
200
201 **The first category (category 1 for short) The fault could not be cleared**
202
203 |=(% style="width: 114px;" %)**Category**|=(% style="width: 300px;" %)**Error name**|=(% style="width: 92px;" %)**Fault code**|=(% style="width: 330px;" %)**Content**|=(% style="width: 105px;" %)**Whether Clearable**|=(% style="width: 135px;" %)**Operation**
204 |(% style="width:114px" %)Category 1|(% style="width:300px" %)Parameter destruction|(% style="width:92px" %)Er.01|(% style="width:330px" %)Abnormal servo internal parameters|(% style="width:105px" %)No|(% style="width:135px" %)Stop immediately
205 |(% style="width:114px" %)Category 1|(% style="width:300px" %)Parameter storage error|(% style="width:92px" %)Er.02|(% style="width:330px" %)Abnormal servo internal parameters|(% style="width:105px" %)No|(% style="width:135px" %)Stop immediately
206 |(% style="width:114px" %)Category 1|(% style="width:300px" %)ADC reference source faults|(% style="width:92px" %)Er.03|(% style="width:330px" %)Abnormal ADC reference source|(% style="width:105px" %)No|(% style="width:135px" %)Stop immediately
207 |(% style="width:114px" %)Category 1|(% style="width:300px" %)AD current sampling conversion error|(% style="width:92px" %)Er.04|(% style="width:330px" %)AD current sampling conversion error|(% style="width:105px" %)No|(% style="width:135px" %)Stop immediately
208 |(% style="width:114px" %)Category 1|(% style="width:300px" %)Abnormal FPGA communication|(% style="width:92px" %)Er.05|(% style="width:330px" %)Abnormal FPGA communication|(% style="width:105px" %)No|(% style="width:135px" %)Stop immediately
209 |(% style="width:114px" %)Category 1|(% style="width:300px" %)Wrong FPGA program version|(% style="width:92px" %)Er.06|(% style="width:330px" %)Wrong FPGA program version|(% style="width:105px" %)No|(% style="width:135px" %)Stop immediately
210 |(% style="width:114px" %)Category 1|(% style="width:300px" %)Clock abnormal|(% style="width:92px" %)Er.07|(% style="width:330px" %)Clock abnormal|(% style="width:105px" %)No|(% style="width:135px" %)Stop immediately
211 |(% style="width:114px" %)Category 1|(% style="width:300px" %)ADC conversion undone|(% style="width:92px" %)Er.60|(% style="width:330px" %)ADC conversion error|(% style="width:105px" %)No|(% style="width:135px" %)Stop immediately
212 |(% style="width:114px" %)Category 1|(% style="width:300px" %)Internal software fault|(% style="width:92px" %)Er.61|(% style="width:330px" %)Abnormal servo internal software|(% style="width:105px" %)No|(% style="width:135px" %)Stop immediately
213 |(% style="width:114px" %)Category 1|(% style="width:300px" %)Internal software fault|(% style="width:92px" %)Er.62|(% style="width:330px" %)Abnormal servo internal software|(% style="width:105px" %)No|(% style="width:135px" %)Stop immediately
214 |(% style="width:114px" %)Category 1|(% style="width:300px" %)Internal software fault|(% style="width:92px" %)Er.63|(% style="width:330px" %)Abnormal servo internal software|(% style="width:105px" %)No|(% style="width:135px" %)Stop immediately
215 |(% style="width:114px" %)Category 1|(% style="width:300px" %)Internal software fault|(% style="width:92px" %)Er.64|(% style="width:330px" %)Abnormal servo internal software|(% style="width:105px" %)No|(% style="width:135px" %)Stop immediately
216 |(% style="width:114px" %)Category 1|(% style="width:300px" %)Internal software fault|(% style="width:92px" %)Er.65|(% style="width:330px" %)Abnormal servo internal software|(% style="width:105px" %)No|(% style="width:135px" %)Stop immediately
217 |(% style="width:114px" %)Category 1|(% style="width:300px" %)Motor model error|(% style="width:92px" %)Er.26|(% style="width:330px" %)Motor model error|(% style="width:105px" %)No|(% style="width:135px" %)Stop immediately
218 |(% style="width:114px" %)Category 1|(% style="width:300px" %)Encoder Z pulse lost|(% style="width:92px" %)Er.28|(% style="width:330px" %)Encoder Z pulse lost|(% style="width:105px" %)No|(% style="width:135px" %)Stop immediately
219 |(% style="width:114px" %)Category 1|(% style="width:300px" %)Encoder UVW signal error|(% style="width:92px" %)Er.30|(% style="width:330px" %)Encoder UVW signal error|(% style="width:105px" %)No|(% style="width:135px" %)Stop immediately
220 |(% style="width:114px" %)Category 1|(% style="width:300px" %)(((
221 Exceeds motor
222
223 maximum speed
224 )))|(% style="width:92px" %)Er.32|(% style="width:330px" %)(((
225 Exceeds motor
226
227 maximum speed
228 )))|(% style="width:105px" %)No|(% style="width:135px" %)Stop immediately
229 |(% style="width:114px" %)Category 1|(% style="width:300px" %)Over current|(% style="width:92px" %)Er.20|(% style="width:330px" %)Servo drive hardware overcurrent|(% style="width:105px" %)No|(% style="width:135px" %)Stop immediately
230 |(% style="width:114px" %)Category 1|(% style="width:300px" %)The brake resistor is turned on abnormally|(% style="width:92px" %)Er.24|(% style="width:330px" %)The brake resistor of servo drive is turned on abnormally|(% style="width:105px" %)No|(% style="width:135px" %)Stop immediately
231
232 **The 2nd category (category 2 for short) clearable faults**
233
234 |=(% style="width: 107px;" %)**Category**|=(% style="width: 233px;" %)**Error name**|=**Fault code**|=**Content**|=**Whether Clearable**|=**Operation**
235 |(% style="width:107px" %)Category 2|(% style="width:233px" %)Main power supply overvoltage|Er.22|Main power supply overvoltage|Yes|Stop immediately
236 |(% style="width:107px" %)Category 2|(% style="width:233px" %)Encoder disconnection|Er.27|The encoder cable is incorrectly connected|Yes|Stop immediately
237 |(% style="width:107px" %)Category 2|(% style="width:233px" %)Power line disconnection|Er.31|The power cable is incorrectly connected|Yes|Stop immediately
238
239 **The 3rd Category (category 3 for short) clearable faults**
240
241 |=(% style="width: 109px;" %)**Category**|=(% style="width: 277px;" %)**Error name**|=**Fault code**|=**Content**|=**Whether Clearable**|=**Operation**
242 |(% style="width:109px" %)Category 3|(% style="width:277px" %)Main power supply under voltage|Er.21|Main power supply under voltage|Yes|Stop immediately
243 |(% style="width:109px" %)Category 3|(% style="width:277px" %)Braking resistor is not connected|Er.23|Braking resistor is not connected|Yes|Stop immediately
244 |(% style="width:109px" %)Category 3|(% style="width:277px" %)Braking resistor resistance is too large|Er.25|Braking resistor resistance is too large|Yes|Stop immediately
245 |(% style="width:109px" %)Category 3|(% style="width:277px" %)Power module is over temperature|Er.33|Power module is over temperature|Yes|Stop immediately
246 |(% style="width:109px" %)Category 3|(% style="width:277px" %)Motor overload protection|Er.34|Motor overload protection|Yes|Stop immediately
247 |(% style="width:109px" %)Category 3|(% style="width:277px" %)Electronic gear ratio exceeds limit|Er.35|Electronic gear ratio exceeds limit|Yes|Stop immediately
248 |(% style="width:109px" %)Category 3|(% style="width:277px" %)Position deviation is too large|Er.36|Position deviation is too large|Yes|Stop immediately
249 |(% style="width:109px" %)Category 3|(% style="width:277px" %)Torque saturation abnormal|Er.37|Torque saturation abnormal|Yes|Stop immediately
250 |(% style="width:109px" %)Category 3|(% style="width:277px" %)(((
251 Main circuit electricity
252
253 is lack of phase
254 )))|Er.38|(((
255 Main circuit electricity
256
257 is lack of phase
258 )))|Yes|Stop immediately
259 |(% style="width:109px" %)Category 3|(% style="width:277px" %)Emergency stop|Er.39|Triggered the emergency stop signal|Yes|Stop immediately
260 |(% style="width:109px" %)Category 3|(% style="width:277px" %)Encoder battery failure|Er.40|Encoder battery failure|Yes|Stop immediately
261 |(% style="width:109px" %)Category 3|(% style="width:277px" %)Motor (encoder) over temperature|Er.41|Motor (encoder) over temperature|Yes|Stop immediately
262 |(% style="width:109px" %)Category 3|(% style="width:277px" %)Encoder write faults|Er.42|The encoder fails to write data|Yes|Stop immediately
263
264 **The 4th category (category 4 for short) clearable warnings**
265
266 |=(% style="width: 100px;" %)**Category**|=(% style="width: 294px;" %)**Error name**|=**Fault code**|=(% style="width: 392px;" %)**Content**|=(% style="width: 96px;" %)**Whether Clearable**|=(% style="width: 115px;" %)**Operation**
267 |(% style="width:100px" %)Category 4|(% style="width:294px" %)Overspeed alarm|A-81|(% style="width:392px" %)Motor exceeds the speed limit|(% style="width:96px" %)Yes|(% style="width:115px" %)Continue to run
268 |(% style="width:100px" %)Category 4|(% style="width:294px" %)Overload|A-82|(% style="width:392px" %)The motor was run continuously with a torque exceeding the rated value|(% style="width:96px" %)Yes|(% style="width:115px" %)Continue to run
269 |(% style="width:100px" %)Category 4|(% style="width:294px" %)Braking resistor is over temperature or overloaded|A-83|(% style="width:392px" %)Braking resistor is over temperature or overloaded|(% style="width:96px" %)Yes|(% style="width:115px" %)Continue to run
270 |(% style="width:100px" %)Category 4|(% style="width:294px" %)Parameter modification that needs to be powered on again|A-84|(% style="width:392px" %)Modify the parameter that needs to be powered on again|(% style="width:96px" %)Yes|(% style="width:115px" %)Continue to run
271 |(% style="width:100px" %)Category 4|(% style="width:294px" %)Receive position pulse when servo is OFF|A-85|(% style="width:392px" %)Servo drive receives position pulse when it is OFF|(% style="width:96px" %)Yes|(% style="width:115px" %)Continue to run
272 |(% style="width:100px" %)Category 4|(% style="width:294px" %)Input pulse frequency is too high|A-86|(% style="width:392px" %)Input pulse frequency is too high|(% style="width:96px" %)Yes|(% style="width:115px" %)Continue to run
273 |(% style="width:100px" %)Category 4|(% style="width:294px" %)(((
274 Main circuit momentary
275
276 power off
277 )))|A-88|(% style="width:392px" %)(((
278 Main circuit momentary
279
280 power off
281 )))|(% style="width:96px" %)Yes|(% style="width:115px" %)Continue to run
282 |(% style="width:100px" %)Category 4|(% style="width:294px" %)DI port configuration is duplicate|A-89|(% style="width:392px" %)DI port configuration is duplicate|(% style="width:96px" %)Yes|(% style="width:115px" %)Continue to run
283 |(% style="width:100px" %)Category 4|(% style="width:294px" %)DO port configuration is duplicate|A-90|(% style="width:392px" %)DO port configuration is duplicate|(% style="width:96px" %)Yes|(% style="width:115px" %)Continue to run
284 |(% style="width:100px" %)Category 4|(% style="width:294px" %)Parameter modification is too frequent|A-91|(% style="width:392px" %)Parameter modification is too frequent|(% style="width:96px" %)Yes|(% style="width:115px" %)Continue to run
285 |(% style="width:100px" %)Category 4|(% style="width:294px" %)(((
286 low encoder battery voltage
287
288 Warning
289 )))|A-92|(% style="width:392px" %)The battery voltage of encoder is less than 3.1V|(% style="width:96px" %)Yes|(% style="width:115px" %)Continue to run
290 |(% style="width:100px" %)Category 4|(% style="width:294px" %)(((
291 Encoder read and write
292
293 check abnormal and frequency is too high
294 )))|A-93|(% style="width:392px" %)(((
295 Encoder read and write
296
297 check abnormal and frequency is too high
298 )))|(% style="width:96px" %)Yes|(% style="width:115px" %)Continue to run
299
300 = **Troubleshooting** =
301
302 **Er.01 Parameter destruction**
303
304 Fault
305
306 |=(% style="width: 460px;" %)**Servo drive panel display**|=(% style="width: 615px;" %)**Fault name**
307 |(% style="width:460px" %)[[image:image-20220709173736-1.png]]|(% style="width:615px" %)Parameter destruction
308
309 Troubleshooting
310
311 |=(% style="width: 310px;" %)**Reason**|=(% style="width: 516px;" %)**Troubleshooting methods**|=(% style="width: 250px;" %)**Handling**
312 |(% style="width:310px" %)EEPROM could not be read and written|(% style="width:516px" %)Factory reset the parameter (P10-02=1) and power on again. If the servo drive still alarms after multiple operations, it is faulty.|(% style="width:250px" %)Please contact the technician.
313
314 **Er.02 Parameter storage error**
315
316 Fault
317
318 |=(% style="width: 471px;" %)**Servo drive panel display**|=(% style="width: 604px;" %)**Fault name**
319 |(% style="width:471px" %)[[image:image-20220709165407-2.png]]|(% style="width:604px" %)Parameter storage error
320
321 Troubleshooting
322
323 |=(% style="width: 245px;" %)**Reason**|=(% style="width: 423px;" %)**Troubleshooting methods**|=(% style="width: 408px;" %)**Handling**
324 |(% style="width:245px" %)Firmware upgraded|(% style="width:423px" %)Check whether the program has been upgraded.|(% style="width:408px" %)Power on the servo drive again
325 |(% style="width:245px" %)Parameter read and write exceptions|(% style="width:423px" %)After a parameter is changed, power it on again and check whether the parameter is saved|(% style="width:408px" %)If the parameters are not saved after multiple power-on, contact technician.
326 |(% style="width:245px" %)Servo drive firmware faulty|(% style="width:423px" %)(((
327 Check if the servo drive monitoring quantity U2-04 (firmware version) is in the following range.
328
329 VD2-0xxSA1G model: earlier than V1.14.
330
331 VD2F-0xxSA1P model: earlier than V1.02
332 )))|(% style="width:408px" %)(((
333 VD2-0xxSA1G model: Contact manufacturer to upgrade the firmware to V1.14 and above.
334
335 VD2F-0xxSA1P model: Contact technician to upgrade the firmware to V1.02 and above.
336 )))
337
338 **Er.03 ADC reference source fault**
339
340 Fault
341
342 |=(% style="width: 459px;" %)**Servo drive panel display**|=(% style="width: 617px;" %)**Fault name**
343 |(% style="width:459px" %)[[image:image-20220709165412-3.png]]|(% style="width:617px" %)ADC reference source fault
344
345 Troubleshooting
346
347 |=(% style="width: 284px;" %)**Reason**|=(% style="width: 495px;" %)**Troubleshooting methods**|=(% style="width: 297px;" %)**Handling**
348 |(% style="width:284px" %)The internal analog reference source of the drive is not accurate|(% style="width:495px" %)Factory reset the parameter (P10-02=1) and power on again. If the servo drive still alarms after multiple operations, it is faulty.|(% style="width:297px" %)If there is still alarm after multiple power-on, contact the technician.
349
350 **Er.04 AD current sampling conversion error**
351
352 Fault
353
354 |=**Servo drive panel display**|=**Fault name**
355 |[[image:image-20220709165421-4.png]]|AD current sampling conversion error
356
357 Troubleshooting
358
359 |=(% style="width: 248px;" %)**Reason**|=(% style="width: 508px;" %)**Troubleshooting methods**|=(% style="width: 320px;" %)**Handling**
360 |(% style="width:248px" %)Current sampling timeout|(% rowspan="2" style="width:508px" %)Factory reset the parameter (P10-02=1) and power on again. If the servo drive still alarms after multiple operations, it is faulty.|(% rowspan="2" style="width:320px" %)If there is still alarm after multiple power-on, contact the technician.
361 |(% style="width:248px" %)current sensor error
362
363 **Er.05 FPGA communication abnormal**
364
365 Fault
366
367 |=(% style="width: 467px;" %)**Servo drive panel display**|=(% style="width: 608px;" %)**Fault name**
368 |(% style="width:467px" %)[[image:image-20220709165428-5.png]]|(% style="width:608px" %)FPGA communication abnormal
369
370 Troubleshooting
371
372 |=(% style="width: 253px;" %)**Reason**|=(% style="width: 504px;" %)**Troubleshooting methods**|=**Handling**
373 |(% style="width:253px" %)FPGA communication abnormal|(% style="width:504px" %)Factory reset the parameter (P10-02=1) and power on again. If the servo drive still alarms after multiple operations, it is faulty.|If there is still alarm after multiple power-on, contact the technician.
374
375 **Er.06 Wrong FPGA program version**
376
377 Fault
378
379 |=(% style="width: 460px;" %)**Servo drive panel display**|=(% style="width: 615px;" %)**Fault name**
380 |(% style="width:460px" %)[[image:image-20220709165434-6.png]]|(% style="width:615px" %)Wrong FPGA program version
381
382 Troubleshooting
383
384 |=**Reason**|=(% style="width: 482px;" %)**Troubleshooting methods**|=(% style="width: 327px;" %)**Handling**
385 |The FPGA program version does not match firmware version|(% style="width:482px" %)Check whether the monitoring quantity of servo drive U2-04 (firmware version) and U2-05 (hardware version) conform to the following table|(% style="width:327px" %)Contact technical to upgrade FPGA (hardware version)
386 |Servo drive fault|(% style="width:482px" %)Factory reset the parameter (P10-02=1) and power on again. If the servo drive still alarms after multiple operations, it is faulty.|(% style="width:327px" %)If there is still alarm after multiple power-on, contact the technician.
387
388 |=**Firmware version**|=**Hardware version**
389 |1.00|1.00
390 |1.10|1.01
391 |1.11|1.01
392 |1.12|1.01
393 |1.13|1.01
394 |1.14|1.01
395
396 Table 10-1 The firmware version and hardware version relationship of VD2-0SA1G servo drive
397
398 **Er.07 Clock abnormal**
399
400 Fault
401
402 |=(% style="width: 475px;" %)**Servo drive panel display**|=(% style="width: 600px;" %)**Fault name**
403 |(% style="width:475px" %)[[image:image-20220709165440-7.png]]|(% style="width:600px" %)Clock abnormal
404
405 Troubleshooting
406
407 |=(% style="width: 226px;" %)**Reason**|=(% style="width: 492px;" %)**Troubleshooting methods**|=(% style="width: 358px;" %)**Handling**
408 |(% rowspan="2" style="width:226px" %)External interference|(% style="width:492px" %)Check for strong magnetic fields nearby|(% style="width:358px" %)Eliminate nearby strong magnetic interference
409 |(% style="width:492px" %)Check whether there are sources of interference such as power supply inverter equipment nearby|(% style="width:358px" %)Separate strong and weak power as much as possible, with good ground contact between motor and servo drive, and keep away from power cable wiring.
410 |(% style="width:226px" %)Servo drive fault|(% style="width:492px" %)Factory reset the parameter (P10-02=1) and power on again. If the servo drive still alarms after multiple operations, it is faulty.|(% style="width:358px" %)If there is still alarm after multiple power-on, contact the technician.
411
412 **Er.20 Overcurrent**
413
414 Fault
415
416 |=(% style="width: 470px;" %)**Servo drive panel display**|=(% style="width: 605px;" %)**Fault name**
417 |(% style="width:470px" %)[[image:image-20220709165445-8.png]]|(% style="width:605px" %)Overcurrent
418
419 Troubleshooting
420
421 |=(% style="width: 249px;" %)**Reason**|=(% style="width: 481px;" %)**Troubleshooting methods**|=(% style="width: 346px;" %)**Handling**
422 |(% style="width:249px" %)The UVW phase sequence of motor power cable is incorrect|(% style="width:481px" %)Check whether the phase sequence of the motor power cable on the servo drive side and motor side corresponds to each other.|(% style="width:346px" %)Connect correctly according to UVW on the drive side and UVW on the motor side
423 |(% style="width:249px" %)Motor power lines are short-circuited|(% style="width:481px" %)Check whether power line UVW is short-circuited to PE|(% style="width:346px" %)Replace motor power line
424 |(% style="width:249px" %)The motor power line wiring port is poorly contacted|(% style="width:481px" %)Check whether the motor power line connection port is connected reliably|(% style="width:346px" %)Tighten the fixing screws of the motor power line connection ports
425 |(% rowspan="4" style="width:249px" %)Abnormal braking resistance|(% style="width:481px" %)Internal brake resistance wiring error: check whether C, D are connected to the short cap and the contact is normal|(% style="width:346px" %)Connect the short cap or short wire between C and D reliably
426 |(% style="width:481px" %)External braking resistor wiring error: Check whether the external resistor is connected reliably between P+ and C.|(% style="width:346px" %)External braking resistance is reliably strung between P+ and C
427 |(% style="width:481px" %)Short-circuit of the built-in brake resistance: Check whether the built-in brake resistance is short-circuit.|(% style="width:346px" %)(((
428 Remove the shorting cap between C and D, and reliably string the external braking resistor of equal resistance between P+ and C.
429
430 Contact technician to replace the internal braking resistor
431 )))
432 |(% style="width:481px" %)The resistance value of the external braking resistor is too small: Test the resistance value of the external braking resistor actually selected and compare it with the recommended braking resistor to confirm whether the resistance value of the actual resistor is too small|(% style="width:346px" %)Choose a suitable external braking resistor
433 |(% rowspan="3" style="width:249px" %)Encoder wiring error; loose plug|(% style="width:481px" %)Check whether the cable port (CN1) of the encoder is properly connected|(% style="width:346px" %)Tighten the fixing screws on the CN1 port
434 |(% style="width:481px" %)Check whether the servo drive CN1 port jack is deformed|(% style="width:346px" %)If the cable is deformed, replace the cable or its port
435 |(% style="width:481px" %)Check whether both ends of the rectangular connector are reliably connected|(% style="width:346px" %)Make sure that both ends of the rectangular connector are connected reliably; Replace it with an encoder cable with higher connection reliability.
436 |(% rowspan="2" style="width:249px" %)Unreasonable parameter settings|(% style="width:481px" %)Check whether P03-02 (Load rigidity Level) is set properly|(% style="width:346px" %)Reduce the P03-02 (load stiffness level) setting value appropriately
437 |(% style="width:481px" %)Check whether the gain parameters are set properly, resulting in overshoot|(% style="width:346px" %)Adjust gain parameters reasonably
438 |(% style="width:249px" %)Frequent acceleration and deceleration|(% style="width:481px" %)Check whether the acceleration and deceleration motion is frequent or the acceleration and deceleration time is too small|(% style="width:346px" %)Appropriately extend the acceleration and deceleration time
439 |(% style="width:249px" %)Internal servo drive fault|(% style="width:481px" %)Cross-verification. Use the normal motor, encoder cable to connect to the servo drive, only connect the encoder cable. If the servo drive still alarm, it is failure.|(% style="width:346px" %)Contact technician for repair
440
441 **Er.21 Main power supply undervoltage**
442
443 Fault
444
445 |=(% style="width: 467px;" %)**Servo drive panel display**|=(% style="width: 608px;" %)**Fault name**
446 |(% style="width:467px" %)[[image:image-20220709165459-10.png]]|(% style="width:608px" %)Main power supply undervoltage
447
448 Reason: DC bus voltage is lower than the fault value.
449
450 * 220V drive: DC bus voltage normal value is 310V; DC bus voltage fault value is 200V.
451 * 380V drive: DC bus voltage normal value is 540V; DC bus voltage fault value is 420V.
452
453 Troubleshooting
454
455 |=(% style="width: 255px;" %)**Reason**|=(% style="width: 466px;" %)**Troubleshooting methods**|=(% style="width: 355px;" %)**Handling**
456 |(% style="width:255px" %)Power-off when VD2A drive is enabled|(% style="width:466px" %)Check whether the servo drive is Power off when logic is valid.and the S-ON function is enabled in the P06 “DIDO Function configuration parameter”.|(% style="width:355px" %)It belongs to servo internal software logic. When the indicator light on the servo drive panel goes out automatically, the alarm will be removed automatically.
457 |(% style="width:255px" %)The power supply is unstable or OFF.|(% style="width:466px" %)Check whether the drive input power specifications meet the following specifications:
458 220V drive: Valid value is 198V to 242V.
459 380V drive: Valid value is 342V to 440V.|(% style="width:355px" %)Use after the power supply is stable;
460 Increase power supply capacity
461 |(% style="width:255px" %)The voltage drops during operation of the servo drive|(% style="width:466px" %)Check whether the servo drive shares the same power supply with other high loads|(% style="width:355px" %)(((
462 Turn off other loads from the same main circuit power supply.
463
464 Separate power supply for servo drives
465 )))
466 |(% style="width:255px" %)Missing phase (3-phase power supply operating on single-phase power)|(% style="width:466px" %)(((
467 Check if the main circuit wiring is correct
468
469 VD2A: single-phase 220V input connected to L1, L3.
470
471 VD2 B: single-phase 220V input connected to L1, L3, and single-phase 220V input connected to L1C, L2C.
472
473 VD2 B: three-phase 220V input connected to L1, L2, L3.
474
475 VD2F: single-phase 220V input connected to L1, L2
476 )))|(% style="width:355px" %)Connect the main circuit wiring correctly
477 |(% style="width:255px" %)Internal servo drive fault|(% style="width:466px" %)Observe whether the monitoring quantity U0-31 (bus voltage) is in the following range:
478 220V drive: U0-31 less than 200V;
479 380V drive: U0-31 less than 400V.|(% style="width:355px" %)Contact technician for repair
480
481 **Er.22 Main power supply undervoltage**
482
483 Fault
484
485 |=(% style="width: 457px;" %)**Servo drive panel display**|=(% style="width: 618px;" %)**Fault name**
486 |(% style="width:457px" %)[[image:image-20220709165541-11.png]]|(% style="width:618px" %)Main power supply undervoltage
487
488 Reason: DC bus voltage is lower than the fault value.
489
490 1. 220V drive: DC bus voltage normal value is 310V; DC bus voltage fault value is 390V.
491 1. 380V drive: DC bus voltage normal value is 540V; DC bus voltage fault value is 670V.
492
493 Troubleshooting
494
495 |=(% style="width: 236px;" %)**Reason**|=(% style="width: 476px;" %)**Troubleshooting methods**|=(% style="width: 364px;" %)**Handling**
496 |(% style="width:236px" %)The input voltage is too high|(% style="width:476px" %)Check whether the drive input power specifications meet the following specifications:
497 220V drive: Valid value is 198V to 242V.
498 380V drive: Valid value is 342V to 440V.|(% style="width:364px" %)Replace or adjust power supply
499 |(% style="width:236px" %)The power supply is not stable or struck by lightning|(% style="width:476px" %)Check whether the input power supply of the servo drive meets the specifications and monitor whether it has been struck by lightning.|(% style="width:364px" %)(((
500 used after the power supply is stable
501
502 Connect to surge suppressor
503 )))
504 |(% rowspan="4" style="width:236px" %)Abnormal braking resistance|(% style="width:476px" %)Internal brake resistance wiring error: check whether C, D are connected to the short cap and the contact is normal|(% style="width:364px" %)Connect the short cap or short wire between C and D reliably
505 |(% style="width:476px" %)External braking resistor wiring error: Check whether the external resistor is connected reliably between P+ and C.|(% style="width:364px" %)External braking resistance is reliably strung between P+ and C
506 |(% style="width:476px" %)Short-circuit of the built-in brake resistance: Check whether the built-in brake resistance is short-circuit.|(% style="width:364px" %)(((
507 Remove the shorting cap between C and D, and reliably string the external braking resistor of equal resistance between P+ and C.
508
509 Contact technician to replace the internal braking resistor
510 )))
511 |(% style="width:476px" %)The resistance value of the external braking resistor is too large: Check the resistance value of the external braking resistor actually selected and compare it with the recommended braking resistor to confirm whether the resistance value of the actual resistor is too large.|(% style="width:364px" %)Choose a suitable external braking resistor
512 |(% style="width:236px" %)The motor is in a state of rapid acceleration and deceleration motion|(% style="width:476px" %)Monitor the servo drive monitoring quantity U0-31 (bus voltage) to confirm whether the voltage exceeds the fault value when the motor is in the deceleration section.|(% style="width:364px" %)Ensure that the input voltage is within specification and increase acceleration and deceleration times
513 |(% style="width:236px" %)Internal servo drive fault|(% style="width:476px" %)The servo drive is still faulty after power on again|(% style="width:364px" %)Servo drive may be damaged.Contact technician for repair
514
515 **Er.23 Braking resistor is not connected**
516
517 Fault
518
519 |=(% style="width: 464px;" %)**Servo drive panel display**|=(% style="width: 611px;" %)**Fault name**
520 |(% style="width:464px" %)[[image:image-20220709165550-12.png]]|(% style="width:611px" %)Braking resistor is not connected
521
522 Troubleshooting
523
524 |=(% style="width: 244px;" %)**Reason**|=(% style="width: 440px;" %)**Troubleshooting methods**|=(% style="width: 392px;" %)**Handling**
525 |(% style="width:244px" %)Internal brake resistance wiring error|(% style="width:440px" %)Check whether C, D are connected to the short cap and the contact is normal|(% style="width:392px" %)When using an internal braking resistor, reliably connect the shorting cap or shorting wire between C and D
526 |(% style="width:244px" %)External braking resistor wiring error|(% style="width:440px" %)Check whether the external resistor is connected reliably between P+ and C.|(% style="width:392px" %)When using an external braking resistor, the external resistor is reliably strung between P+ and C
527 |(% style="width:244px" %)Internal braking resistor damaged|(% style="width:440px" %)The servo drive is powered off. Detects whether the resistance between P+ and D is 50Ω|(% style="width:392px" %)(((
528 Contact the technician to replace the internal braking resistor.
529
530 Use an external braking resistor and change the relevant parameters of the P00 "Basic Settings".
531 )))
532
533 **Er.24 Braking resistor turns on abnormally**
534
535 Fault
536
537 |=**Servo drive panel display**|=**Fault name**
538 |[[image:image-20220709163326-60.png]]|Braking resistor is not connected
539
540 Troubleshooting
541
542 |=(% style="width: 236px;" %)**Reason**|=(% style="width: 460px;" %)**Troubleshooting methods**|=(% style="width: 380px;" %)**Handling**
543 |(% style="width:236px" %)Internal servo drive fault|(% style="width:460px" %)The servo drive is still faulty after power on again|(% style="width:380px" %)Servo drive may be damaged.Contact technician for repair
544
545 **Er.25 Braking resistor resistance is too large**
546
547 Fault
548
549 |=**Servo drive panel display**|=**Fault name**
550 |[[image:image-20220709165610-14.png]]|Braking resistor resistance is too large
551
552 Troubleshooting
553
554 |=(% style="width: 239px;" %)**Reason**|=(% style="width: 475px;" %)**Troubleshooting methods**|=(% style="width: 362px;" %)**Handling**
555 |(% style="width:239px" %)The resistance value of the external braking resistor is too large|(% style="width:475px" %)Check the resistance value of the external braking resistor actually selected and compare it with the recommended braking resistor to confirm whether the resistance value of the actual resistor is too large.|(% style="width:362px" %)Choose a suitable external braking resistor
556 |(% style="width:239px" %)Unreasonable parameter settings|(% style="width:475px" %)Check whether the value of servo drive P00-10 (external brake resistance) is set too high|(% style="width:362px" %)Reasonably set the P00-10 (external braking resistor resistance) parameter value
557 |(% style="width:239px" %)Servo drive firmware fault|(% style="width:475px" %)(((
558 Check if the servo drive monitoring quantity U2-04 (firmware version) is in the following range.
559
560 VD2-0xxSA1G model: earlier than V1.14.
561
562 VD2F-0xxSA1P model: earlier than V1.02
563 )))|(% style="width:362px" %)(((
564 VD2-0xxSA1G model: Contact manufacturer to upgrade the firmware to V1.14 and above.
565
566 VD2F-0xxSA1P model: Contact technician to upgrade the firmware to V1.02 and above.
567 )))
568
569 **Er.26 Braking resistor resistance is too large**
570
571 Fault
572
573 |=**Servo drive panel display**|=**Fault name**
574 |[[image:image-20220709165622-15.png]]|Braking resistor resistance is too large
575
576 Troubleshooting
577
578 |=(% style="width: 242px;" %)**Reason**|=(% style="width: 456px;" %)**Troubleshooting methods**|=(% style="width: 378px;" %)**Handling**
579 |(% style="width:242px" %)Servo drives do not support this motor|(% style="width:456px" %)Check whether the servo driver model supports the motor|(% style="width:378px" %)Contact technical for suitable recommendations of servo drive model or motor model.
580 |(% style="width:242px" %)Wrong motor model|(% style="width:456px" %)Check whether the Motor Code is consistent with the Motor nameplate|(% style="width:378px" %)Contact technician to record the motor Motor Code
581
582 **Er.27 Encoder disconnection**
583
584 Fault
585
586 |=(% style="width: 466px;" %)**Servo drive panel display**|=(% style="width: 609px;" %)**Fault name**
587 |(% style="width:466px" %)[[image:image-20220709165628-16.png]]|(% style="width:609px" %)Encoder disconnection
588
589 Troubleshooting
590
591 |=(% style="width: 254px;" %)**Reason**|=(% style="width: 436px;" %)**Troubleshooting methods**|=(% style="width: 386px;" %)**Handling**
592 |(% rowspan="2" style="width:254px" %)Poor contact on CN1 port|(% style="width:436px" %)Check whether the cable port (CN1) of the encoder is properly connected|(% style="width:386px" %)Tighten the fixing screws on the CN1 port
593 |(% style="width:436px" %)Check whether the servo drive CN1 port jack is deformed|(% style="width:386px" %)If the cable is deformed, replace the cable or its port
594 |(% style="width:254px" %)Poor contact on adapter port (Rectangular connection cable)|(% style="width:436px" %)Check whether both ends of the rectangular connector are reliably connected|(% style="width:386px" %)Make sure that both ends of the rectangular connector are connected reliably; Replace it with an encoder cable with higher connection reliability.
595 |(% style="width:254px" %)Wrong encoder cable wiring|(% style="width:436px" %)Check whether the both ends of the encoder cable are correctly connected|(% style="width:386px" %)Adjust wiring according to the corresponding relationship of pins;
596 The standard encoder cable of the manufacturer is preferred.
597
598 **Er.28 Encoder Z pulse lost**
599
600 Fault
601
602 |=(% style="width: 463px;" %)**Servo drive panel display**|=(% style="width: 612px;" %)**Fault name**
603 |(% style="width:463px" %)[[image:image-20220709165633-17.png]]|(% style="width:612px" %)Encoder Z pulse lost
604
605 Troubleshooting
606
607 |=(% style="width: 227px;" %)**Reason**|=(% style="width: 448px;" %)**Troubleshooting methods**|=(% style="width: 401px;" %)**Handling**
608 |(% style="width:227px" %)Wrong motor model|(% style="width:448px" %)Check whether the Motor Code is consistent with the Motor nameplate|(% style="width:401px" %)Contact technician to record the motor Motor Code
609 |(% rowspan="2" style="width:227px" %)External interference|(% style="width:448px" %)Check for strong magnetic fields nearby|(% style="width:401px" %)Eliminate nearby strong magnetic interference
610 |(% style="width:448px" %)Check whether there are sources of interference such as power supply inverter equipment nearby|(% style="width:401px" %)Separate strong and weak power as much as possible, with good ground contact between motor and servo drive, and keep away from power cable wiring.
611 |(% style="width:227px" %)Encoder fault|(% style="width:448px" %)Manually rotate the motor shaft counterclockwise or clockwise to observe whether the monitoring quantity U0-30 (electrical angle) changes regularly|(% style="width:401px" %)If the value of U0-30 (electrical angle) changes abruptly or does not change, the encoder itself may have problems, please replace the motor or encoder.
612
613 **Er.30 Encoder UVW signal error**
614
615 Fault
616
617 |=(% style="width: 470px;" %)**Servo drive panel display**|=(% style="width: 605px;" %)**Fault name**
618 |(% style="width:470px" %)[[image:image-20220709165638-18.png]]|(% style="width:605px" %)Encoder UVW signal error
619
620 Troubleshooting
621
622 |=(% style="width: 212px;" %)**Reason**|=(% style="width: 463px;" %)**Troubleshooting methods**|=(% style="width: 401px;" %)**Handling**
623 |(% style="width:212px" %)External interference|(% style="width:463px" %)Check that the motor and servo drive are well grounded|(% style="width:401px" %)Motor and servo drive are well grounded
624 |(% style="width:212px" %)Encoder cable fault|(% style="width:463px" %)Cross-verification. Use the normal motor, encoder cable to connect to the servo drive.|(% style="width:401px" %)Replace it with an encoder cable with higher connection reliability.
625 |(% style="width:212px" %)Servo drive fault|(% style="width:463px" %)The servo drive is still faulty after power on again|(% style="width:401px" %)Servo drive may be damaged.Contact technician for repair
626
627 **Er.31 Power line disconnection**
628
629 Fault
630
631 |=(% style="width: 468px;" %)**Servo drive panel display**|=(% style="width: 607px;" %)**Fault name**
632 |(% style="width:468px" %)[[image:image-20220709165643-19.png]]|(% style="width:607px" %)Power line disconnection
633
634 Troubleshooting
635
636 |=(% style="width: 248px;" %)**Reason**|=(% style="width: 397px;" %)**Troubleshooting methods**|=(% style="width: 431px;" %)**Handling**
637 |(% style="width:248px" %)The motor power line wiring port is poorly contacted|(% style="width:397px" %)Check whether the motor power line connection port is connected reliably|(% style="width:431px" %)Tighten the fixing screws of the motor power line connection ports
638 |(% style="width:248px" %)The power cable is disconnected|(% style="width:397px" %)Check the power cable for disconnections at both ends|(% style="width:431px" %)Replace the power cable and power on again.
639 |(% style="width:248px" %)Poor contact on adapter port (Rectangular connection cable)|(% style="width:397px" %)Check whether both ends of the rectangular connector are reliably connected|(% style="width:431px" %)Make sure that both ends of the rectangular connector are connected reliably; Replace it with an encoder cable with higher connection reliability.
640
641 **Er.32 Exceeds motor maximum speed**
642
643 Fault
644
645 |=(% style="width: 465px;" %)**Servo drive panel display**|=(% style="width: 610px;" %)**Fault name**
646 |(% style="width:465px" %)[[image:image-20220709165647-20.png]]|(% style="width:610px" %)Exceeds motor maximum speed
647
648 Troubleshooting
649
650 |=(% style="width: 300px;" %)**Reason**|=(% style="width: 423px;" %)**Troubleshooting methods**|=(% style="width: 353px;" %)**Handling**
651 |(% style="width:300px" %)The UVW phase sequence of motor power cable is incorrect|(% style="width:423px" %)Check whether the phase sequence of the motor power cable on the servo driver side and motor side corresponds to each other.|(% style="width:353px" %)Connect correctly according to UVW on the drive side and UVW on the motor side
652 |(% rowspan="2" style="width:300px" %)P01-10 parameter Settings are incorrect|(% style="width:423px" %)Check that the parameter value of P01-10 (maximum speed threshold) is less than the maximum speed required for the actual operation of the motor|(% rowspan="2" style="width:353px" %)Reset P01-10 (maximum speed threshold) according to mechanical requirements
653 |(% style="width:423px" %)(((
654 Check whether the motor speed corresponding to the input instruction exceeds P01-10 (maximum speed threshold).
655
656 Position mode, when the instruction is from a pulse instruction (P01-06 = 0).
657
658 Motor speed (rpm) = input pulse frequency (Hz) * 60 * electronic gear ratio / encoder resolution
659 )))
660 |(% style="width:300px" %)Servo drive fault|(% style="width:423px" %)The servo drive is still faulty after power on again|(% style="width:353px" %)Servo drive may be damaged. Please replace the servo drive.
661
662 **Er.33 Power module is over temperature**
663
664 Fault
665
666 |=(% style="width: 468px;" %)**Servo drive panel display**|=(% style="width: 607px;" %)**Fault name**
667 |(% style="width:468px" %)[[image:image-20220709165654-21.png]]|(% style="width:607px" %)Power module is over temperature
668
669 Troubleshooting
670
671 |=(% style="width: 290px;" %)**Reason**|=(% style="width: 432px;" %)**Troubleshooting methods**|=(% style="width: 354px;" %)**Handling**
672 |(% style="width:290px" %)Ambient temperature is too high|(% style="width:432px" %)Measure the ambient temperature|(% style="width:354px" %)Reduce the ambient temperature of the servo drive
673 |(% style="width:290px" %)The cooling fan is faulty|(% style="width:432px" %)Check the servo drive fan for blockage or damage|(% style="width:354px" %)Contact technician for fan repair or replacement
674 |(% style="width:290px" %)The servo drive is mounted in an unreasonable orientation or the spacing between the servo drives is unreasonable|(% style="width:432px" %)Check whether the servo drive installation is reasonable|(% style="width:354px" %)Contact technical to obtain the installation standard of the servo drive
675 |(% style="width:290px" %)Servo drive fault|(% style="width:432px" %)Restarting after 10 minutes of power failure is still reported|(% style="width:354px" %)Servo drive may be damaged. Please replace the servo drive.
676
677 **Er.34 Motor overload protection**
678
679 Fault
680
681 |=(% style="width: 460px;" %)**Servo drive panel display**|=(% style="width: 615px;" %)**Fault name**
682 |(% style="width:460px" %)[[image:image-20220709170406-1.png]]|(% style="width:615px" %)Motor overload protection
683
684 Troubleshooting
685
686 |=(% style="width: 239px;" %)**Reason**|=(% style="width: 435px;" %)**Troubleshooting methods**|=(% style="width: 402px;" %)**Handling**
687 |(% style="width:239px" %)Motor power cable, encoder cable wiring error|(% style="width:435px" %)Check whether the motor power cable and encoder cable wiring are correct.|(% style="width:402px" %)(((
688 Connect them according to the correct connection method.
689
690 Priority is given to the use of motor power lines and encoder cables as standard by manufacturers
691 )))
692 |(% style="width:239px" %)The load is too large|(% style="width:435px" %)Check overload characteristics of motor or servo drive|(% style="width:402px" %)(((
693 Reduce the load.
694
695 Contact technical to obtain the appropriate capacity drive and motor model.
696 )))
697 |(% style="width:239px" %)Frequent acceleration and deceleration|(% style="width:435px" %)Check whether the acceleration and deceleration motion is frequent or the acceleration and deceleration time is too small|(% style="width:402px" %)Appropriately extend the acceleration and deceleration time
698 |(% style="width:239px" %)Motor model and servo driver do not match|(% style="width:435px" %)Check the monitoring quantity U0-53 (motor model code).|(% style="width:402px" %)Contact technician to obtain the matching motor model.
699 |(% rowspan="3" style="width:239px" %)Unreasonable parameters|(% style="width:435px" %)Use Wecon SCTools to obtain the actual torque waveform and observe whether overshoot is obvious|(% style="width:402px" %)Set the appropriate loop gain parameters
700 |(% style="width:435px" %)Observe whether the motor vibrates during operation|(% style="width:402px" %)Set the appropriate rigidity level
701 |(% style="width:435px" %)Check whether p10-04 (Motor overload protection time coefficient) is reasonable|(% style="width:402px" %)Increase P10-04 (motor overload protection time factor) in the case of ensuring that the motor will not burn out.
702 |(% style="width:239px" %)Motor blockage|(% style="width:435px" %)Check if the motor is blocked due to mechanical jamming of the load.|(% style="width:402px" %)Release the mechanical jam.
703 |(% style="width:239px" %)The brakes are not open|(% style="width:435px" %)Check whether the brake device is opened normally, and check whether the output voltage of the brake is 24V|(% style="width:402px" %)Check the logic of brake power supply or brake output signal
704 |(% style="width:239px" %)Servo drive fault|(% style="width:435px" %)The servo drive is still faulty after power on again|(% style="width:402px" %)Servo drive may be damaged, please contact technician for repair.
705
706 **Er.35 Electronic gear ratio exceeds limit**
707
708 Fault
709
710 |=(% style="width: 473px;" %)**Servo drive panel display**|=(% style="width: 602px;" %)**Fault name**
711 |(% style="width:473px" %)[[image:image-20220709170424-2.png]]|(% style="width:602px" %)Electronic gear ratio exceeds limit
712
713 Troubleshooting
714
715 |=(% style="width: 299px;" %)**Reason**|=(% style="width: 457px;" %)**Troubleshooting methods**|=(% style="width: 320px;" %)**Handling**
716 |(% style="width:299px" %)The electronic gear ratio setting is greater than the settable range|(% style="width:457px" %)(((
717 Check that the ratio of function codes P01-17/P01-18, P01-19/P01-20 is in the following range.
718
719 17bit absolute encoder upper limit value: 500.
720
721 23bit absolute encoder upper limit value: 32000
722 )))|(% rowspan="2" style="width:320px" %)After modifying the corresponding function code according to the range, set P10-03 (fault clearance) to 1.
723 |(% style="width:299px" %)The electronic gear ratio setting is less than the settable range|(% style="width:457px" %)(((
724 Check that the ratio of function codes P01-17/P01-18, P01-19/P01-20 is in the following range.
725
726 17bit absolute encoder lower limit value: 500.
727 )))
728
729 **Er.36 Position deviation is too large**
730
731 Fault
732
733 |=(% style="width: 463px;" %)**Servo drive panel display**|=(% style="width: 612px;" %)**Fault name**
734 |(% style="width:463px" %)[[image:image-20220709170438-3.png]]|(% style="width:612px" %)Position deviation is too large
735
736 Troubleshooting
737
738 |=(% style="width: 233px;" %)**Reason**|=(% style="width: 449px;" %)**Troubleshooting methods**|=(% style="width: 394px;" %)**Handling**
739 |(% rowspan="2" style="width:233px" %)Cable error|(% style="width:449px" %)Check whether the phase sequence of the motor power cable on the servo driver side and motor side corresponds to each other.|(% style="width:394px" %)Connect correctly according to UVW on the drive side and UVW on the motor side
740 |(% style="width:449px" %)Check whether both ends of the power cable are disconnected|(% style="width:394px" %)Replace the power cable and power on again
741 |(% rowspan="4" style="width:233px" %)Unreasonable parameter settings|(% style="width:449px" %)Check whether P03-02 (Load rigidity Level) is set properly|(% style="width:394px" %)Reduce the P03-02 (load stiffness level) setting value appropriately
742 |(% style="width:449px" %)Check whether the gain parameters are set properly, resulting in overshoot|(% style="width:394px" %)Adjust gain parameters reasonably
743 |(% style="width:449px" %)Check whether P00-25 (position deviation threshold) is set properly|(% style="width:394px" %)Increase the value of P00-25 (position deviation threshold)
744 |(% style="width:449px" %)Use Wecon SCTools to obtain the equivalent speed of the position instruction and check whether the speed is greater than the motor speed limit|(% style="width:394px" %)Increase the setting values of P01-12 (forward speed threshold) and P01-13 (reverse speed threshold) according to mechanical requirements
745 |(% style="width:233px" %)Motor blockage|(% style="width:449px" %)Check if the motor is blocked due to mechanical jamming of the load.|(% style="width:394px" %)Release the mechanical jam.
746 |(% style="width:233px" %)The brakes are not open|(% style="width:449px" %)Check whether the brake device is opened normally, and check whether the output voltage of the brake is 24V|(% style="width:394px" %)Check the logic of brake power supply or brake output signal
747 |(% style="width:233px" %)The input pulse frequency is too high|(% style="width:449px" %)Position mode: when the instruction comes from the pulse instruction (P01-06=0), check whether the input pulse frequency is too high|(% style="width:394px" %)Reduce the input pulse frequency
748 |(% style="width:233px" %)The equivalent velocity of position instruction changes too fast|(% style="width:449px" %)Check if the position instruction changes too fast in the equivalent speed|(% style="width:394px" %)Properly increase the acceleration and deceleration time and reduce the rate of change of the speed
749
750 **Er.37 Torque saturation abnormal**
751
752 Fault
753
754 |=(% style="width: 467px;" %)**Servo drive panel display**|=(% style="width: 608px;" %)**Fault name**
755 |(% style="width:467px" %)[[image:image-20220709170455-4.png]]|(% style="width:608px" %)Torque saturation abnormal
756
757 Troubleshooting
758
759 |=(% style="width: 227px;" %)**Reason**|=(% style="width: 460px;" %)**Troubleshooting methods**|=**Handling**
760 |(% style="width:227px" %)Motor power line cable UVW phase sequence error|(% style="width:460px" %)Check whether the phase sequence of the motor power cable on the servo driver side and motor side corresponds to each other.|Connect correctly according to UVW on the drive side and UVW on the motor side
761 |(% rowspan="4" style="width:227px" %)Unreasonable parameter settings|(% style="width:460px" %)Check whether P01-19 Torque saturation timeout) is set properly|Increase P01-19 Torque saturation timeout) setting value appropriately
762 |(% style="width:460px" %)Check whether P01-15 (forward torque limit) and P01-16 (reverse torque limit) are set reasonable|Increase the setting values of P01-15 (forward torque limit) and P01-16 (reverse torque limit) appropriately
763 |(% style="width:460px" %)Check whether the gain parameters are set properly|Adjust gain parameters reasonably
764 |(% style="width:460px" %)Check whether the gain parameters are set properly|Increase the acceleration and deceleration time
765 |(% style="width:227px" %)The load is too heavy|(% style="width:460px" %)Check whether the load is too heavy|Reduce the load
766 |(% style="width:227px" %)Motor blockage|(% style="width:460px" %)Check whether the motor is blocked due to mechanical jamming of the load.|Release the mechanical jam.
767 |(% style="width:227px" %)The brakes are not open|(% style="width:460px" %)Check whether the brake device is opened normally, and check whether the output voltage of the brake is 24V|Check the logic of brake power supply or brake output signal
768 |(% style="width:227px" %)Limit switches are mounted outside the travel|(% style="width:460px" %)Check whether the limit switch is installed outside the travel|Adjust the installation position of limit switch
769
770 **Er.38 Main circuit electricity is lack of phase**
771
772 Fault
773
774 |=**Servo drive panel display**|=**Fault name**
775 |[[image:image-20220709170508-5.png]]|Main circuit electricity is lack of phase
776
777 Troubleshooting
778
779 |=(% style="width: 270px;" %)**Reason**|=(% style="width: 424px;" %)**Troubleshooting methods**|=**Handling**
780 |(% rowspan="2" style="width:270px" %)Cable error|(% style="width:424px" %)Check whether the motor power line connection port is connected reliably|Tighten the fixing screws of the motor power line connection ports
781 |(% style="width:424px" %)Check the power cable for disconnections at both ends|Replace the power cable and power on again.
782 |(% style="width:270px" %)Three-phase specification drives run on single-phase power supplies|(% style="width:424px" %)Check whether the three-phase drive has a single-phase power supply|Connect a three-phase power supply according to the power supply specifications
783 |(% style="width:270px" %)The power supply is unstable or off|(% style="width:424px" %)(((
784 Check that the drive input power specifications meet the specifications:
785
786 220V drive valid value: 198V to 242V.
787
788 380V drive valid value: 342V to 418V
789 )))|Use after the power supply is stable.
790 |(% style="width:270px" %)Servo drive fault|(% style="width:424px" %)The servo drive is still faulty after power on again|Servo drive may be damaged, please contact technician for repair.
791
792 **Er.39 Emergency stop**
793
794 Fault
795
796 |=(% style="width: 466px;" %)**Servo drive panel display**|=(% style="width: 609px;" %)**Fault name**
797 |(% style="width:466px" %)[[image:image-20220709170521-6.png]]|(% style="width:609px" %)Emergency stop
798
799 Troubleshooting
800
801 |=(% style="width: 244px;" %)**Reason**|=(% style="width: 545px;" %)**Troubleshooting methods**|=(% style="width: 287px;" %)**Handling**
802 |(% rowspan="2" style="width:244px" %)Servo drive receives emergency stop instructions|(% style="width:545px" %)Check whether emergency stop protection is triggered manually|(% style="width:287px" %)Power on the servo drive again
803 |(% style="width:545px" %)(((
804 Check whether the servo drive has mistakenly triggered the emergency stop signal.
805
806 Check whether function 08 (E-STOP) is configured in the P06 group "DIDO configuration" function code group "DI port function selection" and whether the DI port wiring is normal.
807 )))|(% style="width:287px" %)(((
808 Properly wire the DI port
809
810
811 )))
812
813 **Er.40 Encoder battery failure**
814
815 Fault
816
817 |=(% style="width: 469px;" %)**Servo drive panel display**|=(% style="width: 606px;" %)**Fault name**
818 |(% style="width:469px" %)[[image:image-20220709170534-7.png]]|(% style="width:606px" %)Encoder battery failure
819
820 Troubleshooting
821
822 |=(% style="width: 361px;" %)**Reason**|=(% style="width: 395px;" %)**Troubleshooting methods**|=(% style="width: 320px;" %)**Handling**
823 |(% style="width:361px" %)Multi-turn absolute encoder is not connected to the battery during the power off of the servo drive|(% style="width:395px" %)Check if the encoder is connected to the battery during the power off of the servo|(% style="width:320px" %)Set P10-03 (Fault clearing) to 1
824 |(% style="width:361px" %)The voltage of multi-turn absolute encoder battery is low|(% style="width:395px" %)Measure battery voltage|(% style="width:320px" %)Contact technicians to replace with a new encoder battery
825
826 **Er.41 Motor (encoder) over temperature**
827
828 Fault
829
830 |=(% style="width: 465px;" %)**Servo drive panel display**|=(% style="width: 610px;" %)**Fault name**
831 |(% style="width:465px" %)[[image:image-20220709170547-8.png]]|(% style="width:610px" %)Motor (encoder) over temperature
832
833 Troubleshooting
834
835 |=(% style="width: 273px;" %)**Reason**|=(% style="width: 462px;" %)**Troubleshooting methods**|=**Handling**
836 |(% style="width:273px" %)The motor is overloaded|(% style="width:462px" %)Check whether the motor is overloaded|Reduce the load of the motor
837
838 **Er.42 Encoder write fault fault**
839
840 Fault
841
842 |=(% style="width: 471px;" %)**Servo drive panel display**|=(% style="width: 604px;" %)**Fault name**
843 |(% style="width:471px" %)[[image:image-20220709170937-1.png]]|(% style="width:604px" %)Encoder write faults
844
845 Troubleshooting
846
847 |=**Reason**|=(% style="width: 426px;" %)**Troubleshooting methods**|=(% style="width: 404px;" %)**Handling**
848 |(% rowspan="2" %)Poor contact of CN1 port|(% style="width:426px" %)Check whether the cable port (CN1) of the encoder is properly connected|(% style="width:404px" %)Tighten the fixing screws on the CN1 port
849 |(% style="width:426px" %)Check whether the servo drive CN1 port jack is deformed|(% style="width:404px" %)If the cable is deformed, replace the cable or its port
850 |Poor contact on adapter port (Rectangular connection cable)|(% style="width:426px" %)Check whether both ends of the rectangular connector are reliably connected|(% style="width:404px" %)Make sure that both ends of the rectangular connector are connected reliably; Replace it with an encoder cable with higher connection reliability.
851 |(% rowspan="2" %)External interference|(% style="width:426px" %)Check for strong magnetic fields nearby|(% style="width:404px" %)Eliminate nearby strong magnetic interference
852 |(% style="width:426px" %)Check whether there are sources of interference such as power supply inverter equipment nearby|(% style="width:404px" %)Separate strong and weak power as much as possible, with good ground contact between motor and servo drive, and keep away from power cable wiring.
853 |Servo drive fault|(% style="width:426px" %)The servo drive is still faulty after power on again|(% style="width:404px" %)Servo drive may be damaged, please contact technician for repair.
854
855 **Er.43 Drive overload fault**
856
857 Fault
858
859
860 |=**Servo drive panel display**|=**Fault name**
861 |[[image:file:///C:/Users/16127/AppData/Local/Temp/msohtmlclip1/01/clip_image001.emz]][[image:file:///C:/Users/16127/AppData/Local/Temp/msohtmlclip1/01/clip_image001.emz]] ​​​​​​[[image:企业微信截图_16877625944107.png]]|Drive overload fault
862
863 Troubleshooting
864
865 |Reason|Troubleshooting|Handling
866 |The average output power (U0-34) exceeds the limit power (overload 110%) for more than 20 minutes.|Whether the average output power (U0-34) often exceeds the limit (overload 110) Check whether the drive meets the requirements.|Observed whether the U0-34 is often greater than the servo limit power (overload 110%) during servo operation. When ER.43 alarm is found in the process of machine adjustment, please check whether the servo power is suitable. It is recommended to replace the driver model with higher power.
867 |Servo drive fault|The servo drive is still faulty after power on again|Servo drive may be damaged, contact the manufacturer's technician for repair.
868
869 (% style="text-align:center" %)
870 [[image:1687762670698-912.png]]
871
872 **Er.60 ADC conversion is not complete**
873
874 Fault
875
876 |=**Servo drive panel display**|=**Fault name**
877 |[[image:image-20220709170943-2.png]]|ADC conversion is not complete
878
879 Troubleshooting
880
881 |=(% style="width: 210px;" %)**Reason**|=(% style="width: 479px;" %)**Troubleshooting methods**|=(% style="width: 387px;" %)**Handling**
882 |(% rowspan="2" style="width:210px" %)External interference|(% style="width:479px" %)Check for strong magnetic fields nearby|(% style="width:387px" %)Eliminate nearby strong magnetic interference
883 |(% style="width:479px" %)Check whether there are sources of interference such as power supply inverter equipment nearby|(% style="width:387px" %)Separate strong and weak power as much as possible, with good ground contact between motor and servo drive, and keep away from power cable wiring.
884 |(% style="width:210px" %)Servo drive fault|(% style="width:479px" %)Factory reset the parameter (P10-02=1) and power on again. If the servo drive still alarms after multiple operations, it is faulty.|(% style="width:387px" %)If there is still alarm after multiple power-on, contact the technician.
885
886 **Er.61 Internal software fault**
887
888 Fault
889
890 |=(% style="width: 470px;" %)**Servo drive panel display**|=(% style="width: 605px;" %)**Fault name**
891 |(% style="width:470px" %)[[image:image-20220709170950-3.png]]|(% style="width:605px" %)Internal software fault
892
893 Troubleshooting
894
895 |=(% style="width: 235px;" %)**Reason**|=(% style="width: 478px;" %)**Troubleshooting methods**|=(% style="width: 363px;" %)**Handling**
896 |(% style="width:235px" %)Servo drive fault|(% style="width:478px" %)Factory reset the parameter (P10-02=1) and power on again. If the servo drive still alarms after multiple operations, it is faulty.|(% style="width:363px" %)If there is still alarm after multiple power-on, contact the technician.
897
898 **Er.62 Internal software fault**
899
900 Fault
901
902 |=(% style="width: 479px;" %)**Servo drive panel display**|=(% style="width: 596px;" %)**Fault name**
903 |(% style="width:479px" %)[[image:image-20220709171001-4.png]]|(% style="width:596px" %)Internal software fault
904
905 Troubleshooting
906
907 |=(% style="width: 218px;" %)**Reason**|=(% style="width: 501px;" %)**Troubleshooting methods**|=(% style="width: 357px;" %)**Handling**
908 |(% style="width:218px" %)Servo drive fault|(% style="width:501px" %)Factory reset the parameter (P10-02=1) and power on again. If the servo drive still alarms after multiple operations, it is faulty.|(% style="width:357px" %)If there is still alarm after multiple power-on, contact the technician.
909
910 **Er.63 Internal software fault**
911
912 Fault
913
914 |=(% style="width: 468px;" %)**Servo drive panel display**|=(% style="width: 607px;" %)**Fault name**
915 |(% style="width:468px" %)[[image:image-20220709171011-5.png]]|(% style="width:607px" %)Internal software fault
916
917 Troubleshooting
918
919 |=(% style="width: 238px;" %)**Reason**|=(% style="width: 471px;" %)**Troubleshooting methods**|=(% style="width: 367px;" %)**Handling**
920 |(% style="width:238px" %)Servo drive fault|(% style="width:471px" %)Factory reset the parameter (P10-02=1) and power on again. If the servo drive still alarms after multiple operations, it is faulty.|(% style="width:367px" %)If there is still alarm after multiple power-on, contact the technician.
921
922 **Er.64 Internal software fault**
923
924 Fault
925
926 |=(% style="width: 472px;" %)**Servo drive panel display**|=(% style="width: 603px;" %)**Fault name**
927 |(% style="width:472px" %)[[image:image-20220709171022-6.png]]|(% style="width:603px" %)Internal software fault
928
929 Troubleshooting
930
931 |=(% style="width: 227px;" %)**Reason**|=(% style="width: 498px;" %)**Troubleshooting methods**|=(% style="width: 351px;" %)**Handling**
932 |(% style="width:227px" %)Servo drive fault|(% style="width:498px" %)Factory reset the parameter (P10-02=1) and power on again. If the servo drive still alarms after multiple operations, it is faulty.|(% style="width:351px" %)If there is still alarm after multiple power-on, contact the technician.
933
934 **Er.65 Internal software fault**
935
936 Fault
937
938 |=(% style="width: 472px;" %)**Servo drive panel display**|=(% style="width: 603px;" %)**Fault name**
939 |(% style="width:472px" %)[[image:image-20220709171027-7.png]]|(% style="width:603px" %)Internal software fault
940
941 Troubleshooting
942
943 |=(% style="width: 212px;" %)**Reason**|=(% style="width: 518px;" %)**Troubleshooting methods**|=(% style="width: 346px;" %)**Handling**
944 |(% style="width:212px" %)Servo drive fault|(% style="width:518px" %)Factory reset the parameter (P10-02=1) and power on again. If the servo drive still alarms after multiple operations, it is faulty.|(% style="width:346px" %)If there is still alarm after multiple power-on, contact the technician.
945
946 **A-80 Drive overpower warning**
947
948 Fault
949
950 |=Servo drive panel display|=Alarm name
951 |[[image:file:///C:/Users/16127/AppData/Local/Temp/msohtmlclip1/01/clip_image001.emz]][[image:1687763210466-195.png||height="54" width="150"]]|Drive overpower warning
952
953 Troubleshooting
954
955 |Reason|Troubleshooting|Handling
956 |(((
957 The average output power (U0-34) exceeds the limit power of the drive (overload 110%) for more than 5 seconds, the drive will have alarm.
958
959
960 )))|Check whether the average output power (U0-34) exceeds the limit (overload 110) The average output power (U0-34) exceeds the limit power (overload 110%) for more than 5 minutes. Check whether the U0-34 exceeds 110% of the rated power of the driver.|Check whether the U0-34 exceeds 110% of the rated power of the driver. When A80 alarm is found in the process of machine adjustment, please check whether the servo power is suitable.
961
962 (% style="text-align:center" %)
963 [[image:1687763249516-252.png]]
964
965 **A-81 Overspeed alarm**
966
967 Fault
968
969 |=(% style="width: 498px;" %)**Servo drive panel display**|=(% style="width: 577px;" %)**Fault name**
970 |(% style="width:498px" %)[[image:image-20220709171047-8.png]]|(% style="width:577px" %)Overspeed alarm
971
972 Troubleshooting
973
974 |=(% style="width: 225px;" %)**Reason**|=(% style="width: 474px;" %)**Troubleshooting methods**|=(% style="width: 377px;" %)**Handling**
975 |(% style="width:225px" %)Motor power line cable UVW phase sequence error|(% style="width:474px" %)Check whether the phase sequence of the motor power cable on the servo driver side and motor side corresponds to each other.|(% style="width:377px" %)Connect correctly according to UVW on the drive side and UVW on the motor side
976 |(% style="width:225px" %)P01-11 parameter setting is not proper|(% style="width:474px" %)Check whether the value of P01-11 (warning speed threshold) is less than the max speed required for the operation of motor|(% style="width:377px" %)Reset P01-11 (warning speed threshold) according to mechanical requirements
977 |(% style="width:225px" %)Input speed command is too high|(% style="width:474px" %)Check whether the motor speed corresponding to the input command exceeds P01-11 (maximum speed threshold)|(% style="width:377px" %)Reduce the input speed instruction according to the mechanical requirements; Reasonably increase P01-11 (warning speed threshold)
978
979 **A-82 Overload**
980
981 Fault
982
983 |=(% style="width: 479px;" %)**Servo drive panel display**|=(% style="width: 596px;" %)**Fault name**
984 |(% style="width:479px" %)[[image:image-20220709171057-9.png]]|(% style="width:596px" %)Overload
985
986 Troubleshooting
987
988 |=(% style="width: 233px;" %)**Reason**|=(% style="width: 454px;" %)**Troubleshooting methods**|=**Handling**
989 |(% style="width:233px" %)Motor power cable, encoder cable wiring error|(% style="width:454px" %)Check whether the motor power cable and encoder cable wiring are correct.|(((
990 Connect them according to the correct connection method.
991
992 Priority is given to the use of motor power lines and encoder cables as standard by manufacturers
993 )))
994 |(% style="width:233px" %)The load is too large|(% style="width:454px" %)Check overload characteristics of motor or servo drive|Reduce the load. Contact technical to obtain the appropriate capacity drive and motor model.
995 |(% style="width:233px" %)Motor model and servo driver do not match|(% style="width:454px" %)Perform inertia identification and check the inertia ratio.|Contact technician to obtain the matching motor model.
996 |(% style="width:233px" %)Motor model and servo driver do not match|(% style="width:454px" %)Check the monitoring quantity U0-53 (motor model code).|Contact technician to obtain the matching motor model.
997 |(% rowspan="2" style="width:233px" %)Unreasonable parameters|(% style="width:454px" %)Use Wecon SCTools to obtain the actual torque waveform and observe whether overshoot is obvious|Set the appropriate loop gain parameters
998 |(% style="width:454px" %)Observe whether the motor vibrates during operation|Set the appropriate rigidity level
999
1000 **A-83 Braking resistor is over temperature or overloaded**
1001
1002 Fault
1003
1004 |=(% style="width: 461px;" %)**Servo drive panel display**|=(% style="width: 614px;" %)**Fault name**
1005 |(% style="width:461px" %)[[image:image-20220709171112-10.png]]|(% style="width:614px" %)Braking resistor is over temperature or overloaded
1006
1007 Troubleshooting
1008
1009 |=(% style="width: 228px;" %)**Reason**|=(% style="width: 455px;" %)**Troubleshooting methods**|=(% style="width: 393px;" %)**Handling**
1010 |(% style="width:228px" %)Improper connection of internal braking resistor|(% style="width:455px" %)Check whether C, D are connected to the short cap and the contact is normal|(% style="width:393px" %)When using an internal braking resistor, reliably connect the shorting cap or shorting wire between C and D
1011 |(% style="width:228px" %)Improper connection of external braking resistor|(% style="width:455px" %)Remove the external braking resistor and measure whether the resistance value is "[[image:image-20220709163326-87.png]]" (infinity)|(% style="width:393px" %)Replace the new external braking resistor. After ensuring that the resistance value of the resistor is the same as the nominal value, connect it in series between P+ and C.
1012 |(% style="width:228px" %)The resistance value of the external braking resistor is too large|(% style="width:455px" %)Test the actual external braking resistor resistance and compare it with the recommended braking resistor to make sure the actual resistance is not too large.|(% style="width:393px" %)Use a suitable external braking resistor.
1013 |(% style="width:228px" %)Improper parameter setting|(% style="width:455px" %)(((
1014 When using an external braking resistor, check the following parameters.
1015
1016 Whether P00-09 (braking resistor setting) is reasonable.
1017
1018 P00-10 (external braking resistor resistance value) is reasonable.
1019 )))|(% style="width:393px" %)(((
1020 Reasonable setting of P00-09 (braking resistor setting):
1021
1022 P00-09=1 (use external braking resistor and natural cooling)
1023
1024 P00-09 = 3 (do not use the braking resistor, all by capacitor absorption)
1025
1026 P00-10 (external braking resistor resistance value) parameter value and the actual actual use of external braking resistor are consistent.
1027 )))
1028
1029 **A-84 Parameter modification that needs to be powered on again**
1030
1031 Fault
1032
1033 |=(% style="width: 454px;" %)**Servo drive panel display**|=(% style="width: 621px;" %)**Fault name**
1034 |(% style="width:454px" %)[[image:image-20220709171124-11.png]]|(% style="width:621px" %)Braking resistor is over temperature or overloaded
1035
1036 Troubleshooting
1037
1038 |=(% style="width: 316px;" %)**Reason**|=(% style="width: 541px;" %)**Troubleshooting methods**|=(% style="width: 219px;" %)**Handling**
1039 |(% style="width:316px" %)Modified the effective timing to "power on again" parameter.|(% style="width:541px" %)Check whether the servo drive has modified the parameter with the effective time "power on again".|(% style="width:219px" %)Power on again
1040
1041 **A-85 Receive position pulse when servo is OFF**
1042
1043 Fault
1044
1045 |=(% style="width: 465px;" %)**Servo drive panel display**|=(% style="width: 610px;" %)**Fault name**
1046 |(% style="width:465px" %)[[image:image-20220709171137-12.png]]|(% style="width:610px" %)Receive position pulse when servo is OFF
1047
1048 Troubleshooting
1049
1050 |=(% style="width: 270px;" %)**Reason**|=(% style="width: 502px;" %)**Troubleshooting methods**|=(% style="width: 304px;" %)**Handling**
1051 |(% style="width:270px" %)Servo received position pulse when it is OFF.|(% style="width:502px" %)Check whether the servo drive is in the OFF state, and check whether the host computer is sending pulse instruction.|(% rowspan="2" style="width:304px" %)The host computer stops sending pulse instructions.
1052 |(% style="width:270px" %)Servo received pulse instruction in non-position mode|(% style="width:502px" %)(((
1053 Check whether the servo drive P00-01 (control mode) is in position mode;
1054
1055 Check whether the host computer is sending pulse instructions
1056 )))
1057
1058 **A-86 Input pulse frequency is too high**
1059
1060 Fault
1061
1062 |=(% style="width: 463px;" %)**Servo drive panel display**|=(% style="width: 612px;" %)**Fault name**
1063 |(% style="width:463px" %)[[image:image-20220709171149-13.png]]|(% style="width:612px" %)Input pulse frequency is too high
1064
1065 Troubleshooting
1066
1067 |=(% style="width: 240px;" %)**Reason**|=(% style="width: 446px;" %)**Troubleshooting methods**|=**Handling**
1068 |(% style="width:240px" %)The input pulse frequency is too high|(% style="width:446px" %)Position mode; When the instruction source is pulse instructions (P01-06=0), check whether the input pulse frequency is too high|Reduce the input pulse frequency
1069 |(% rowspan="2" style="width:240px" %)Improper parameter setting|(% style="width:446px" %)Check whether the parameter value of P01-16 (number of instruction pulses for one rotation of the motor) is greater than the actual demand value.|Reset P01-16 according to mechanical requirements (number of instruction pulses for one rotation of motor).
1070 |(% style="width:446px" %)Check whether the parameter value of P01-17 to P01-20 (electronic gear ratio) is greater than the actual demand value.|Reset parameter of values P01-17 to P01-20 (electronic gear ratio) according to mechanical requirements
1071
1072 **A-88 Main circuit momentary power off**
1073
1074 Fault
1075
1076 |=**Servo drive panel display**|=**Fault name**
1077 |[[image:image-20220709171200-14.png]]|Main circuit momentary power off
1078
1079 Troubleshooting
1080
1081 |=(% style="width: 223px;" %)**Reason**|=(% style="width: 462px;" %)**Troubleshooting methods**|=(% style="width: 391px;" %)**Handling**
1082 |(% style="width:223px" %)Power off|(% style="width:462px" %)(((
1083 Check that the drive input power specifications meet the specifications:
1084
1085 220V drive valid value: 198V to 242V.
1086
1087 380V drive valid value: 342V to 418V
1088 )))|(% style="width:391px" %)Use it after the power supply is stable
1089 |(% style="width:223px" %)Servo drive fault|(% style="width:462px" %)The servo drive is still faulty after power on again|(% style="width:391px" %)Servo drive may be damaged, please contact technician for repair.
1090
1091 **A-89 DI port configuration is duplicate**
1092
1093 Fault
1094
1095 |=(% style="width: 482px;" %)**Servo drive panel display**|=(% style="width: 593px;" %)**Fault name**
1096 |(% style="width:482px" %)[[image:image-20220709171217-15.png]]|(% style="width:593px" %)DI port configuration is duplicate
1097
1098 Troubleshooting
1099
1100 |=**Reason**|=(% style="width: 464px;" %)**Troubleshooting methods**|=(% style="width: 375px;" %)**Handling**
1101 |The same non-zero DI function is assigned to multiple DI ports|(% style="width:464px" %)Check whether the "DI port function selection" of the "DIDO Configuration" function code group of the P06 group is configured with the same DI function|(% style="width:375px" %)(((
1102 Configuring each DI port for different DI functions and power on again.
1103
1104 Configure the function of the unwanted DI ports to 0 (off) and power on again.
1105
1106 Factory reset the parameter P10-02=1, and power on again.
1107 )))
1108
1109 **A-90 DI port configuration is duplicate**
1110
1111 Fault
1112
1113 |=**Servo drive panel display**|=**Fault name**
1114 |[[image:image-20220709171230-16.png]]|DO port configuration i duplicate
1115
1116 Troubleshooting
1117
1118 |=**Reason**|=(% style="width: 469px;" %)**Troubleshooting methods**|=(% style="width: 367px;" %)**Handling**
1119 |The same non-zero DO function is assigned to multiple DO ports|(% style="width:469px" %)Check whether the "DO port function selection" of the "DIDO Configuration" function code group of the P06 group is configured with the same DO function|(% style="width:367px" %)(((
1120 Configuring each DO port for different DO functions and power on again.
1121
1122 Configure the function of the unwanted DO ports to 0 (off) and power on again.
1123
1124 Factory reset the parameter P10-02=1, and power on again.
1125 )))
1126
1127 **A-91 Parameter modification is too frequent**
1128
1129 Fault
1130
1131 |=(% style="width: 465px;" %)**Servo drive panel display**|=(% style="width: 610px;" %)**Fault name**
1132 |(% style="width:465px" %)[[image:image-20220709171241-17.png]]|(% style="width:610px" %)(((
1133 Parameter modification is too frequent (modification frequency allowed of function code: 6 hours/150 times
1134
1135 Note: 32-bit function code: recorded as 2 times)
1136 )))
1137
1138 Troubleshooting
1139
1140 |Reason|Troubleshooting|Handling
1141 |EEPROM writing frequency is too high|(((
1142 Check whether the host computer frequently modifies the parameters (modification frequency allowed of function code: 6 hours/150 times
1143
1144 Note: 32-bit function code: recorded as 2 times)
1145
1146
1147 )))|(((
1148 (1) During machine adjustment, A91 warning (6 hours/150 times) caused by manual frequent modification of function codes can be cleared through P10-03. In other cases, please check the PLC program
1149
1150 (2) If A91 warning appears in the normal working mode of the machine, please check whether the PLC program frequently modifies the function code.
1151
1152 (3) When the function code needs to be modified frequently, it is recommended to close Modbus write to EEPROM (P12-4 is set to 0)
1153 )))
1154 |(% rowspan="3" %)external interference|Check for strong magnetic fields nearby|Eliminate nearby strong magnetic interference
1155 |Check whether there are sources of interference such as power supply inverter equipment nearby|Separate strong and weak power as much as possible, with good ground contact between motor and servo drive, and keep away from power cable wiring.
1156 |(((
1157 Increase the abnormal threshold setting of P0-31 encoder read-write check.
1158
1159
1160 )))|Eliminate the A93 warning by increasing the exception threshold is suitable as a temporary solution. The disadvantage is that the motor may run in an unstable state.
1161 |Encoder fault|Manually rotate the motor shaft counterclockwise or clockwise to observe whether the monitoring quantity U0-30 (electrical angle) changes regularly|If the value of U0-30 (electrical angle) changes abruptly or does not change, the encoder itself may have problems, please replace the motor or encoder.
1162 |Servo drive fault|●Cross-verification. Use the normal motor, encoder cable to connect to the servo drive. If the servo drive still have alarm, it is servo fault.|Servo driver may be damaged, please contact the manufacturer's technician.
1163
1164 **A-92 Low encoder battery voltage warning**
1165
1166 Fault
1167
1168 |=**Servo drive panel display**|=**Fault name**
1169 |[[image:image-20220709171253-18.png]]|Low encoder battery voltage warning
1170
1171 Troubleshooting
1172
1173 |=(% style="width: 335px;" %)**Reason**|=(% style="width: 347px;" %)**Troubleshooting methods**|=(% style="width: 394px;" %)**Handling**
1174 |(% style="width:335px" %)The encoder battery voltage is less than 3.1V|(% style="width:347px" %)Measure the encoder battery voltage|(% style="width:394px" %)Contact technician to replace a new encoder battery
1175
1176 **A-93 Abnormal and frequency of encoder read and write check is too high**
1177
1178 Fault
1179
1180 |=(% style="width: 378px;" %)**Servo drive panel display**|=(% style="width: 697px;" %)**Fault name**
1181 |(% style="width:378px" %)[[image:image-20220709171304-19.png]]|(% style="width:697px" %)The abnormal frequency of encoder read-write verification is too high
1182
1183 Troubleshooting
1184
1185 |=(% style="width: 235px;" %)**Reason**|=(% style="width: 446px;" %)**Troubleshooting methods**|=(% style="width: 395px;" %)**Handling**
1186 |(% colspan="1" rowspan="3" style="width:235px" %)External interference|(% style="width:446px" %)Check for strong magnetic fields nearby|(% style="width:395px" %)Eliminate nearby strong magnetic interference
1187 |(% style="width:446px" %)Check whether there are sources of interference such as power supply inverter equipment nearby|(% style="width:395px" %)Separate strong and weak power as much as possible, with good ground contact between motor and servo drive, and keep away from power cable wiring.
1188 |(% style="width:446px" %)Increase the abnormal threshold setting of P0-31.|(% style="width:395px" %)This method is suitable as a temporary workaround to eliminate the A93 warning. It may cause an unstable state in the operation of the motor.
1189 |(% style="width:235px" %)Encoder issue|(% style="width:446px" %)Manually rotate the motor shaft slowly, and observe the changes of the monitoring quantity U0-30 (electrical angle).|(% style="width:395px" %)If the value of U0-30 (electrical angle) changes suddenly or does not change, it may be a problem with the encoder, please replace the motor or encoder.
1190 |(% style="width:235px" %)Internal servo drive fault|(% style="width:446px" %)Cross-verification. Use the normal motor, encoder cable to connect to the servo drive, only connect the encoder cable. If the servo drive still alarm, it is failure.|(% style="width:395px" %)Contact technician for repair