Wiki source code of 10 Malfunctions

Last modified by Theodore Xu on 2025/02/13 17:16

version	line-number	content
1.1	1	= Faults and warnings handling at startup =
	2
	3	== Position control mode ==
	4
16.1	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
1.1	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
82.1	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"]]
1.1	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" %)(((
82.1	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]]__
1.1	26
82.1	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]]__
1.1	28	)))
	29	\|(% style="vertical-align:middle; width:163px" %)Control mode error\|(% style="vertical-align:middle" %)Check whether the parameter P00-01 is set correctly
82.1	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"]]
1.1	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__
82.1	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]]__
1.1	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
16.1	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
1.1	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
82.1	69	\|(% style="vertical-align:middle" %)Panel display “Er.xx”\|(% colspan="2" %)Refer to [[10.2 Handling of faults and warnings during operation>>\|\|anchor="HFaultsandwarningshandlingduringoperation"]]
1.1	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\|(((
82.1	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]]__
1.1	73
82.1	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]]__
1.1	75	)))
	76	\|Control mode error\|Check whether the parameter P00-01 is set correctly
82.1	77	\|(% style="vertical-align:middle" %)Panel display Er.xx\|(% colspan="2" %)Refer to [[10.2 Handling of faults and warnings during operation>>\|\|anchor="HFaultsandwarningshandlingduringoperation"]]
1.1	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
82.1	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]]__.
1.1	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
16.1	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
1.1	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
82.1	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"]]
1.1	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" %)(((
82.1	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]]__
1.1	121
82.1	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]]__
1.1	123	)))
	124	\|(% style="vertical-align:middle" %)Control mode error\|(% style="vertical-align:middle" %)Check whether the parameter P00-01 is set correctly
82.1	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"]]
1.1	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
82.1	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]]__.
1.1	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
14.1	146	== Overview ==
1.1	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
10.7	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.
1.1	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.
4.1	159	1. The clearing method of category 4 of clearable warnings: set P10-03=1 or use DI function 02.
1.1	160
5.1	161	\|(% style="text-align:center; vertical-align:middle" %)(((
	162	(% style="text-align:center" %)
	163	[[image:ksjakfjk.png]]
	164	)))
1.1	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
16.1	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;" %)(((
1.1	170	Setting method
16.1	171	)))\|=(% style="text-align: center; vertical-align: middle; width: 181px;" %)(((
1.1	172	Effective time
16.1	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
1.1	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
16.1	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" %)(((
1.1	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
82.1	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]]__.
1.1	198
	199	== Fault and warning code table ==
	200
16.1	201	The first category (category 1 for short) The fault could not be cleared
1.1	202
16.1	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
10.7	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
90.1	218	\|(% style="width:107px" %)Category 1\|(% style="width:233px" %)Encoder disconnection\|Er.27\|The encoder cable is incorrectly connected\|Yes\|Stop immediately
10.7	219	\|(% 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
	220	\|(% 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
	221	\|(% style="width:114px" %)Category 1\|(% style="width:300px" %)(((
	222	Exceeds motor
1.1	223
10.7	224	maximum speed
	225	)))\|(% style="width:92px" %)Er.32\|(% style="width:330px" %)(((
	226	Exceeds motor
1.1	227
10.7	228	maximum speed
	229	)))\|(% style="width:105px" %)No\|(% style="width:135px" %)Stop immediately
	230	\|(% 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
	231	\|(% 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
1.1	232
16.1	233	The 2nd category (category 2 for short) clearable faults
1.1	234
16.1	235	\|=(% style="width: 107px;" %)Category\|=(% style="width: 233px;" %)Error name\|=Fault code\|=Content\|=Whether Clearable\|=Operation
12.1	236	\|(% style="width:107px" %)Category 2\|(% style="width:233px" %)Main power supply overvoltage\|Er.22\|Main power supply overvoltage\|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
1.1	238
16.1	239	The 3rd Category (category 3 for short) clearable faults
1.1	240
16.1	241	\|=(% style="width: 109px;" %)Category\|=(% style="width: 277px;" %)Error name\|=Fault code\|=Content\|=Whether Clearable\|=Operation
12.1	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" %)(((
10.10	251	Main circuit electricity
1.1	252
10.10	253	is lack of phase
	254	)))\|Er.38\|(((
	255	Main circuit electricity
1.1	256
10.10	257	is lack of phase
	258	)))\|Yes\|Stop immediately
12.1	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
91.1	263	\|(% style="width:109px" %)Category 3\|(% style="width:277px" %)Drive overload alarm\|Er.43\|The drive exceeds the power limit for more than 20 minutes\|Yes\|Stop immediately
	264	\|(% style="width:109px" %)Category 3\|(% style="width:277px" %)Drive stall over temperature alarm\|Er.45\|The drive controls the motor and it is stalled\|Yes\|Stop immediately
1.1	265
16.1	266	The 4th category (category 4 for short) clearable warnings
1.1	267
16.1	268	\|=(% style="width: 100px;" %)Category\|=(% style="width: 294px;" %)Error name\|=Fault code\|=(% style="width: 392px;" %)Content\|=(% style="width: 96px;" %)Whether Clearable\|=(% style="width: 115px;" %)Operation
	269	\|(% 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
	270	\|(% 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
	271	\|(% 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
	272	\|(% 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
	273	\|(% 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
	274	\|(% 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
11.1	275	\|(% style="width:100px" %)Category 4\|(% style="width:294px" %)(((
	276	Main circuit momentary
1.1	277
11.1	278	power off
16.1	279	)))\|A-88\|(% style="width:392px" %)(((
1.1	280	Main circuit momentary
	281
	282	power off
16.1	283	)))\|(% style="width:96px" %)Yes\|(% style="width:115px" %)Continue to run
	284	\|(% 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
	285	\|(% 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
	286	\|(% 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
11.1	287	\|(% style="width:100px" %)Category 4\|(% style="width:294px" %)(((
1.1	288	low encoder battery voltage
	289
11.1	290	Warning
16.1	291	)))\|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
11.1	292	\|(% style="width:100px" %)Category 4\|(% style="width:294px" %)(((
1.1	293	Encoder read and write
	294
	295	check abnormal and frequency is too high
16.1	296	)))\|A-93\|(% style="width:392px" %)(((
11.1	297	Encoder read and write
1.1	298
11.1	299	check abnormal and frequency is too high
16.1	300	)))\|(% style="width:96px" %)Yes\|(% style="width:115px" %)Continue to run
15.1	301
80.5	302	= Troubleshooting =
15.1	303
	304	Er.01 Parameter destruction
	305
	306	Fault
	307
24.1	308	\|=(% style="width: 460px;" %)Servo drive panel display\|=(% style="width: 615px;" %)Fault name
87.2	309	\|(% style="width:460px" %)(((
	310	(% style="text-align:center" %)
	311	[[image:image-20220709173736-1.png]]
	312	)))\|(% style="width:615px" %)Parameter destruction
15.1	313
	314	Troubleshooting
	315
17.1	316	\|=(% style="width: 310px;" %)Reason\|=(% style="width: 516px;" %)Troubleshooting methods\|=(% style="width: 250px;" %)Handling
	317	\|(% 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.
15.1	318
	319	Er.02 Parameter storage error
	320
	321	Fault
	322
87.2	323	\|=(% style="width: 604px;" %)Servo drive panel display\|=(% style="width: 817px;" %)Fault name
	324	\|(% style="width:604px" %)(((
	325	(% style="text-align:center" %)
	326	[[image:image-20220709165407-2.png]]
	327	)))\|(% style="width:817px" %)Parameter storage error
15.1	328
	329	Troubleshooting
	330
18.1	331	\|=(% style="width: 245px;" %)Reason\|=(% style="width: 423px;" %)Troubleshooting methods\|=(% style="width: 408px;" %)Handling
	332	\|(% style="width:245px" %)Firmware upgraded\|(% style="width:423px" %)Check whether the program has been upgraded.\|(% style="width:408px" %)Power on the servo drive again
	333	\|(% 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.
	334	\|(% style="width:245px" %)Servo drive firmware faulty\|(% style="width:423px" %)(((
15.1	335	Check if the servo drive monitoring quantity U2-04 (firmware version) is in the following range.
	336
	337	VD2-0xxSA1G model: earlier than V1.14.
	338
	339	VD2F-0xxSA1P model: earlier than V1.02
18.1	340	)))\|(% style="width:408px" %)(((
15.1	341	VD2-0xxSA1G model: Contact manufacturer to upgrade the firmware to V1.14 and above.
	342
	343	VD2F-0xxSA1P model: Contact technician to upgrade the firmware to V1.02 and above.
	344	)))
	345
	346	Er.03 ADC reference source fault
	347
	348	Fault
	349
24.1	350	\|=(% style="width: 459px;" %)Servo drive panel display\|=(% style="width: 617px;" %)Fault name
87.2	351	\|(% style="width:459px" %)(((
	352	(% style="text-align:center" %)
	353	[[image:image-20220709165412-3.png]]
	354	)))\|(% style="width:617px" %)ADC reference source fault
15.1	355
	356	Troubleshooting
	357
19.1	358	\|=(% style="width: 284px;" %)Reason\|=(% style="width: 495px;" %)Troubleshooting methods\|=(% style="width: 297px;" %)Handling
	359	\|(% 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.
15.1	360
	361	Er.04 AD current sampling conversion error
	362
	363	Fault
	364
16.1	365	\|=Servo drive panel display\|=Fault name
87.2	366	\|(((
	367	(% style="text-align:center" %)
	368	[[image:image-20220709165421-4.png]]
	369	)))\|AD current sampling conversion error
15.1	370
	371	Troubleshooting
	372
19.1	373	\|=(% style="width: 248px;" %)Reason\|=(% style="width: 508px;" %)Troubleshooting methods\|=(% style="width: 320px;" %)Handling
	374	\|(% 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.
	375	\|(% style="width:248px" %)current sensor error
15.1	376
	377	Er.05 FPGA communication abnormal
	378
	379	Fault
	380
24.1	381	\|=(% style="width: 467px;" %)Servo drive panel display\|=(% style="width: 608px;" %)Fault name
87.2	382	\|(% style="width:467px" %)(((
	383	(% style="text-align:center" %)
	384	[[image:image-20220709165428-5.png]]
	385	)))\|(% style="width:608px" %)FPGA communication abnormal
15.1	386
	387	Troubleshooting
	388
16.1	389	\|=(% style="width: 253px;" %)Reason\|=(% style="width: 504px;" %)Troubleshooting methods\|=Handling
	390	\|(% 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.
15.1	391
	392	Er.06 Wrong FPGA program version
	393
	394	Fault
	395
24.1	396	\|=(% style="width: 460px;" %)Servo drive panel display\|=(% style="width: 615px;" %)Fault name
87.2	397	\|(% style="width:460px" %)(((
	398	(% style="text-align:center" %)
	399	[[image:image-20220709165434-6.png]]
	400	)))\|(% style="width:615px" %)Wrong FPGA program version
15.1	401
	402	Troubleshooting
	403
19.1	404	\|=Reason\|=(% style="width: 482px;" %)Troubleshooting methods\|=(% style="width: 327px;" %)Handling
	405	\|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)
	406	\|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.
15.1	407
16.1	408	\|=Firmware version\|=Hardware version
15.1	409	\|1.00\|1.00
	410	\|1.10\|1.01
	411	\|1.11\|1.01
	412	\|1.12\|1.01
	413	\|1.13\|1.01
	414	\|1.14\|1.01
	415
	416	Table 10-1 The firmware version and hardware version relationship of VD2-0SA1G servo drive
	417
	418	Er.07 Clock abnormal
	419
	420	Fault
	421
24.1	422	\|=(% style="width: 475px;" %)Servo drive panel display\|=(% style="width: 600px;" %)Fault name
87.2	423	\|(% style="width:475px" %)(((
	424	(% style="text-align:center" %)
	425	[[image:image-20220709165440-7.png]]
	426	)))\|(% style="width:600px" %)Clock abnormal
15.1	427
	428	Troubleshooting
	429
19.1	430	\|=(% style="width: 226px;" %)Reason\|=(% style="width: 492px;" %)Troubleshooting methods\|=(% style="width: 358px;" %)Handling
	431	\|(% rowspan="2" style="width:226px" %)External interference\|(% style="width:492px" %)Check for strong magnetic fields nearby\|(% style="width:358px" %)Eliminate nearby strong magnetic interference
	432	\|(% 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.
	433	\|(% 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.
15.1	434
	435	Er.20 Overcurrent
	436
	437	Fault
	438
24.1	439	\|=(% style="width: 470px;" %)Servo drive panel display\|=(% style="width: 605px;" %)Fault name
87.2	440	\|(% style="width:470px" %)(((
	441	(% style="text-align:center" %)
	442	[[image:image-20220709165445-8.png]]
	443	)))\|(% style="width:605px" %)Overcurrent
15.1	444
	445	Troubleshooting
	446
23.1	447	\|=(% style="width: 249px;" %)Reason\|=(% style="width: 481px;" %)Troubleshooting methods\|=(% style="width: 346px;" %)Handling
19.1	448	\|(% 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
	449	\|(% 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
	450	\|(% 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
	451	\|(% 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
	452	\|(% 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
	453	\|(% style="width:481px" %)Short-circuit of the built-in brake resistance: Check whether the built-in brake resistance is short-circuit.\|(% style="width:346px" %)(((
15.1	454	Remove the shorting cap between C and D, and reliably string the external braking resistor of equal resistance between P+ and C.
	455
	456	Contact technician to replace the internal braking resistor
	457	)))
19.1	458	\|(% 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
	459	\|(% 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
	460	\|(% 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
	461	\|(% 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.
	462	\|(% 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
	463	\|(% style="width:481px" %)Check whether the gain parameters are set properly, resulting in overshoot\|(% style="width:346px" %)Adjust gain parameters reasonably
	464	\|(% 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
	465	\|(% 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
15.1	466
	467	Er.21 Main power supply undervoltage
	468
	469	Fault
	470
24.1	471	\|=(% style="width: 467px;" %)Servo drive panel display\|=(% style="width: 608px;" %)Fault name
87.2	472	\|(% style="width:467px" %)(((
	473	(% style="text-align:center" %)
	474	[[image:image-20220709165459-10.png]]
	475	)))\|(% style="width:608px" %)Main power supply undervoltage
15.1	476
	477	Reason: DC bus voltage is lower than the fault value.
	478
16.1	479	* 220V drive: DC bus voltage normal value is 310V; DC bus voltage fault value is 200V.
	480	* 380V drive: DC bus voltage normal value is 540V; DC bus voltage fault value is 420V.
15.1	481
	482	Troubleshooting
	483
19.1	484	\|=(% style="width: 255px;" %)Reason\|=(% style="width: 466px;" %)Troubleshooting methods\|=(% style="width: 355px;" %)Handling
	485	\|(% 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.
	486	\|(% style="width:255px" %)The power supply is unstable or OFF.\|(% style="width:466px" %)Check whether the drive input power specifications meet the following specifications:
15.1	487	220V drive: Valid value is 198V to 242V.
16.1	488	380V drive: Valid value is 342V to 440V.\|(% style="width:355px" %)Use after the power supply is stable;
15.1	489	Increase power supply capacity
19.1	490	\|(% 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" %)(((
15.1	491	Turn off other loads from the same main circuit power supply.
	492
	493	Separate power supply for servo drives
	494	)))
19.1	495	\|(% style="width:255px" %)Missing phase (3-phase power supply operating on single-phase power)\|(% style="width:466px" %)(((
15.1	496	Check if the main circuit wiring is correct
	497
	498	VD2A: single-phase 220V input connected to L1, L3.
	499
	500	VD2 B: single-phase 220V input connected to L1, L3, and single-phase 220V input connected to L1C, L2C.
	501
	502	VD2 B: three-phase 220V input connected to L1, L2, L3.
	503
	504	VD2F: single-phase 220V input connected to L1, L2
16.1	505	)))\|(% style="width:355px" %)Connect the main circuit wiring correctly
19.1	506	\|(% style="width:255px" %)Internal servo drive fault\|(% style="width:466px" %)Observe whether the monitoring quantity U0-31 (bus voltage) is in the following range:
15.1	507	220V drive: U0-31 less than 200V;
16.1	508	380V drive: U0-31 less than 400V.\|(% style="width:355px" %)Contact technician for repair
15.1	509
87.1	510	Er.22 Main power supply overvoltage
15.1	511
	512	Fault
	513
24.1	514	\|=(% style="width: 457px;" %)Servo drive panel display\|=(% style="width: 618px;" %)Fault name
87.2	515	\|(% style="width:457px" %)(((
	516	(% style="text-align:center" %)
	517	[[image:image-20220709165541-11.png]]
	518	)))\|(% style="width:618px" %)Main power supply overvoltage
15.1	519
87.1	520	Reason: DC bus voltage is bigger than the fault value.
15.1	521
	522	1. 220V drive: DC bus voltage normal value is 310V; DC bus voltage fault value is 390V.
	523	1. 380V drive: DC bus voltage normal value is 540V; DC bus voltage fault value is 670V.
	524
	525	Troubleshooting
	526
23.1	527	\|=(% style="width: 236px;" %)Reason\|=(% style="width: 476px;" %)Troubleshooting methods\|=(% style="width: 364px;" %)Handling
19.1	528	\|(% style="width:236px" %)The input voltage is too high\|(% style="width:476px" %)Check whether the drive input power specifications meet the following specifications:
15.1	529	220V drive: Valid value is 198V to 242V.
19.1	530	380V drive: Valid value is 342V to 440V.\|(% style="width:364px" %)Replace or adjust power supply
	531	\|(% 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" %)(((
15.1	532	used after the power supply is stable
	533
	534	Connect to surge suppressor
	535	)))
19.1	536	\|(% 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
	537	\|(% 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
	538	\|(% style="width:476px" %)Short-circuit of the built-in brake resistance: Check whether the built-in brake resistance is short-circuit.\|(% style="width:364px" %)(((
15.1	539	Remove the shorting cap between C and D, and reliably string the external braking resistor of equal resistance between P+ and C.
	540
	541	Contact technician to replace the internal braking resistor
	542	)))
19.1	543	\|(% 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
	544	\|(% 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
	545	\|(% 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
15.1	546
	547	Er.23 Braking resistor is not connected
	548
	549	Fault
	550
24.1	551	\|=(% style="width: 464px;" %)Servo drive panel display\|=(% style="width: 611px;" %)Fault name
87.2	552	\|(% style="width:464px" %)(((
	553	(% style="text-align:center" %)
	554	[[image:image-20220709165550-12.png]]
	555	)))\|(% style="width:611px" %)Braking resistor is not connected
15.1	556
	557	Troubleshooting
	558
23.1	559	\|=(% style="width: 244px;" %)Reason\|=(% style="width: 440px;" %)Troubleshooting methods\|=(% style="width: 392px;" %)Handling
19.1	560	\|(% 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
	561	\|(% 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
	562	\|(% 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" %)(((
15.1	563	Contact the technician to replace the internal braking resistor.
	564
	565	Use an external braking resistor and change the relevant parameters of the P00 "Basic Settings".
	566	)))
	567
	568	Er.24 Braking resistor turns on abnormally
	569
	570	Fault
	571
23.1	572	\|=Servo drive panel display\|=Fault name
87.2	573	\|(((
	574	(% style="text-align:center" %)
	575	[[image:image-20220709163326-60.png]]
	576	)))\|Braking resistor is not connected
15.1	577
	578	Troubleshooting
	579
23.1	580	\|=(% style="width: 236px;" %)Reason\|=(% style="width: 460px;" %)Troubleshooting methods\|=(% style="width: 380px;" %)Handling
19.1	581	\|(% 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
15.1	582
	583	Er.25 Braking resistor resistance is too large
	584
	585	Fault
	586
23.1	587	\|=Servo drive panel display\|=Fault name
87.2	588	\|(((
	589	(% style="text-align:center" %)
	590	[[image:image-20220709165610-14.png]]
	591	)))\|Braking resistor resistance is too large
15.1	592
	593	Troubleshooting
	594
23.1	595	\|=(% style="width: 239px;" %)Reason\|=(% style="width: 475px;" %)Troubleshooting methods\|=(% style="width: 362px;" %)Handling
19.1	596	\|(% 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
	597	\|(% 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
	598	\|(% style="width:239px" %)Servo drive firmware fault\|(% style="width:475px" %)(((
15.1	599	Check if the servo drive monitoring quantity U2-04 (firmware version) is in the following range.
	600
	601	VD2-0xxSA1G model: earlier than V1.14.
	602
	603	VD2F-0xxSA1P model: earlier than V1.02
19.1	604	)))\|(% style="width:362px" %)(((
15.1	605	VD2-0xxSA1G model: Contact manufacturer to upgrade the firmware to V1.14 and above.
	606
	607	VD2F-0xxSA1P model: Contact technician to upgrade the firmware to V1.02 and above.
	608	)))
	609
	610	Er.26 Braking resistor resistance is too large
	611
	612	Fault
	613
23.1	614	\|=Servo drive panel display\|=Fault name
87.2	615	\|(((
	616	(% style="text-align:center" %)
	617	[[image:image-20220709165622-15.png]]
	618	)))\|Motor code wrong
15.1	619
	620	Troubleshooting
	621
23.1	622	\|=(% style="width: 242px;" %)Reason\|=(% style="width: 456px;" %)Troubleshooting methods\|=(% style="width: 378px;" %)Handling
19.1	623	\|(% 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.
	624	\|(% 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
15.1	625
	626	Er.27 Encoder disconnection
	627
	628	Fault
	629
24.1	630	\|=(% style="width: 466px;" %)Servo drive panel display\|=(% style="width: 609px;" %)Fault name
87.2	631	\|(% style="width:466px" %)(((
	632	(% style="text-align:center" %)
	633	[[image:image-20220709165628-16.png]]
	634	)))\|(% style="width:609px" %)Encoder disconnection
15.1	635
	636	Troubleshooting
	637
23.1	638	\|=(% style="width: 254px;" %)Reason\|=(% style="width: 436px;" %)Troubleshooting methods\|=(% style="width: 386px;" %)Handling
19.1	639	\|(% 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
	640	\|(% 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
	641	\|(% 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.
	642	\|(% 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;
15.1	643	The standard encoder cable of the manufacturer is preferred.
	644
	645	Er.28 Encoder Z pulse lost
	646
	647	Fault
	648
24.1	649	\|=(% style="width: 463px;" %)Servo drive panel display\|=(% style="width: 612px;" %)Fault name
87.2	650	\|(% style="width:463px" %)(((
	651	(% style="text-align:center" %)
	652	[[image:image-20220709165633-17.png]]
	653	)))\|(% style="width:612px" %)Encoder Z pulse lost
15.1	654
	655	Troubleshooting
	656
23.1	657	\|=(% style="width: 227px;" %)Reason\|=(% style="width: 448px;" %)Troubleshooting methods\|=(% style="width: 401px;" %)Handling
19.1	658	\|(% 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
	659	\|(% rowspan="2" style="width:227px" %)External interference\|(% style="width:448px" %)Check for strong magnetic fields nearby\|(% style="width:401px" %)Eliminate nearby strong magnetic interference
	660	\|(% 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.
	661	\|(% 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.
15.1	662
	663	Er.30 Encoder UVW signal error
	664
	665	Fault
	666
24.1	667	\|=(% style="width: 470px;" %)Servo drive panel display\|=(% style="width: 605px;" %)Fault name
87.2	668	\|(% style="width:470px" %)(((
	669	(% style="text-align:center" %)
	670	[[image:image-20220709165638-18.png]]
	671	)))\|(% style="width:605px" %)Encoder UVW signal error
15.1	672
	673	Troubleshooting
	674
23.1	675	\|=(% style="width: 212px;" %)Reason\|=(% style="width: 463px;" %)Troubleshooting methods\|=(% style="width: 401px;" %)Handling
19.1	676	\|(% 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
	677	\|(% 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.
	678	\|(% 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
15.1	679
	680	Er.31 Power line disconnection
	681
	682	Fault
	683
24.1	684	\|=(% style="width: 468px;" %)Servo drive panel display\|=(% style="width: 607px;" %)Fault name
87.2	685	\|(% style="width:468px" %)(((
	686	(% style="text-align:center" %)
	687	[[image:image-20220709165643-19.png]]
	688	)))\|(% style="width:607px" %)Power line disconnection
15.1	689
	690	Troubleshooting
	691
23.1	692	\|=(% style="width: 248px;" %)Reason\|=(% style="width: 397px;" %)Troubleshooting methods\|=(% style="width: 431px;" %)Handling
19.1	693	\|(% 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
	694	\|(% 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.
	695	\|(% 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.
15.1	696
	697	Er.32 Exceeds motor maximum speed
	698
	699	Fault
	700
24.1	701	\|=(% style="width: 465px;" %)Servo drive panel display\|=(% style="width: 610px;" %)Fault name
87.2	702	\|(% style="width:465px" %)(((
	703	(% style="text-align:center" %)
	704	[[image:image-20220709165647-20.png]]
	705	)))\|(% style="width:610px" %)Exceeds motor maximum speed
15.1	706
	707	Troubleshooting
	708
23.1	709	\|=(% style="width: 300px;" %)Reason\|=(% style="width: 423px;" %)Troubleshooting methods\|=(% style="width: 353px;" %)Handling
20.1	710	\|(% 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
	711	\|(% 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
	712	\|(% style="width:423px" %)(((
15.1	713	Check whether the motor speed corresponding to the input instruction exceeds P01-10 (maximum speed threshold).
	714
	715	Position mode, when the instruction is from a pulse instruction (P01-06 = 0).
	716
	717	Motor speed (rpm) = input pulse frequency (Hz) * 60 * electronic gear ratio / encoder resolution
	718	)))
20.1	719	\|(% 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.
15.1	720
	721	Er.33 Power module is over temperature
	722
	723	Fault
	724
24.1	725	\|=(% style="width: 468px;" %)Servo drive panel display\|=(% style="width: 607px;" %)Fault name
87.2	726	\|(% style="width:468px" %)(((
	727	(% style="text-align:center" %)
	728	[[image:image-20220709165654-21.png]]
	729	)))\|(% style="width:607px" %)Power module is over temperature
15.1	730
	731	Troubleshooting
	732
23.1	733	\|=(% style="width: 290px;" %)Reason\|=(% style="width: 432px;" %)Troubleshooting methods\|=(% style="width: 354px;" %)Handling
19.1	734	\|(% 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
	735	\|(% 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
	736	\|(% 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
	737	\|(% 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.
15.1	738
	739	Er.34 Motor overload protection
	740
	741	Fault
	742
24.1	743	\|=(% style="width: 460px;" %)Servo drive panel display\|=(% style="width: 615px;" %)Fault name
87.2	744	\|(% style="width:460px" %)(((
	745	(% style="text-align:center" %)
	746	[[image:image-20220709170406-1.png]]
	747	)))\|(% style="width:615px" %)Motor overload protection
15.1	748
	749	Troubleshooting
	750
23.1	751	\|=(% style="width: 239px;" %)Reason\|=(% style="width: 435px;" %)Troubleshooting methods\|=(% style="width: 402px;" %)Handling
19.1	752	\|(% 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" %)(((
15.1	753	Connect them according to the correct connection method.
	754
	755	Priority is given to the use of motor power lines and encoder cables as standard by manufacturers
	756	)))
19.1	757	\|(% style="width:239px" %)The load is too large\|(% style="width:435px" %)Check overload characteristics of motor or servo drive\|(% style="width:402px" %)(((
15.1	758	Reduce the load.
	759
	760	Contact technical to obtain the appropriate capacity drive and motor model.
	761	)))
19.1	762	\|(% 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
	763	\|(% 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.
	764	\|(% 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
	765	\|(% style="width:435px" %)Observe whether the motor vibrates during operation\|(% style="width:402px" %)Set the appropriate rigidity level
	766	\|(% 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.
	767	\|(% 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.
	768	\|(% 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
	769	\|(% 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.
15.1	770
	771	Er.35 Electronic gear ratio exceeds limit
	772
	773	Fault
	774
24.1	775	\|=(% style="width: 473px;" %)Servo drive panel display\|=(% style="width: 602px;" %)Fault name
87.2	776	\|(% style="width:473px" %)(((
	777	(% style="text-align:center" %)
	778	[[image:image-20220709170424-2.png]]
	779	)))\|(% style="width:602px" %)Electronic gear ratio exceeds limit
15.1	780
	781	Troubleshooting
	782
23.1	783	\|=(% style="width: 299px;" %)Reason\|=(% style="width: 457px;" %)Troubleshooting methods\|=(% style="width: 320px;" %)Handling
20.1	784	\|(% style="width:299px" %)The electronic gear ratio setting is greater than the settable range\|(% style="width:457px" %)(((
93.1	785	Check that the ratio of function codes P00-17/P00-18, P00-19/P00-20 is in the following range.
15.1	786
	787	17bit absolute encoder upper limit value: 500.
	788
	789	23bit absolute encoder upper limit value: 32000
20.1	790	)))\|(% rowspan="2" style="width:320px" %)After modifying the corresponding function code according to the range, set P10-03 (fault clearance) to 1.
	791	\|(% style="width:299px" %)The electronic gear ratio setting is less than the settable range\|(% style="width:457px" %)(((
93.1	792	Check that the ratio of function codes P00-17/P00-18, P00-19/P00-20 is in the following range.
15.1	793
92.1	794	17bit absolute encoder lower limit value: 0.001.
15.1	795	)))
	796
	797	Er.36 Position deviation is too large
	798
	799	Fault
	800
24.1	801	\|=(% style="width: 463px;" %)Servo drive panel display\|=(% style="width: 612px;" %)Fault name
87.2	802	\|(% style="width:463px" %)(((
	803	(% style="text-align:center" %)
	804	[[image:image-20220709170438-3.png]]
	805	)))\|(% style="width:612px" %)Position deviation is too large
15.1	806
	807	Troubleshooting
	808
22.2	809	\|=(% style="width: 233px;" %)Reason\|=(% style="width: 449px;" %)Troubleshooting methods\|=(% style="width: 394px;" %)Handling
19.1	810	\|(% 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
	811	\|(% style="width:449px" %)Check whether both ends of the power cable are disconnected\|(% style="width:394px" %)Replace the power cable and power on again
	812	\|(% 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
	813	\|(% style="width:449px" %)Check whether the gain parameters are set properly, resulting in overshoot\|(% style="width:394px" %)Adjust gain parameters reasonably
	814	\|(% 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)
	815	\|(% 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
	816	\|(% 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.
	817	\|(% 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
	818	\|(% 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
	819	\|(% 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
15.1	820
	821	Er.37 Torque saturation abnormal
	822
	823	Fault
	824
24.1	825	\|=(% style="width: 467px;" %)Servo drive panel display\|=(% style="width: 608px;" %)Fault name
87.2	826	\|(% style="width:467px" %)(((
	827	(% style="text-align:center" %)
	828	[[image:image-20220709170455-4.png]]
	829	)))\|(% style="width:608px" %)Torque saturation abnormal
15.1	830
	831	Troubleshooting
	832
22.2	833	\|=(% style="width: 227px;" %)Reason\|=(% style="width: 460px;" %)Troubleshooting methods\|=Handling
19.1	834	\|(% 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
	835	\|(% 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
	836	\|(% 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
	837	\|(% style="width:460px" %)Check whether the gain parameters are set properly\|Adjust gain parameters reasonably
	838	\|(% style="width:460px" %)Check whether the gain parameters are set properly\|Increase the acceleration and deceleration time
	839	\|(% style="width:227px" %)The load is too heavy\|(% style="width:460px" %)Check whether the load is too heavy\|Reduce the load
	840	\|(% 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.
	841	\|(% 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
	842	\|(% 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
15.1	843
	844	Er.38 Main circuit electricity is lack of phase
	845
	846	Fault
	847
22.2	848	\|=Servo drive panel display\|=Fault name
87.2	849	\|(((
	850	(% style="text-align:center" %)
	851	[[image:image-20220709170508-5.png]]
	852	)))\|Main circuit electricity is lack of phase
15.1	853
	854	Troubleshooting
	855
22.2	856	\|=(% style="width: 270px;" %)Reason\|=(% style="width: 424px;" %)Troubleshooting methods\|=Handling
19.1	857	\|(% 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
	858	\|(% style="width:424px" %)Check the power cable for disconnections at both ends\|Replace the power cable and power on again.
	859	\|(% 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
	860	\|(% style="width:270px" %)The power supply is unstable or off\|(% style="width:424px" %)(((
15.1	861	Check that the drive input power specifications meet the specifications:
	862
	863	220V drive valid value: 198V to 242V.
	864
	865	380V drive valid value: 342V to 418V
	866	)))\|Use after the power supply is stable.
19.1	867	\|(% 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.
15.1	868
	869	Er.39 Emergency stop
	870
	871	Fault
	872
24.1	873	\|=(% style="width: 466px;" %)Servo drive panel display\|=(% style="width: 609px;" %)Fault name
87.2	874	\|(% style="width:466px" %)(((
	875	(% style="text-align:center" %)
	876	[[image:image-20220709170521-6.png]]
	877	)))\|(% style="width:609px" %)Emergency stop
15.1	878
	879	Troubleshooting
	880
22.2	881	\|=(% style="width: 244px;" %)Reason\|=(% style="width: 545px;" %)Troubleshooting methods\|=(% style="width: 287px;" %)Handling
19.1	882	\|(% 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
	883	\|(% style="width:545px" %)(((
15.1	884	Check whether the servo drive has mistakenly triggered the emergency stop signal.
	885
	886	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.
19.1	887	)))\|(% style="width:287px" %)(((
15.1	888	Properly wire the DI port
	889
	890
	891	)))
	892
	893	Er.40 Encoder battery failure
	894
	895	Fault
	896
24.1	897	\|=(% style="width: 469px;" %)Servo drive panel display\|=(% style="width: 606px;" %)Fault name
87.2	898	\|(% style="width:469px" %)(((
	899	(% style="text-align:center" %)
	900	[[image:image-20220709170534-7.png]]
	901	)))\|(% style="width:606px" %)Encoder battery failure
15.1	902
	903	Troubleshooting
	904
22.2	905	\|=(% style="width: 361px;" %)Reason\|=(% style="width: 395px;" %)Troubleshooting methods\|=(% style="width: 320px;" %)Handling
19.1	906	\|(% 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
	907	\|(% 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
15.1	908
	909	Er.41 Motor (encoder) over temperature
	910
	911	Fault
	912
24.1	913	\|=(% style="width: 465px;" %)Servo drive panel display\|=(% style="width: 610px;" %)Fault name
87.2	914	\|(% style="width:465px" %)(((
	915	(% style="text-align:center" %)
	916	[[image:image-20220709170547-8.png]]
	917	)))\|(% style="width:610px" %)Motor (encoder) over temperature
15.1	918
	919	Troubleshooting
	920
22.2	921	\|=(% style="width: 273px;" %)Reason\|=(% style="width: 462px;" %)Troubleshooting methods\|=Handling
19.1	922	\|(% style="width:273px" %)The motor is overloaded\|(% style="width:462px" %)Check whether the motor is overloaded\|Reduce the load of the motor
15.1	923
	924	Er.42 Encoder write fault fault
	925
	926	Fault
	927
24.1	928	\|=(% style="width: 471px;" %)Servo drive panel display\|=(% style="width: 604px;" %)Fault name
87.2	929	\|(% style="width:471px" %)(((
	930	(% style="text-align:center" %)
	931	[[image:image-20220709170937-1.png]]
	932	)))\|(% style="width:604px" %)Encoder write faults
15.1	933
	934	Troubleshooting
	935
22.2	936	\|=Reason\|=(% style="width: 426px;" %)Troubleshooting methods\|=(% style="width: 404px;" %)Handling
19.1	937	\|(% 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
	938	\|(% 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
	939	\|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.
	940	\|(% rowspan="2" %)External interference\|(% style="width:426px" %)Check for strong magnetic fields nearby\|(% style="width:404px" %)Eliminate nearby strong magnetic interference
	941	\|(% 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.
	942	\|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.
15.1	943
83.1	944	Er.43 Drive overload fault
	945
	946	Fault
	947
	948
87.2	949	\|=(% style="width: 794px;" %)Servo drive panel display\|=(% style="width: 627px;" %)Fault name
	950	\|(% style="width:794px" %) (((
	951	(% style="text-align:center" %)
	952	[[image:企业微信截图_16877625944107.png]]
	953	)))\|(% style="width:627px" %)Drive overload fault
83.1	954
	955	Troubleshooting
	956
87.2	957	\|=Reason\|=Troubleshooting\|=Handling
83.1	958	\|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.
	959	\|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.
	960
87.2	961	Er.45 Drive Blocking Overtemperature Protection
	962
	963	Fault
	964
	965	\|=(% style="width: 771px;" %)Servo drive panel display\|=(% style="width: 650px;" %)Fault name
	966	\|(% style="width:771px" %)(((
83.1	967	(% style="text-align:center" %)
87.2	968	[[image:1719997732882-739.png\|\|height="80" width="203"]]
	969	)))\|(% style="width:650px" %)Driver Blocking Overtemperature Protection
	970
	971	Troubleshooting
	972
	973	\|=Reason\|=Troubleshooting\|=Treatment
	974	\|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.
	975
	976	(% style="text-align:center" %)
83.1	977	[[image:1687762670698-912.png]]
	978
15.1	979	Er.60 ADC conversion is not complete
	980
	981	Fault
	982
22.2	983	\|=Servo drive panel display\|=Fault name
87.2	984	\|(((
	985	(% style="text-align:center" %)
	986	[[image:image-20220709170943-2.png]]
	987	)))\|ADC conversion is not complete
15.1	988
	989	Troubleshooting
	990
22.2	991	\|=(% style="width: 210px;" %)Reason\|=(% style="width: 479px;" %)Troubleshooting methods\|=(% style="width: 387px;" %)Handling
19.1	992	\|(% rowspan="2" style="width:210px" %)External interference\|(% style="width:479px" %)Check for strong magnetic fields nearby\|(% style="width:387px" %)Eliminate nearby strong magnetic interference
	993	\|(% 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.
	994	\|(% 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.
15.1	995
	996	Er.61 Internal software fault
	997
	998	Fault
	999
24.1	1000	\|=(% style="width: 470px;" %)Servo drive panel display\|=(% style="width: 605px;" %)Fault name
87.2	1001	\|(% style="width:470px" %)(((
	1002	(% style="text-align:center" %)
	1003	[[image:image-20220709170950-3.png]]
	1004	)))\|(% style="width:605px" %)Internal software fault
15.1	1005
	1006	Troubleshooting
	1007
22.2	1008	\|=(% style="width: 235px;" %)Reason\|=(% style="width: 478px;" %)Troubleshooting methods\|=(% style="width: 363px;" %)Handling
20.1	1009	\|(% 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.
15.1	1010
	1011	Er.62 Internal software fault
	1012
	1013	Fault
	1014
24.1	1015	\|=(% style="width: 479px;" %)Servo drive panel display\|=(% style="width: 596px;" %)Fault name
87.2	1016	\|(% style="width:479px" %)(((
	1017	(% style="text-align:center" %)
	1018	[[image:image-20220709171001-4.png]]
	1019	)))\|(% style="width:596px" %)Internal software fault
15.1	1020
	1021	Troubleshooting
	1022
22.2	1023	\|=(% style="width: 218px;" %)Reason\|=(% style="width: 501px;" %)Troubleshooting methods\|=(% style="width: 357px;" %)Handling
20.1	1024	\|(% 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.
15.1	1025
	1026	Er.63 Internal software fault
	1027
	1028	Fault
	1029
24.1	1030	\|=(% style="width: 468px;" %)Servo drive panel display\|=(% style="width: 607px;" %)Fault name
87.2	1031	\|(% style="width:468px" %)(((
	1032	(% style="text-align:center" %)
	1033	[[image:image-20220709171011-5.png]]
	1034	)))\|(% style="width:607px" %)Internal software fault
15.1	1035
	1036	Troubleshooting
	1037
22.2	1038	\|=(% style="width: 238px;" %)Reason\|=(% style="width: 471px;" %)Troubleshooting methods\|=(% style="width: 367px;" %)Handling
20.1	1039	\|(% 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.
15.1	1040
	1041	Er.64 Internal software fault
	1042
	1043	Fault
	1044
24.1	1045	\|=(% style="width: 472px;" %)Servo drive panel display\|=(% style="width: 603px;" %)Fault name
87.2	1046	\|(% style="width:472px" %)(((
	1047	(% style="text-align:center" %)
	1048	[[image:image-20220709171022-6.png]]
	1049	)))\|(% style="width:603px" %)Internal software fault
15.1	1050
	1051	Troubleshooting
	1052
22.2	1053	\|=(% style="width: 227px;" %)Reason\|=(% style="width: 498px;" %)Troubleshooting methods\|=(% style="width: 351px;" %)Handling
20.1	1054	\|(% 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.
15.1	1055
	1056	Er.65 Internal software fault
	1057
	1058	Fault
	1059
24.1	1060	\|=(% style="width: 472px;" %)Servo drive panel display\|=(% style="width: 603px;" %)Fault name
87.2	1061	\|(% style="width:472px" %)(((
	1062	(% style="text-align:center" %)
	1063	[[image:image-20220709171027-7.png]]
	1064	)))\|(% style="width:603px" %)Internal software fault
15.1	1065
	1066	Troubleshooting
	1067
22.2	1068	\|=(% style="width: 212px;" %)Reason\|=(% style="width: 518px;" %)Troubleshooting methods\|=(% style="width: 346px;" %)Handling
20.1	1069	\|(% 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.
15.1	1070
83.1	1071	A-80 Drive overpower warning
	1072
	1073	Fault
	1074
	1075	\|=Servo drive panel display\|=Alarm name
87.2	1076	\|(((
	1077	(% style="text-align:center" %)
	1078	[[image:1687763210466-195.png\|\|height="54" width="150"]]
	1079	)))\|Drive overpower warning
83.1	1080
	1081	Troubleshooting
	1082
	1083	\|Reason\|Troubleshooting\|Handling
	1084	\|(((
	1085	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.
	1086
	1087
	1088	)))\|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.
	1089
	1090	(% style="text-align:center" %)
	1091	[[image:1687763249516-252.png]]
	1092
15.1	1093	A-81 Overspeed alarm
	1094
	1095	Fault
	1096
24.1	1097	\|=(% style="width: 498px;" %)Servo drive panel display\|=(% style="width: 577px;" %)Fault name
87.2	1098	\|(% style="width:498px" %)(((
	1099	(% style="text-align:center" %)
	1100	[[image:image-20220709171047-8.png]]
	1101	)))\|(% style="width:577px" %)Overspeed alarm
15.1	1102
	1103	Troubleshooting
	1104
22.2	1105	\|=(% style="width: 225px;" %)Reason\|=(% style="width: 474px;" %)Troubleshooting methods\|=(% style="width: 377px;" %)Handling
20.1	1106	\|(% 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
	1107	\|(% 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
	1108	\|(% 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)
15.1	1109
	1110	A-82 Overload
	1111
	1112	Fault
	1113
24.1	1114	\|=(% style="width: 479px;" %)Servo drive panel display\|=(% style="width: 596px;" %)Fault name
87.2	1115	\|(% style="width:479px" %)(((
	1116	(% style="text-align:center" %)
	1117	[[image:image-20220709171057-9.png]]
	1118	)))\|(% style="width:596px" %)Overload
15.1	1119
	1120	Troubleshooting
	1121
22.2	1122	\|=(% style="width: 233px;" %)Reason\|=(% style="width: 454px;" %)Troubleshooting methods\|=Handling
20.1	1123	\|(% 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.\|(((
15.1	1124	Connect them according to the correct connection method.
	1125
	1126	Priority is given to the use of motor power lines and encoder cables as standard by manufacturers
	1127	)))
20.1	1128	\|(% 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.
	1129	\|(% 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.
	1130	\|(% 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.
	1131	\|(% 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
	1132	\|(% style="width:454px" %)Observe whether the motor vibrates during operation\|Set the appropriate rigidity level
15.1	1133
	1134	A-83 Braking resistor is over temperature or overloaded
	1135
	1136	Fault
	1137
24.1	1138	\|=(% style="width: 461px;" %)Servo drive panel display\|=(% style="width: 614px;" %)Fault name
87.2	1139	\|(% style="width:461px" %)(((
	1140	(% style="text-align:center" %)
	1141	[[image:image-20220709171112-10.png]]
	1142	)))\|(% style="width:614px" %)Braking resistor is over temperature or overloaded
15.1	1143
	1144	Troubleshooting
	1145
22.2	1146	\|=(% style="width: 228px;" %)Reason\|=(% style="width: 455px;" %)Troubleshooting methods\|=(% style="width: 393px;" %)Handling
20.1	1147	\|(% 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
89.1	1148	\|(% 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.
20.1	1149	\|(% 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.
	1150	\|(% style="width:228px" %)Improper parameter setting\|(% style="width:455px" %)(((
15.1	1151	When using an external braking resistor, check the following parameters.
	1152
	1153	Whether P00-09 (braking resistor setting) is reasonable.
	1154
	1155	P00-10 (external braking resistor resistance value) is reasonable.
20.1	1156	)))\|(% style="width:393px" %)(((
15.1	1157	Reasonable setting of P00-09 (braking resistor setting):
	1158
	1159	P00-09=1 (use external braking resistor and natural cooling)
	1160
	1161	P00-09 = 3 (do not use the braking resistor, all by capacitor absorption)
	1162
	1163	P00-10 (external braking resistor resistance value) parameter value and the actual actual use of external braking resistor are consistent.
	1164	)))
	1165
	1166	A-84 Parameter modification that needs to be powered on again
	1167
	1168	Fault
	1169
24.1	1170	\|=(% style="width: 454px;" %)Servo drive panel display\|=(% style="width: 621px;" %)Fault name
87.2	1171	\|(% style="width:454px" %)(((
	1172	(% style="text-align:center" %)
	1173	[[image:image-20220709171124-11.png]]
	1174	)))\|(% style="width:621px" %)Modified parameters that need to be powered on again to take effect
15.1	1175
	1176	Troubleshooting
	1177
22.2	1178	\|=(% style="width: 316px;" %)Reason\|=(% style="width: 541px;" %)Troubleshooting methods\|=(% style="width: 219px;" %)Handling
20.1	1179	\|(% 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
15.1	1180
	1181	A-85 Receive position pulse when servo is OFF
	1182
	1183	Fault
	1184
24.1	1185	\|=(% style="width: 465px;" %)Servo drive panel display\|=(% style="width: 610px;" %)Fault name
87.2	1186	\|(% style="width:465px" %)(((
	1187	(% style="text-align:center" %)
	1188	[[image:image-20220709171137-12.png]]
	1189	)))\|(% style="width:610px" %)Receive position pulse when servo is OFF
15.1	1190
	1191	Troubleshooting
	1192
22.2	1193	\|=(% style="width: 270px;" %)Reason\|=(% style="width: 502px;" %)Troubleshooting methods\|=(% style="width: 304px;" %)Handling
20.1	1194	\|(% 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.
	1195	\|(% style="width:270px" %)Servo received pulse instruction in non-position mode\|(% style="width:502px" %)(((
15.1	1196	Check whether the servo drive P00-01 (control mode) is in position mode;
	1197
	1198	Check whether the host computer is sending pulse instructions
	1199	)))
	1200
	1201	A-86 Input pulse frequency is too high
	1202
	1203	Fault
	1204
24.1	1205	\|=(% style="width: 463px;" %)Servo drive panel display\|=(% style="width: 612px;" %)Fault name
87.2	1206	\|(% style="width:463px" %)(((
	1207	(% style="text-align:center" %)
	1208	[[image:image-20220709171149-13.png]]
	1209	)))\|(% style="width:612px" %)Input pulse frequency is too high
15.1	1210
	1211	Troubleshooting
	1212
22.2	1213	\|=(% style="width: 240px;" %)Reason\|=(% style="width: 446px;" %)Troubleshooting methods\|=Handling
20.1	1214	\|(% 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
	1215	\|(% 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).
	1216	\|(% 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
15.1	1217
	1218	A-88 Main circuit momentary power off
	1219
	1220	Fault
	1221
22.2	1222	\|=Servo drive panel display\|=Fault name
87.2	1223	\|(((
	1224	(% style="text-align:center" %)
	1225	[[image:image-20220709171200-14.png]]
	1226	)))\|Main circuit momentary power off
15.1	1227
	1228	Troubleshooting
	1229
22.2	1230	\|=(% style="width: 223px;" %)Reason\|=(% style="width: 462px;" %)Troubleshooting methods\|=(% style="width: 391px;" %)Handling
20.1	1231	\|(% style="width:223px" %)Power off\|(% style="width:462px" %)(((
15.1	1232	Check that the drive input power specifications meet the specifications:
	1233
	1234	220V drive valid value: 198V to 242V.
	1235
	1236	380V drive valid value: 342V to 418V
20.1	1237	)))\|(% style="width:391px" %)Use it after the power supply is stable
	1238	\|(% 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.
15.1	1239
	1240	A-89 DI port configuration is duplicate
	1241
	1242	Fault
	1243
24.1	1244	\|=(% style="width: 482px;" %)Servo drive panel display\|=(% style="width: 593px;" %)Fault name
87.2	1245	\|(% style="width:482px" %)(((
	1246	(% style="text-align:center" %)
	1247	[[image:image-20220709171217-15.png]]
	1248	)))\|(% style="width:593px" %)DI port configuration is duplicate
15.1	1249
	1250	Troubleshooting
	1251
22.2	1252	\|=Reason\|=(% style="width: 464px;" %)Troubleshooting methods\|=(% style="width: 375px;" %)Handling
20.1	1253	\|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" %)(((
15.1	1254	Configuring each DI port for different DI functions and power on again.
	1255
	1256	Configure the function of the unwanted DI ports to 0 (off) and power on again.
	1257
	1258	Factory reset the parameter P10-02=1, and power on again.
	1259	)))
	1260
	1261	A-90 DI port configuration is duplicate
	1262
	1263	Fault
	1264
22.2	1265	\|=Servo drive panel display\|=Fault name
87.2	1266	\|(((
	1267	(% style="text-align:center" %)
	1268	[[image:image-20220709171230-16.png]]
	1269	)))\|DO port configuration i duplicate
15.1	1270
	1271	Troubleshooting
	1272
22.2	1273	\|=Reason\|=(% style="width: 469px;" %)Troubleshooting methods\|=(% style="width: 367px;" %)Handling
20.1	1274	\|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" %)(((
15.1	1275	Configuring each DO port for different DO functions and power on again.
	1276
	1277	Configure the function of the unwanted DO ports to 0 (off) and power on again.
	1278
	1279	Factory reset the parameter P10-02=1, and power on again.
	1280	)))
	1281
	1282	A-91 Parameter modification is too frequent
	1283
	1284	Fault
	1285
24.1	1286	\|=(% style="width: 465px;" %)Servo drive panel display\|=(% style="width: 610px;" %)Fault name
87.2	1287	\|(% style="width:465px" %)(((
	1288	(% style="text-align:center" %)
	1289	[[image:image-20220709171241-17.png]]
	1290	)))\|(% style="width:610px" %)(((
83.1	1291	Parameter modification is too frequent (modification frequency allowed of function code: 6 hours/150 times
15.1	1292
83.1	1293	Note: 32-bit function code: recorded as 2 times)
	1294	)))
	1295
15.1	1296	Troubleshooting
	1297
83.1	1298	\|Reason\|Troubleshooting\|Handling
	1299	\|EEPROM writing frequency is too high\|(((
	1300	Check whether the host computer frequently modifies the parameters (modification frequency allowed of function code: 6 hours/150 times
15.1	1301
83.1	1302	Note: 32-bit function code: recorded as 2 times)
	1303
	1304
	1305	)))\|(((
	1306	(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
	1307
	1308	(2) If A91 warning appears in the normal working mode of the machine, please check whether the PLC program frequently modifies the function code.
	1309
	1310	(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)
	1311	)))
	1312	\|(% rowspan="3" %)external interference\|Check for strong magnetic fields nearby\|Eliminate nearby strong magnetic interference
	1313	\|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.
	1314	\|(((
	1315	Increase the abnormal threshold setting of P0-31 encoder read-write check.
	1316
	1317
	1318	)))\|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.
	1319	\|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.
	1320	\|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.
	1321
15.1	1322	A-92 Low encoder battery voltage warning
	1323
	1324	Fault
	1325
22.2	1326	\|=Servo drive panel display\|=Fault name
87.2	1327	\|(((
	1328	(% style="text-align:center" %)
	1329	[[image:image-20220709171253-18.png]]
	1330	)))\|Low encoder battery voltage warning
15.1	1331
	1332	Troubleshooting
	1333
22.2	1334	\|=(% style="width: 335px;" %)Reason\|=(% style="width: 347px;" %)Troubleshooting methods\|=(% style="width: 394px;" %)Handling
20.1	1335	\|(% 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
15.1	1336
	1337	A-93 Abnormal and frequency of encoder read and write check is too high
	1338
	1339	Fault
	1340
87.2	1341	\|=(% style="width: 611px;" %)Servo drive panel display\|=(% style="width: 811px;" %)Fault name
	1342	\|(% style="width:611px" %)(((
	1343	(% style="text-align:center" %)
	1344	[[image:image-20220709171304-19.png]]
	1345	)))\|(% style="width:811px" %)The abnormal frequency of encoder read-write verification is too high
15.1	1346
	1347	Troubleshooting
	1348
21.1	1349	\|=(% style="width: 235px;" %)Reason\|=(% style="width: 446px;" %)Troubleshooting methods\|=(% style="width: 395px;" %)Handling
84.1	1350	\|(% 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
20.1	1351	\|(% 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.
84.1	1352	\|(% 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.
	1353	\|(% 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.
20.1	1354	\|(% 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

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