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Wiki source code of 10 Malfunctions

Version 89.1 by Mora Zhou on 2024/07/15 17:58
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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" %)(((
308 (% style="text-align:center" %)
309 [[image:image-20220709173736-1.png]]
310 )))|(% style="width:615px" %)Parameter destruction
311
312 Troubleshooting
313
314 |=(% style="width: 310px;" %)**Reason**|=(% style="width: 516px;" %)**Troubleshooting methods**|=(% style="width: 250px;" %)**Handling**
315 |(% 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.
316
317 **Er.02 Parameter storage error**
318
319 Fault
320
321 |=(% style="width: 604px;" %)**Servo drive panel display**|=(% style="width: 817px;" %)**Fault name**
322 |(% style="width:604px" %)(((
323 (% style="text-align:center" %)
324 [[image:image-20220709165407-2.png]]
325 )))|(% style="width:817px" %)Parameter storage error
326
327 Troubleshooting
328
329 |=(% style="width: 245px;" %)**Reason**|=(% style="width: 423px;" %)**Troubleshooting methods**|=(% style="width: 408px;" %)**Handling**
330 |(% style="width:245px" %)Firmware upgraded|(% style="width:423px" %)Check whether the program has been upgraded.|(% style="width:408px" %)Power on the servo drive again
331 |(% 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.
332 |(% style="width:245px" %)Servo drive firmware faulty|(% style="width:423px" %)(((
333 Check if the servo drive monitoring quantity U2-04 (firmware version) is in the following range.
334
335 VD2-0xxSA1G model: earlier than V1.14.
336
337 VD2F-0xxSA1P model: earlier than V1.02
338 )))|(% style="width:408px" %)(((
339 VD2-0xxSA1G model: Contact manufacturer to upgrade the firmware to V1.14 and above.
340
341 VD2F-0xxSA1P model: Contact technician to upgrade the firmware to V1.02 and above.
342 )))
343
344 **Er.03 ADC reference source fault**
345
346 Fault
347
348 |=(% style="width: 459px;" %)**Servo drive panel display**|=(% style="width: 617px;" %)**Fault name**
349 |(% style="width:459px" %)(((
350 (% style="text-align:center" %)
351 [[image:image-20220709165412-3.png]]
352 )))|(% style="width:617px" %)ADC reference source fault
353
354 Troubleshooting
355
356 |=(% style="width: 284px;" %)**Reason**|=(% style="width: 495px;" %)**Troubleshooting methods**|=(% style="width: 297px;" %)**Handling**
357 |(% 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.
358
359 **Er.04 AD current sampling conversion error**
360
361 Fault
362
363 |=**Servo drive panel display**|=**Fault name**
364 |(((
365 (% style="text-align:center" %)
366 [[image:image-20220709165421-4.png]]
367 )))|AD current sampling conversion error
368
369 Troubleshooting
370
371 |=(% style="width: 248px;" %)**Reason**|=(% style="width: 508px;" %)**Troubleshooting methods**|=(% style="width: 320px;" %)**Handling**
372 |(% 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.
373 |(% style="width:248px" %)current sensor error
374
375 **Er.05 FPGA communication abnormal**
376
377 Fault
378
379 |=(% style="width: 467px;" %)**Servo drive panel display**|=(% style="width: 608px;" %)**Fault name**
380 |(% style="width:467px" %)(((
381 (% style="text-align:center" %)
382 [[image:image-20220709165428-5.png]]
383 )))|(% style="width:608px" %)FPGA communication abnormal
384
385 Troubleshooting
386
387 |=(% style="width: 253px;" %)**Reason**|=(% style="width: 504px;" %)**Troubleshooting methods**|=**Handling**
388 |(% 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.
389
390 **Er.06 Wrong FPGA program version**
391
392 Fault
393
394 |=(% style="width: 460px;" %)**Servo drive panel display**|=(% style="width: 615px;" %)**Fault name**
395 |(% style="width:460px" %)(((
396 (% style="text-align:center" %)
397 [[image:image-20220709165434-6.png]]
398 )))|(% style="width:615px" %)Wrong FPGA program version
399
400 Troubleshooting
401
402 |=**Reason**|=(% style="width: 482px;" %)**Troubleshooting methods**|=(% style="width: 327px;" %)**Handling**
403 |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)
404 |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.
405
406 |=**Firmware version**|=**Hardware version**
407 |1.00|1.00
408 |1.10|1.01
409 |1.11|1.01
410 |1.12|1.01
411 |1.13|1.01
412 |1.14|1.01
413
414 Table 10-1 The firmware version and hardware version relationship of VD2-0SA1G servo drive
415
416 **Er.07 Clock abnormal**
417
418 Fault
419
420 |=(% style="width: 475px;" %)**Servo drive panel display**|=(% style="width: 600px;" %)**Fault name**
421 |(% style="width:475px" %)(((
422 (% style="text-align:center" %)
423 [[image:image-20220709165440-7.png]]
424 )))|(% style="width:600px" %)Clock abnormal
425
426 Troubleshooting
427
428 |=(% style="width: 226px;" %)**Reason**|=(% style="width: 492px;" %)**Troubleshooting methods**|=(% style="width: 358px;" %)**Handling**
429 |(% rowspan="2" style="width:226px" %)External interference|(% style="width:492px" %)Check for strong magnetic fields nearby|(% style="width:358px" %)Eliminate nearby strong magnetic interference
430 |(% 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.
431 |(% 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.
432
433 **Er.20 Overcurrent**
434
435 Fault
436
437 |=(% style="width: 470px;" %)**Servo drive panel display**|=(% style="width: 605px;" %)**Fault name**
438 |(% style="width:470px" %)(((
439 (% style="text-align:center" %)
440 [[image:image-20220709165445-8.png]]
441 )))|(% style="width:605px" %)Overcurrent
442
443 Troubleshooting
444
445 |=(% style="width: 249px;" %)**Reason**|=(% style="width: 481px;" %)**Troubleshooting methods**|=(% style="width: 346px;" %)**Handling**
446 |(% 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
447 |(% 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
448 |(% 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
449 |(% 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
450 |(% 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
451 |(% style="width:481px" %)Short-circuit of the built-in brake resistance: Check whether the built-in brake resistance is short-circuit.|(% style="width:346px" %)(((
452 Remove the shorting cap between C and D, and reliably string the external braking resistor of equal resistance between P+ and C.
453
454 Contact technician to replace the internal braking resistor
455 )))
456 |(% 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
457 |(% 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
458 |(% 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
459 |(% 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.
460 |(% 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
461 |(% style="width:481px" %)Check whether the gain parameters are set properly, resulting in overshoot|(% style="width:346px" %)Adjust gain parameters reasonably
462 |(% 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
463 |(% 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
464
465 **Er.21 Main power supply undervoltage**
466
467 Fault
468
469 |=(% style="width: 467px;" %)**Servo drive panel display**|=(% style="width: 608px;" %)**Fault name**
470 |(% style="width:467px" %)(((
471 (% style="text-align:center" %)
472 [[image:image-20220709165459-10.png]]
473 )))|(% style="width:608px" %)Main power supply undervoltage
474
475 Reason: DC bus voltage is lower than the fault value.
476
477 * 220V drive: DC bus voltage normal value is 310V; DC bus voltage fault value is 200V.
478 * 380V drive: DC bus voltage normal value is 540V; DC bus voltage fault value is 420V.
479
480 Troubleshooting
481
482 |=(% style="width: 255px;" %)**Reason**|=(% style="width: 466px;" %)**Troubleshooting methods**|=(% style="width: 355px;" %)**Handling**
483 |(% 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.
484 |(% style="width:255px" %)The power supply is unstable or OFF.|(% style="width:466px" %)Check whether the drive input power specifications meet the following specifications:
485 220V drive: Valid value is 198V to 242V.
486 380V drive: Valid value is 342V to 440V.|(% style="width:355px" %)Use after the power supply is stable;
487 Increase power supply capacity
488 |(% 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" %)(((
489 Turn off other loads from the same main circuit power supply.
490
491 Separate power supply for servo drives
492 )))
493 |(% style="width:255px" %)Missing phase (3-phase power supply operating on single-phase power)|(% style="width:466px" %)(((
494 Check if the main circuit wiring is correct
495
496 VD2A: single-phase 220V input connected to L1, L3.
497
498 VD2 B: single-phase 220V input connected to L1, L3, and single-phase 220V input connected to L1C, L2C.
499
500 VD2 B: three-phase 220V input connected to L1, L2, L3.
501
502 VD2F: single-phase 220V input connected to L1, L2
503 )))|(% style="width:355px" %)Connect the main circuit wiring correctly
504 |(% style="width:255px" %)Internal servo drive fault|(% style="width:466px" %)Observe whether the monitoring quantity U0-31 (bus voltage) is in the following range:
505 220V drive: U0-31 less than 200V;
506 380V drive: U0-31 less than 400V.|(% style="width:355px" %)Contact technician for repair
507
508 **Er.22 Main power supply overvoltage**
509
510 Fault
511
512 |=(% style="width: 457px;" %)**Servo drive panel display**|=(% style="width: 618px;" %)**Fault name**
513 |(% style="width:457px" %)(((
514 (% style="text-align:center" %)
515 [[image:image-20220709165541-11.png]]
516 )))|(% style="width:618px" %)Main power supply overvoltage
517
518 Reason: DC bus voltage is bigger than the fault value.
519
520 1. 220V drive: DC bus voltage normal value is 310V; DC bus voltage fault value is 390V.
521 1. 380V drive: DC bus voltage normal value is 540V; DC bus voltage fault value is 670V.
522
523 Troubleshooting
524
525 |=(% style="width: 236px;" %)**Reason**|=(% style="width: 476px;" %)**Troubleshooting methods**|=(% style="width: 364px;" %)**Handling**
526 |(% style="width:236px" %)The input voltage is too high|(% style="width:476px" %)Check whether the drive input power specifications meet the following specifications:
527 220V drive: Valid value is 198V to 242V.
528 380V drive: Valid value is 342V to 440V.|(% style="width:364px" %)Replace or adjust power supply
529 |(% 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" %)(((
530 used after the power supply is stable
531
532 Connect to surge suppressor
533 )))
534 |(% 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
535 |(% 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
536 |(% style="width:476px" %)Short-circuit of the built-in brake resistance: Check whether the built-in brake resistance is short-circuit.|(% style="width:364px" %)(((
537 Remove the shorting cap between C and D, and reliably string the external braking resistor of equal resistance between P+ and C.
538
539 Contact technician to replace the internal braking resistor
540 )))
541 |(% 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
542 |(% 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
543 |(% 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
544
545 **Er.23 Braking resistor is not connected**
546
547 Fault
548
549 |=(% style="width: 464px;" %)**Servo drive panel display**|=(% style="width: 611px;" %)**Fault name**
550 |(% style="width:464px" %)(((
551 (% style="text-align:center" %)
552 [[image:image-20220709165550-12.png]]
553 )))|(% style="width:611px" %)Braking resistor is not connected
554
555 Troubleshooting
556
557 |=(% style="width: 244px;" %)**Reason**|=(% style="width: 440px;" %)**Troubleshooting methods**|=(% style="width: 392px;" %)**Handling**
558 |(% 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
559 |(% 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
560 |(% 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" %)(((
561 Contact the technician to replace the internal braking resistor.
562
563 Use an external braking resistor and change the relevant parameters of the P00 "Basic Settings".
564 )))
565
566 **Er.24 Braking resistor turns on abnormally**
567
568 Fault
569
570 |=**Servo drive panel display**|=**Fault name**
571 |(((
572 (% style="text-align:center" %)
573 [[image:image-20220709163326-60.png]]
574 )))|Braking resistor is not connected
575
576 Troubleshooting
577
578 |=(% style="width: 236px;" %)**Reason**|=(% style="width: 460px;" %)**Troubleshooting methods**|=(% style="width: 380px;" %)**Handling**
579 |(% 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
580
581 **Er.25 Braking resistor resistance is too large**
582
583 Fault
584
585 |=**Servo drive panel display**|=**Fault name**
586 |(((
587 (% style="text-align:center" %)
588 [[image:image-20220709165610-14.png]]
589 )))|Braking resistor resistance is too large
590
591 Troubleshooting
592
593 |=(% style="width: 239px;" %)**Reason**|=(% style="width: 475px;" %)**Troubleshooting methods**|=(% style="width: 362px;" %)**Handling**
594 |(% 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
595 |(% 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
596 |(% style="width:239px" %)Servo drive firmware fault|(% style="width:475px" %)(((
597 Check if the servo drive monitoring quantity U2-04 (firmware version) is in the following range.
598
599 VD2-0xxSA1G model: earlier than V1.14.
600
601 VD2F-0xxSA1P model: earlier than V1.02
602 )))|(% style="width:362px" %)(((
603 VD2-0xxSA1G model: Contact manufacturer to upgrade the firmware to V1.14 and above.
604
605 VD2F-0xxSA1P model: Contact technician to upgrade the firmware to V1.02 and above.
606 )))
607
608 **Er.26 Braking resistor resistance is too large**
609
610 Fault
611
612 |=**Servo drive panel display**|=**Fault name**
613 |(((
614 (% style="text-align:center" %)
615 [[image:image-20220709165622-15.png]]
616 )))|Motor code wrong
617
618 Troubleshooting
619
620 |=(% style="width: 242px;" %)**Reason**|=(% style="width: 456px;" %)**Troubleshooting methods**|=(% style="width: 378px;" %)**Handling**
621 |(% 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.
622 |(% 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
623
624 **Er.27 Encoder disconnection**
625
626 Fault
627
628 |=(% style="width: 466px;" %)**Servo drive panel display**|=(% style="width: 609px;" %)**Fault name**
629 |(% style="width:466px" %)(((
630 (% style="text-align:center" %)
631 [[image:image-20220709165628-16.png]]
632 )))|(% style="width:609px" %)Encoder disconnection
633
634 Troubleshooting
635
636 |=(% style="width: 254px;" %)**Reason**|=(% style="width: 436px;" %)**Troubleshooting methods**|=(% style="width: 386px;" %)**Handling**
637 |(% 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
638 |(% 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
639 |(% 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.
640 |(% 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;
641 The standard encoder cable of the manufacturer is preferred.
642
643 **Er.28 Encoder Z pulse lost**
644
645 Fault
646
647 |=(% style="width: 463px;" %)**Servo drive panel display**|=(% style="width: 612px;" %)**Fault name**
648 |(% style="width:463px" %)(((
649 (% style="text-align:center" %)
650 [[image:image-20220709165633-17.png]]
651 )))|(% style="width:612px" %)Encoder Z pulse lost
652
653 Troubleshooting
654
655 |=(% style="width: 227px;" %)**Reason**|=(% style="width: 448px;" %)**Troubleshooting methods**|=(% style="width: 401px;" %)**Handling**
656 |(% 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
657 |(% rowspan="2" style="width:227px" %)External interference|(% style="width:448px" %)Check for strong magnetic fields nearby|(% style="width:401px" %)Eliminate nearby strong magnetic interference
658 |(% 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.
659 |(% 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.
660
661 **Er.30 Encoder UVW signal error**
662
663 Fault
664
665 |=(% style="width: 470px;" %)**Servo drive panel display**|=(% style="width: 605px;" %)**Fault name**
666 |(% style="width:470px" %)(((
667 (% style="text-align:center" %)
668 [[image:image-20220709165638-18.png]]
669 )))|(% style="width:605px" %)Encoder UVW signal error
670
671 Troubleshooting
672
673 |=(% style="width: 212px;" %)**Reason**|=(% style="width: 463px;" %)**Troubleshooting methods**|=(% style="width: 401px;" %)**Handling**
674 |(% 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
675 |(% 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.
676 |(% 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
677
678 **Er.31 Power line disconnection**
679
680 Fault
681
682 |=(% style="width: 468px;" %)**Servo drive panel display**|=(% style="width: 607px;" %)**Fault name**
683 |(% style="width:468px" %)(((
684 (% style="text-align:center" %)
685 [[image:image-20220709165643-19.png]]
686 )))|(% style="width:607px" %)Power line disconnection
687
688 Troubleshooting
689
690 |=(% style="width: 248px;" %)**Reason**|=(% style="width: 397px;" %)**Troubleshooting methods**|=(% style="width: 431px;" %)**Handling**
691 |(% 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
692 |(% 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.
693 |(% 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.
694
695 **Er.32 Exceeds motor maximum speed**
696
697 Fault
698
699 |=(% style="width: 465px;" %)**Servo drive panel display**|=(% style="width: 610px;" %)**Fault name**
700 |(% style="width:465px" %)(((
701 (% style="text-align:center" %)
702 [[image:image-20220709165647-20.png]]
703 )))|(% style="width:610px" %)Exceeds motor maximum speed
704
705 Troubleshooting
706
707 |=(% style="width: 300px;" %)**Reason**|=(% style="width: 423px;" %)**Troubleshooting methods**|=(% style="width: 353px;" %)**Handling**
708 |(% 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
709 |(% 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
710 |(% style="width:423px" %)(((
711 Check whether the motor speed corresponding to the input instruction exceeds P01-10 (maximum speed threshold).
712
713 Position mode, when the instruction is from a pulse instruction (P01-06 = 0).
714
715 Motor speed (rpm) = input pulse frequency (Hz) * 60 * electronic gear ratio / encoder resolution
716 )))
717 |(% 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.
718
719 **Er.33 Power module is over temperature**
720
721 Fault
722
723 |=(% style="width: 468px;" %)**Servo drive panel display**|=(% style="width: 607px;" %)**Fault name**
724 |(% style="width:468px" %)(((
725 (% style="text-align:center" %)
726 [[image:image-20220709165654-21.png]]
727 )))|(% style="width:607px" %)Power module is over temperature
728
729 Troubleshooting
730
731 |=(% style="width: 290px;" %)**Reason**|=(% style="width: 432px;" %)**Troubleshooting methods**|=(% style="width: 354px;" %)**Handling**
732 |(% 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
733 |(% 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
734 |(% 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
735 |(% 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.
736
737 **Er.34 Motor overload protection**
738
739 Fault
740
741 |=(% style="width: 460px;" %)**Servo drive panel display**|=(% style="width: 615px;" %)**Fault name**
742 |(% style="width:460px" %)(((
743 (% style="text-align:center" %)
744 [[image:image-20220709170406-1.png]]
745 )))|(% style="width:615px" %)Motor overload protection
746
747 Troubleshooting
748
749 |=(% style="width: 239px;" %)**Reason**|=(% style="width: 435px;" %)**Troubleshooting methods**|=(% style="width: 402px;" %)**Handling**
750 |(% 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" %)(((
751 Connect them according to the correct connection method.
752
753 Priority is given to the use of motor power lines and encoder cables as standard by manufacturers
754 )))
755 |(% style="width:239px" %)The load is too large|(% style="width:435px" %)Check overload characteristics of motor or servo drive|(% style="width:402px" %)(((
756 Reduce the load.
757
758 Contact technical to obtain the appropriate capacity drive and motor model.
759 )))
760 |(% 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
761 |(% 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.
762 |(% 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
763 |(% style="width:435px" %)Observe whether the motor vibrates during operation|(% style="width:402px" %)Set the appropriate rigidity level
764 |(% 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.
765 |(% 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.
766 |(% 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
767 |(% 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.
768
769 **Er.35 Electronic gear ratio exceeds limit**
770
771 Fault
772
773 |=(% style="width: 473px;" %)**Servo drive panel display**|=(% style="width: 602px;" %)**Fault name**
774 |(% style="width:473px" %)(((
775 (% style="text-align:center" %)
776 [[image:image-20220709170424-2.png]]
777 )))|(% style="width:602px" %)Electronic gear ratio exceeds limit
778
779 Troubleshooting
780
781 |=(% style="width: 299px;" %)**Reason**|=(% style="width: 457px;" %)**Troubleshooting methods**|=(% style="width: 320px;" %)**Handling**
782 |(% style="width:299px" %)The electronic gear ratio setting is greater than the settable range|(% style="width:457px" %)(((
783 Check that the ratio of function codes P01-17/P01-18, P01-19/P01-20 is in the following range.
784
785 17bit absolute encoder upper limit value: 500.
786
787 23bit absolute encoder upper limit value: 32000
788 )))|(% rowspan="2" style="width:320px" %)After modifying the corresponding function code according to the range, set P10-03 (fault clearance) to 1.
789 |(% style="width:299px" %)The electronic gear ratio setting is less than the settable range|(% style="width:457px" %)(((
790 Check that the ratio of function codes P01-17/P01-18, P01-19/P01-20 is in the following range.
791
792 17bit absolute encoder lower limit value: 500.
793 )))
794
795 **Er.36 Position deviation is too large**
796
797 Fault
798
799 |=(% style="width: 463px;" %)**Servo drive panel display**|=(% style="width: 612px;" %)**Fault name**
800 |(% style="width:463px" %)(((
801 (% style="text-align:center" %)
802 [[image:image-20220709170438-3.png]]
803 )))|(% style="width:612px" %)Position deviation is too large
804
805 Troubleshooting
806
807 |=(% style="width: 233px;" %)**Reason**|=(% style="width: 449px;" %)**Troubleshooting methods**|=(% style="width: 394px;" %)**Handling**
808 |(% 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
809 |(% style="width:449px" %)Check whether both ends of the power cable are disconnected|(% style="width:394px" %)Replace the power cable and power on again
810 |(% 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
811 |(% style="width:449px" %)Check whether the gain parameters are set properly, resulting in overshoot|(% style="width:394px" %)Adjust gain parameters reasonably
812 |(% 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)
813 |(% 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
814 |(% 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.
815 |(% 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
816 |(% 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
817 |(% 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
818
819 **Er.37 Torque saturation abnormal**
820
821 Fault
822
823 |=(% style="width: 467px;" %)**Servo drive panel display**|=(% style="width: 608px;" %)**Fault name**
824 |(% style="width:467px" %)(((
825 (% style="text-align:center" %)
826 [[image:image-20220709170455-4.png]]
827 )))|(% style="width:608px" %)Torque saturation abnormal
828
829 Troubleshooting
830
831 |=(% style="width: 227px;" %)**Reason**|=(% style="width: 460px;" %)**Troubleshooting methods**|=**Handling**
832 |(% 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
833 |(% 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
834 |(% 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
835 |(% style="width:460px" %)Check whether the gain parameters are set properly|Adjust gain parameters reasonably
836 |(% style="width:460px" %)Check whether the gain parameters are set properly|Increase the acceleration and deceleration time
837 |(% style="width:227px" %)The load is too heavy|(% style="width:460px" %)Check whether the load is too heavy|Reduce the load
838 |(% 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.
839 |(% 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
840 |(% 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
841
842 **Er.38 Main circuit electricity is lack of phase**
843
844 Fault
845
846 |=**Servo drive panel display**|=**Fault name**
847 |(((
848 (% style="text-align:center" %)
849 [[image:image-20220709170508-5.png]]
850 )))|Main circuit electricity is lack of phase
851
852 Troubleshooting
853
854 |=(% style="width: 270px;" %)**Reason**|=(% style="width: 424px;" %)**Troubleshooting methods**|=**Handling**
855 |(% 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
856 |(% style="width:424px" %)Check the power cable for disconnections at both ends|Replace the power cable and power on again.
857 |(% 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
858 |(% style="width:270px" %)The power supply is unstable or off|(% style="width:424px" %)(((
859 Check that the drive input power specifications meet the specifications:
860
861 220V drive valid value: 198V to 242V.
862
863 380V drive valid value: 342V to 418V
864 )))|Use after the power supply is stable.
865 |(% 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.
866
867 **Er.39 Emergency stop**
868
869 Fault
870
871 |=(% style="width: 466px;" %)**Servo drive panel display**|=(% style="width: 609px;" %)**Fault name**
872 |(% style="width:466px" %)(((
873 (% style="text-align:center" %)
874 [[image:image-20220709170521-6.png]]
875 )))|(% style="width:609px" %)Emergency stop
876
877 Troubleshooting
878
879 |=(% style="width: 244px;" %)**Reason**|=(% style="width: 545px;" %)**Troubleshooting methods**|=(% style="width: 287px;" %)**Handling**
880 |(% 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
881 |(% style="width:545px" %)(((
882 Check whether the servo drive has mistakenly triggered the emergency stop signal.
883
884 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.
885 )))|(% style="width:287px" %)(((
886 Properly wire the DI port
887
888
889 )))
890
891 **Er.40 Encoder battery failure**
892
893 Fault
894
895 |=(% style="width: 469px;" %)**Servo drive panel display**|=(% style="width: 606px;" %)**Fault name**
896 |(% style="width:469px" %)(((
897 (% style="text-align:center" %)
898 [[image:image-20220709170534-7.png]]
899 )))|(% style="width:606px" %)Encoder battery failure
900
901 Troubleshooting
902
903 |=(% style="width: 361px;" %)**Reason**|=(% style="width: 395px;" %)**Troubleshooting methods**|=(% style="width: 320px;" %)**Handling**
904 |(% 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
905 |(% 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
906
907 **Er.41 Motor (encoder) over temperature**
908
909 Fault
910
911 |=(% style="width: 465px;" %)**Servo drive panel display**|=(% style="width: 610px;" %)**Fault name**
912 |(% style="width:465px" %)(((
913 (% style="text-align:center" %)
914 [[image:image-20220709170547-8.png]]
915 )))|(% style="width:610px" %)Motor (encoder) over temperature
916
917 Troubleshooting
918
919 |=(% style="width: 273px;" %)**Reason**|=(% style="width: 462px;" %)**Troubleshooting methods**|=**Handling**
920 |(% style="width:273px" %)The motor is overloaded|(% style="width:462px" %)Check whether the motor is overloaded|Reduce the load of the motor
921
922 **Er.42 Encoder write fault fault**
923
924 Fault
925
926 |=(% style="width: 471px;" %)**Servo drive panel display**|=(% style="width: 604px;" %)**Fault name**
927 |(% style="width:471px" %)(((
928 (% style="text-align:center" %)
929 [[image:image-20220709170937-1.png]]
930 )))|(% style="width:604px" %)Encoder write faults
931
932 Troubleshooting
933
934 |=**Reason**|=(% style="width: 426px;" %)**Troubleshooting methods**|=(% style="width: 404px;" %)**Handling**
935 |(% 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
936 |(% 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
937 |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.
938 |(% rowspan="2" %)External interference|(% style="width:426px" %)Check for strong magnetic fields nearby|(% style="width:404px" %)Eliminate nearby strong magnetic interference
939 |(% 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.
940 |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.
941
942 **Er.43 Drive overload fault**
943
944 Fault
945
946
947 |=(% style="width: 794px;" %)**Servo drive panel display**|=(% style="width: 627px;" %)**Fault name**
948 |(% style="width:794px" %) ​​​​​​(((
949 (% style="text-align:center" %)
950 [[image:企业微信截图_16877625944107.png]]
951 )))|(% style="width:627px" %)Drive overload fault
952
953 Troubleshooting
954
955 |=Reason|=Troubleshooting|=Handling
956 |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.
957 |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.
958
959 **Er.45 Drive Blocking Overtemperature Protection**
960
961 Fault
962
963 |=(% style="width: 771px;" %)Servo drive panel display|=(% style="width: 650px;" %)Fault name
964 |(% style="width:771px" %)(((
965 (% style="text-align:center" %)
966 [[image:1719997732882-739.png||height="80" width="203"]]
967 )))|(% style="width:650px" %)Driver Blocking Overtemperature Protection
968
969 Troubleshooting
970
971 |=Reason|=Troubleshooting|=Treatment
972 |Check whether U0-39 load torque percentage exceeds the maximum torque of the motor for 3 seconds or observe whether the load torque at the waveform interface of the oscilloscope of the upper computer is greater than the maximum torque of the motor and the motor is blocked.|Check whether U0-39 load torque percentage exceeds the maximum torque of the motor, and observe whether the motor is stuck.|Observable maximum torque observe whether the load torque on the waveform interface of the host computer oscilloscope is greater than the motor maximum torque or check whether U0-39 load torque percentage exceeds the motor maximum torque for 3 seconds.
973
974 (% style="text-align:center" %)
975 [[image:1687762670698-912.png]]
976
977 **Er.60 ADC conversion is not complete**
978
979 Fault
980
981 |=**Servo drive panel display**|=**Fault name**
982 |(((
983 (% style="text-align:center" %)
984 [[image:image-20220709170943-2.png]]
985 )))|ADC conversion is not complete
986
987 Troubleshooting
988
989 |=(% style="width: 210px;" %)**Reason**|=(% style="width: 479px;" %)**Troubleshooting methods**|=(% style="width: 387px;" %)**Handling**
990 |(% rowspan="2" style="width:210px" %)External interference|(% style="width:479px" %)Check for strong magnetic fields nearby|(% style="width:387px" %)Eliminate nearby strong magnetic interference
991 |(% 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.
992 |(% 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.
993
994 **Er.61 Internal software fault**
995
996 Fault
997
998 |=(% style="width: 470px;" %)**Servo drive panel display**|=(% style="width: 605px;" %)**Fault name**
999 |(% style="width:470px" %)(((
1000 (% style="text-align:center" %)
1001 [[image:image-20220709170950-3.png]]
1002 )))|(% style="width:605px" %)Internal software fault
1003
1004 Troubleshooting
1005
1006 |=(% style="width: 235px;" %)**Reason**|=(% style="width: 478px;" %)**Troubleshooting methods**|=(% style="width: 363px;" %)**Handling**
1007 |(% 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.
1008
1009 **Er.62 Internal software fault**
1010
1011 Fault
1012
1013 |=(% style="width: 479px;" %)**Servo drive panel display**|=(% style="width: 596px;" %)**Fault name**
1014 |(% style="width:479px" %)(((
1015 (% style="text-align:center" %)
1016 [[image:image-20220709171001-4.png]]
1017 )))|(% style="width:596px" %)Internal software fault
1018
1019 Troubleshooting
1020
1021 |=(% style="width: 218px;" %)**Reason**|=(% style="width: 501px;" %)**Troubleshooting methods**|=(% style="width: 357px;" %)**Handling**
1022 |(% 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.
1023
1024 **Er.63 Internal software fault**
1025
1026 Fault
1027
1028 |=(% style="width: 468px;" %)**Servo drive panel display**|=(% style="width: 607px;" %)**Fault name**
1029 |(% style="width:468px" %)(((
1030 (% style="text-align:center" %)
1031 [[image:image-20220709171011-5.png]]
1032 )))|(% style="width:607px" %)Internal software fault
1033
1034 Troubleshooting
1035
1036 |=(% style="width: 238px;" %)**Reason**|=(% style="width: 471px;" %)**Troubleshooting methods**|=(% style="width: 367px;" %)**Handling**
1037 |(% 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.
1038
1039 **Er.64 Internal software fault**
1040
1041 Fault
1042
1043 |=(% style="width: 472px;" %)**Servo drive panel display**|=(% style="width: 603px;" %)**Fault name**
1044 |(% style="width:472px" %)(((
1045 (% style="text-align:center" %)
1046 [[image:image-20220709171022-6.png]]
1047 )))|(% style="width:603px" %)Internal software fault
1048
1049 Troubleshooting
1050
1051 |=(% style="width: 227px;" %)**Reason**|=(% style="width: 498px;" %)**Troubleshooting methods**|=(% style="width: 351px;" %)**Handling**
1052 |(% 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.
1053
1054 **Er.65 Internal software fault**
1055
1056 Fault
1057
1058 |=(% style="width: 472px;" %)**Servo drive panel display**|=(% style="width: 603px;" %)**Fault name**
1059 |(% style="width:472px" %)(((
1060 (% style="text-align:center" %)
1061 [[image:image-20220709171027-7.png]]
1062 )))|(% style="width:603px" %)Internal software fault
1063
1064 Troubleshooting
1065
1066 |=(% style="width: 212px;" %)**Reason**|=(% style="width: 518px;" %)**Troubleshooting methods**|=(% style="width: 346px;" %)**Handling**
1067 |(% 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.
1068
1069 **A-80 Drive overpower warning**
1070
1071 Fault
1072
1073 |=Servo drive panel display|=Alarm name
1074 |(((
1075 (% style="text-align:center" %)
1076 [[image:1687763210466-195.png||height="54" width="150"]]
1077 )))|Drive overpower warning
1078
1079 Troubleshooting
1080
1081 |Reason|Troubleshooting|Handling
1082 |(((
1083 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.
1084
1085
1086 )))|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.
1087
1088 (% style="text-align:center" %)
1089 [[image:1687763249516-252.png]]
1090
1091 **A-81 Overspeed alarm**
1092
1093 Fault
1094
1095 |=(% style="width: 498px;" %)**Servo drive panel display**|=(% style="width: 577px;" %)**Fault name**
1096 |(% style="width:498px" %)(((
1097 (% style="text-align:center" %)
1098 [[image:image-20220709171047-8.png]]
1099 )))|(% style="width:577px" %)Overspeed alarm
1100
1101 Troubleshooting
1102
1103 |=(% style="width: 225px;" %)**Reason**|=(% style="width: 474px;" %)**Troubleshooting methods**|=(% style="width: 377px;" %)**Handling**
1104 |(% 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
1105 |(% 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
1106 |(% 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)
1107
1108 **A-82 Overload**
1109
1110 Fault
1111
1112 |=(% style="width: 479px;" %)**Servo drive panel display**|=(% style="width: 596px;" %)**Fault name**
1113 |(% style="width:479px" %)(((
1114 (% style="text-align:center" %)
1115 [[image:image-20220709171057-9.png]]
1116 )))|(% style="width:596px" %)Overload
1117
1118 Troubleshooting
1119
1120 |=(% style="width: 233px;" %)**Reason**|=(% style="width: 454px;" %)**Troubleshooting methods**|=**Handling**
1121 |(% 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.|(((
1122 Connect them according to the correct connection method.
1123
1124 Priority is given to the use of motor power lines and encoder cables as standard by manufacturers
1125 )))
1126 |(% 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.
1127 |(% 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.
1128 |(% 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.
1129 |(% 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
1130 |(% style="width:454px" %)Observe whether the motor vibrates during operation|Set the appropriate rigidity level
1131
1132 **A-83 Braking resistor is over temperature or overloaded**
1133
1134 Fault
1135
1136 |=(% style="width: 461px;" %)**Servo drive panel display**|=(% style="width: 614px;" %)**Fault name**
1137 |(% style="width:461px" %)(((
1138 (% style="text-align:center" %)
1139 [[image:image-20220709171112-10.png]]
1140 )))|(% style="width:614px" %)Braking resistor is over temperature or overloaded
1141
1142 Troubleshooting
1143
1144 |=(% style="width: 228px;" %)**Reason**|=(% style="width: 455px;" %)**Troubleshooting methods**|=(% style="width: 393px;" %)**Handling**
1145 |(% 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
1146 |(% style="width:228px" %)Improper connection of external braking resistor|(% style="width:455px" %)Remove the external braking resistor and measure whether the resistance value is "∞” (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.
1147 |(% 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.
1148 |(% style="width:228px" %)Improper parameter setting|(% style="width:455px" %)(((
1149 When using an external braking resistor, check the following parameters.
1150
1151 Whether P00-09 (braking resistor setting) is reasonable.
1152
1153 P00-10 (external braking resistor resistance value) is reasonable.
1154 )))|(% style="width:393px" %)(((
1155 Reasonable setting of P00-09 (braking resistor setting):
1156
1157 P00-09=1 (use external braking resistor and natural cooling)
1158
1159 P00-09 = 3 (do not use the braking resistor, all by capacitor absorption)
1160
1161 P00-10 (external braking resistor resistance value) parameter value and the actual actual use of external braking resistor are consistent.
1162 )))
1163
1164 **A-84 Parameter modification that needs to be powered on again**
1165
1166 Fault
1167
1168 |=(% style="width: 454px;" %)**Servo drive panel display**|=(% style="width: 621px;" %)**Fault name**
1169 |(% style="width:454px" %)(((
1170 (% style="text-align:center" %)
1171 [[image:image-20220709171124-11.png]]
1172 )))|(% style="width:621px" %)Modified parameters that need to be powered on again to take effect
1173
1174 Troubleshooting
1175
1176 |=(% style="width: 316px;" %)**Reason**|=(% style="width: 541px;" %)**Troubleshooting methods**|=(% style="width: 219px;" %)**Handling**
1177 |(% 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
1178
1179 **A-85 Receive position pulse when servo is OFF**
1180
1181 Fault
1182
1183 |=(% style="width: 465px;" %)**Servo drive panel display**|=(% style="width: 610px;" %)**Fault name**
1184 |(% style="width:465px" %)(((
1185 (% style="text-align:center" %)
1186 [[image:image-20220709171137-12.png]]
1187 )))|(% style="width:610px" %)Receive position pulse when servo is OFF
1188
1189 Troubleshooting
1190
1191 |=(% style="width: 270px;" %)**Reason**|=(% style="width: 502px;" %)**Troubleshooting methods**|=(% style="width: 304px;" %)**Handling**
1192 |(% 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.
1193 |(% style="width:270px" %)Servo received pulse instruction in non-position mode|(% style="width:502px" %)(((
1194 Check whether the servo drive P00-01 (control mode) is in position mode;
1195
1196 Check whether the host computer is sending pulse instructions
1197 )))
1198
1199 **A-86 Input pulse frequency is too high**
1200
1201 Fault
1202
1203 |=(% style="width: 463px;" %)**Servo drive panel display**|=(% style="width: 612px;" %)**Fault name**
1204 |(% style="width:463px" %)(((
1205 (% style="text-align:center" %)
1206 [[image:image-20220709171149-13.png]]
1207 )))|(% style="width:612px" %)Input pulse frequency is too high
1208
1209 Troubleshooting
1210
1211 |=(% style="width: 240px;" %)**Reason**|=(% style="width: 446px;" %)**Troubleshooting methods**|=**Handling**
1212 |(% 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
1213 |(% 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).
1214 |(% 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
1215
1216 **A-88 Main circuit momentary power off**
1217
1218 Fault
1219
1220 |=**Servo drive panel display**|=**Fault name**
1221 |(((
1222 (% style="text-align:center" %)
1223 [[image:image-20220709171200-14.png]]
1224 )))|Main circuit momentary power off
1225
1226 Troubleshooting
1227
1228 |=(% style="width: 223px;" %)**Reason**|=(% style="width: 462px;" %)**Troubleshooting methods**|=(% style="width: 391px;" %)**Handling**
1229 |(% style="width:223px" %)Power off|(% style="width:462px" %)(((
1230 Check that the drive input power specifications meet the specifications:
1231
1232 220V drive valid value: 198V to 242V.
1233
1234 380V drive valid value: 342V to 418V
1235 )))|(% style="width:391px" %)Use it after the power supply is stable
1236 |(% 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.
1237
1238 **A-89 DI port configuration is duplicate**
1239
1240 Fault
1241
1242 |=(% style="width: 482px;" %)**Servo drive panel display**|=(% style="width: 593px;" %)**Fault name**
1243 |(% style="width:482px" %)(((
1244 (% style="text-align:center" %)
1245 [[image:image-20220709171217-15.png]]
1246 )))|(% style="width:593px" %)DI port configuration is duplicate
1247
1248 Troubleshooting
1249
1250 |=**Reason**|=(% style="width: 464px;" %)**Troubleshooting methods**|=(% style="width: 375px;" %)**Handling**
1251 |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" %)(((
1252 Configuring each DI port for different DI functions and power on again.
1253
1254 Configure the function of the unwanted DI ports to 0 (off) and power on again.
1255
1256 Factory reset the parameter P10-02=1, and power on again.
1257 )))
1258
1259 **A-90 DI port configuration is duplicate**
1260
1261 Fault
1262
1263 |=**Servo drive panel display**|=**Fault name**
1264 |(((
1265 (% style="text-align:center" %)
1266 [[image:image-20220709171230-16.png]]
1267 )))|DO port configuration i duplicate
1268
1269 Troubleshooting
1270
1271 |=**Reason**|=(% style="width: 469px;" %)**Troubleshooting methods**|=(% style="width: 367px;" %)**Handling**
1272 |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" %)(((
1273 Configuring each DO port for different DO functions and power on again.
1274
1275 Configure the function of the unwanted DO ports to 0 (off) and power on again.
1276
1277 Factory reset the parameter P10-02=1, and power on again.
1278 )))
1279
1280 **A-91 Parameter modification is too frequent**
1281
1282 Fault
1283
1284 |=(% style="width: 465px;" %)**Servo drive panel display**|=(% style="width: 610px;" %)**Fault name**
1285 |(% style="width:465px" %)(((
1286 (% style="text-align:center" %)
1287 [[image:image-20220709171241-17.png]]
1288 )))|(% style="width:610px" %)(((
1289 Parameter modification is too frequent (modification frequency allowed of function code: 6 hours/150 times
1290
1291 Note: 32-bit function code: recorded as 2 times)
1292 )))
1293
1294 Troubleshooting
1295
1296 |Reason|Troubleshooting|Handling
1297 |EEPROM writing frequency is too high|(((
1298 Check whether the host computer frequently modifies the parameters (modification frequency allowed of function code: 6 hours/150 times
1299
1300 Note: 32-bit function code: recorded as 2 times)
1301
1302
1303 )))|(((
1304 (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
1305
1306 (2) If A91 warning appears in the normal working mode of the machine, please check whether the PLC program frequently modifies the function code.
1307
1308 (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)
1309 )))
1310 |(% rowspan="3" %)external interference|Check for strong magnetic fields nearby|Eliminate nearby strong magnetic interference
1311 |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.
1312 |(((
1313 Increase the abnormal threshold setting of P0-31 encoder read-write check.
1314
1315
1316 )))|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.
1317 |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.
1318 |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.
1319
1320 **A-92 Low encoder battery voltage warning**
1321
1322 Fault
1323
1324 |=**Servo drive panel display**|=**Fault name**
1325 |(((
1326 (% style="text-align:center" %)
1327 [[image:image-20220709171253-18.png]]
1328 )))|Low encoder battery voltage warning
1329
1330 Troubleshooting
1331
1332 |=(% style="width: 335px;" %)**Reason**|=(% style="width: 347px;" %)**Troubleshooting methods**|=(% style="width: 394px;" %)**Handling**
1333 |(% 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
1334
1335 **A-93 Abnormal and frequency of encoder read and write check is too high**
1336
1337 Fault
1338
1339 |=(% style="width: 611px;" %)**Servo drive panel display**|=(% style="width: 811px;" %)**Fault name**
1340 |(% style="width:611px" %)(((
1341 (% style="text-align:center" %)
1342 [[image:image-20220709171304-19.png]]
1343 )))|(% style="width:811px" %)The abnormal frequency of encoder read-write verification is too high
1344
1345 Troubleshooting
1346
1347 |=(% style="width: 235px;" %)**Reason**|=(% style="width: 446px;" %)**Troubleshooting methods**|=(% style="width: 395px;" %)**Handling**
1348 |(% 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
1349 |(% 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.
1350 |(% 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.
1351 |(% 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.
1352 |(% 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