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HSD7-E Series AC Servo Drive. User's Manual (Version: V0.1) - page 4

Chapter 8

Panel Display and Use of Panel Operators

8.1 Panel operator

8.1.1

Name and function of panel operator keys

The panel operator consists of a panel display part and panel operator keys.

The panel operator can display the status, perform auxiliary functions, set parameters and monitor the action

of servo drive.

The name and function of the panel operator keys are as follows.

Key

Name

Function

Toggle basic mode:

Function

Status display, auxiliary functions, parameter

key

setting and monitoring

Press this key to display the settings and set

Settings

values of each parameter, enter the parameter

key

setting state and clear the alarm.

Press the UP key to increase the set value

UP key

When the auxiliary function mode JOG is

running, it acts as a forward rotation start key.

Press the DOWN key to decrease the set value

DOWN

When the auxiliary function mode JOG is

8.1.2

Switching of functions

key

running, it acts as a reverse start key.

Press this key to move the selected bit (the

By switching the functions of the panel

Shift key

decimal point of the bit flashes) one bit to the

left.

operator, it is possible to display the

operation status, set parameters, switch

operation commands and other functions.

Functions include status display mode, parameter setting mode, monitoring mode and auxiliary function mode.

After pressing the F key, the modes are switched in the order shown in the following figure.

Power ON

Status display mode

Press

down

Press

User parameter mode

Press

Repeat

down

Press

Auxiliary function mode

Press

down

Press

Monitoring mode

Press

down

After setting Pn52F (monitoring display when power is turned on), the display content after power is turned on

删除[侯]: <sp>

can be set in monitoring display (non-state display).

Please set the un number to be displayed when the power is turned on in Pn52F.

Monitoring display when power is turned on

Speed

Position

Torque

Setting range

Setting Unit

Factory setting

Effective time

Category

Pn52F

Effective

0000 ～ 0FFF

0FFF

Setup

immediately

When set to 0FFF [factory setting], the status will be displayed when the power is turned on.

8.1.3

Status display mode

The status is shown below.

Position Data Abbreviation symbol

Off: The current display

is Axis A.

Illumination: the current

display is axis b

■ Display Contents of Bit Data

Display

Meaning

Control power supply ON Display

When the servo control power supply is on, it lights up.

When the servo control power supply is OFF, it goes out.

Power ready display

The main circuit lights up when the power supply is ON. Goes out when the main

circuit power supply OFF.

Base blocking display

Lights when servo is OFF.

Goes out when servo ON.

Speed Consistent Output (/V-CMP) Signal Display (During Speed Control)

If the difference between the speed of the servo motor and the commanded speed is

within the specified value (set by Pn503 or Pn582 and factory set value is 10min^-1 or

10mm/s), it will be on and off if it exceeds the specified value. However, the light is

always on during torque control.

Add:

When the command voltage is affected by noise, the "-"symbol on the upper digit on

the left side of the panel operator will flash. Please refer to the following to take

anti-interference measures.

Positioning Complete (/COIN) Display (When Position Control)

If the deviation between the position command and the actual position of the motor is

within the specified value (set by Pn522 and factory setting value is 7 command units),

it will go out if it exceeds the specified value.

Displays the rotation detection output (/TGON) signal

When the rotation speed of the servo motor is higher than the specified value (set by

Pn502 or Pn581, and the factory setting value is 20min^-1 or 20mm/s), it will be turned

on, and when it is lower than the specified value, it will be turned off.

Displayed in speed command input (during speed control)

The input speed command lights up when it is higher than the specified value (set by

Pn502 or Pn581, factory setting is 20min^-1 or 20mm/s), and goes out when it is lower

than the specified value.

Displayed in command pulse input (during position control)

Lights when command pulse is input. Off when no clear signal is input.

Displayed in torque command input (during torque control)

The input torque command lights up when it is greater than the specified value (10%

of the rated torque), and goes out when it is less than the specified value.

Clear the display in the signal input (during position control)

Lights when a clear signal is input. Off when no clear signal is input.

During high speed bus control

CN3 terminal input status.

During high speed bus control

CN4 terminal input status.

■ Display Contents of Thumbnail Symbols

Abbreviation symbol

Meaning of the contents

Base blockade

Display servo OFF state.

Running

Display servo ON status

Abbreviation symbol

Meaning of the contents

Prohibit forward-turning side drive state

Indicates that the inhibit forward drive input (P-OT) signal is in an open

circuit state.

It is forbidden to reverse the side drive state.

Indicates that the inhibit reverse side drive input (N-OT) signal is in an open

circuit state.

The forward and reverse side drive states are prohibited

Indicates that the forward-rotation-prohibited side drive input (P-OT) signal

and the reverse-rotation-prohibited side drive input (N-OT) signal are in an

open circuit state.

Force Stop Status

Indicates that the servo drive is in a forced stop state after receiving a

forced stop input (FSTP) signal.

No motor test function in progress

Indicates a state in which no motor test function is being performed.

Alarm status

Blinking display Alarm number

8.2 Operation of Parameters (PA) in Panel Operator

Displays the number beginning with PA on the panel operator.

The following describes how to set the parameters used in this manual.

8.2.1

Setting Method of "Numerical Setting Type"

The following describes the setting method of numerical setting type, taking the setting value of speed loop

gain (Pn100) from 40.0 to 100.0 as an example.

Operation

Steps

Display after operation

Operation

key

Press the F key to select the parameter mode.

In case of dual-axis drive, long press F key more than 3

seconds, and Axis A and Axis B will be switched alternately.

Press UP or DOWN to display "Pn100".

Press S key to display the current set value of Pn100.

Press the left key to move the flashing digits to make 4

flashing. (You can change the number of digits displayed by

blinking.)

Press the UP key 6 times to change the set value to "100.0".

After pressing the F key, the value display will flash. In this

way, the set value changes from 40.0 to 100.0.

Press S key to return to the display of "Pn100".

◆ When the setting range is above 6 bits

Since the panel operator can only display 5 digits, the settings above 6 digits are shown as follows.

The flashing display on the left

indicates the position of the digit

(front bit ● middle bit ● rear bit).

The digit display plus the digit

indicates the parameter value

First 2 digits

Middle 4 digits

Last 4 digits

Press

First 2 digits

"-"is displayed only if it is

with symbol and negative

When the number

is negative, the

decimal is lit up

8.2.2

Setting Method of "Function Selection Type"

The function selection type sets various functions by selecting from the functions assigned to each digit of the

display number of the panel operator.

The following describes the setting method of the function selection type, taking the control mode selection

(Pn000.1) of the function selection basic switch (PA000) from speed control to position control as an example.

Operation

Steps

Display after operation

Operation

key

Press the F key to select the parameter mode. If the

parameter number does not show Pn000, press the UP or

DOWN key to show "Pn000".

In case of dual-axis drive, long press F key will be used for

more than 3 seconds, and Axis A and Axis B will be switched

alternately.

Press S key to display the current set value of Pn000.

Press the left key to move the flashing digits. (You can change

the number of digits displayed by blinking. )

Press the UP key once to change the setting value to

"n.0010".

(Change speed control to position control.)

After pressing the F key, the value display will flash. In this

way, the control mode becomes position control.

Press S key to return to the display of "Pn000".

8.3 The operation of the monitor display (Un) in the panel operator

A function of monitoring (displaying) the command value set in the servo drive, the state of input and output

signals, and the internal state of the servo drive.

Displays the number beginning with UA on the panel operator.

Display Example (Motor Speed)

The following describes the basic operation of monitoring display and the discrimination method of display as

a special monitoring number.

■ List of Monitoring and Display Functions

Surveillance

Displaying contents

Unit

number

Un000

Revolving speed of motor

1r/min

Un001

Speed reference

1r/min

Un002

Torque reference

Un003

Rotation angle 1

Encoder pulse

Un004

Rotation angle 2

deg

Un005

Input signal monitoring

Un006

Monitoring of the output signal

Un007

Input Reference pulse speed

1r/min

Un008

Position Error Amount

Command unit

设置格式[侯]: 行距: 固定值 12 磅

Un009

Accumulated load rate

Un00A

Regeneration load ratio

Un00B

DB resistor power consumption

Un00C

Input reference pulse counter

Command unit

Un00D

Feedback pulse counter

Encoder pulse

Un013

Feedback pulse counter

Command unit

Un020

Rated speed of motor

1r/min

Un021

Maximum speed of motor

1r/min

Un040

Absolute encoder Multiturn Data

Coil

Position within 1 coil of absolute value

Un041

Encoder pulse

encoder

Un140

DC BUS voltage

8.3.1

Basic operation of monitoring display

The following description will take Un000 (motor rotation speed) as an example.

Operation

Steps

Display after operation

Operation

key

Press the F key to select the auxiliary function. If the

parameter number does not show UA000, press the

UP or DOWN key to show "UA000".

Press S key to display the current motor speed.

When there is no red dot in the lower right corner of

the dual-axis drive, the A-axis data is displayed.

When there is a red dot in the lower right corner of

the dual-axis drive, the B-axis data will be displayed.

Press the UP or DOWN key to switch the A axis and

the B axis alternately.

Press the S key to return to the display of step 1.

8.3.2

Monitoring of input and output signals (Un005/ Un006)

Use Un005/ Un006 to display the assigned signal status in the segment (LED) of the panel operator.

◆ Display discrimination method

< segment (led) >

Up: OFF

Down: ON

Show LED number

The input signal OFF corresponding to the LED number is displayed: the upper segment lights up

The input signal ON corresponding to the LED number is displayed: the lower segment lights up

The distribution table is as follows.

Surveillance

Show LED

Needle number

number

IN0（CN1-14）

IN1（CN1-15）

IN2（CN1-16）

IN3（CN1-17）

Un005

IN4（CN1-39）

IN5（CN1-40）

IN6（CN1-41）

IN7（CN1-42）

OUT0（CN1-7, -8）

OUT1（CN1-9, -10）

OUT2（CN1-11, -12）

Un006

OUT3（CN1-32, -33）

OUT4（CN1-34, -35）

OUT5（CN1-36, -37）

8.4 Operation of Auxiliary Function (FA) in Panel Operator

The auxiliary function is used to perform functions related to setting and adjusting the servo drive.

Displays the number beginning with FA on the panel operator.

Display Example (JOG Run)

The following describes the operation steps when using the panel operator. Please refer to the contents of

each function for confirmation items and relevant parameters before execution.

■ List of auxiliary function execution modes

Auxiliary function

Function

number

FA000

Display Alarm History

FA002

JOG

FA003

Origin search

FA004

JOG run

FA005

Initialization parameter

FA006

Clear Alarm History

FA008

Reset Absolute Encode

FA009

Autotune Analog (Speed/ Torque) Reference Offset

FA00A

Manually adjust the speed reference offset

FA00B

Manually adjust torque reference offset

FA00E

Autotune Motor Current Detection Signal Offset

FA010

Write inhibit setting of parameters

FA011

Displays the motor model information.

FA012

Displays the servo software version

FA203

One-parameter tuning.

FA206

Easy FFT

FA208

Load inertia/mass detection

8.4.1

Display of alarm records (FA000)

Please refer to the following contents besides the operation steps

Operation

Steps

Display after operation

Operation

key

Press the F key to select the auxiliary function. If the

parameter number does not show FA000, press the UP or

DOWN key to show "FA000".

In case of dual-axis drive, long press F key more than 3

seconds, and Axis A and Axis B will be switched alternately.

Press S key to display the latest alarm.

Every time the DOWN key is pressed, an old alarm is

displayed back. Each time the UP key is pressed, a new alarm

will be displayed in the future. The larger the number in the left

digit, the older the alarm displayed.

Press the S key again to return to the display of "FA000".

8.4.2

JOG operation (FA002)

Please refer to the following contents besides the operation steps

Operation

Steps

Display after operation

Operation

key

Press the F key to select the auxiliary function.

In case of dual-axis drive, long press F key more than 3

seconds, and Axis A and Axis B will be switched alternately.

UP or DOWN key display "FA002".

Press S key, and the display content is shown in the left

figure.

Operation

Steps

Display after operation

Operation

key

Press F key to enter servo ON state.

Press the UP key

(forward rotation) or the DOWN key

(reverse rotation), during which the servo motor rotates at the

speed set by Pn304 or Pn383.

Press MODE/SET key to enter servo OFF state.

Press the S key again to return to the display of "FA002".

8.4.3

Origin search (FA003)

Please refer to the following contents besides the operation steps

Operation

Steps

Display after operation

Operation

key

Press the F key to select the auxiliary function.

UP or DOWN key display "FA003".

Press S key, and the display content is shown in the left figure.

Press F key to enter servo ON state.

Press the UP key and the servo motor will rotate forward.

Press the DOWN key and the servo motor will reverse.

After the origin search of the servo motor is completed, it will

change to flashing display. At this time, the servo motor enters

the servo lock state at the origin within 1 coil of the encoder.

Press the S key again to return to the display of "FA003".

8.4.4

Program JOG run (FA004)

Please refer to the following contents besides the operation steps

Operation

Steps

Display after operation

Operation

key

Press the F key to select the auxiliary function.

UP or DOWN key display "FA004".

Press S key, and the display content is shown in the left figure.

Press F key to enter servo ON state.

Press the UP key or DOWN key that conforms to the initial

operation direction of the operation mode, and the operation

will start after the set waiting time.

If the program JOG runs to an End, it will flash "End" and return

to the display in the left Figure.

If you press the S key, return to step 2.

8.4.5

Initialization of parameter settings (FA005)

Please refer to the following contents besides the operation steps

Operation

Steps

Display after operation

Operation

key

Press the F key to select the auxiliary function.

UP or DOWN key display "FA005".

Press S key, and the display content is shown in the

left

figure.

Press F key to initialize parameters.

After initialization is completed, flash "donE" and return to the

display on the left.

8.4.6

Deletion of Alarm records (FA006)

Please refer to the following contents besides the operation steps

Operation

Steps

Display after operation

Operation

key

Press the F key to select the auxiliary function.

UP or DOWN key display "FA006".

Press S key, and the display content is shown in the left figure.

Press F to delete the alarm record.

"donE" will flash and return to the display on the left after the

deletion is completed.

Press the S key again to return to the display of "FA006".

8.4.7

Absolute value encoder Setup（initialization）（FA008）

Please refer to the following contents besides the operation steps

Operation

Steps

Display after operation

Operation

key

Press the F key to select the auxiliary function.

UP or DOWN key display "FA008".

Press S key, and the display content is as shown in the left

figure, and "PGCL1” is displayed.

Press and hold the UP key until PGCL5 is displayed.

Press F key to start setting (initializing) the absolute value

encoder.

"donE" flashes for about

second after the setting

(initialization) is completed.

Return to the display of "PGCL5” after "donE" is displayed.

Press the S key again to return to the display of "FA008".

8.4.8

Automatic Adjustment of Analog (Speed and Torque) Command Bias (FA009)

Please refer to the following contents besides the operation steps

Operation

Steps

Display after operation

Operation

key

Press the F key to select the auxiliary function.

UP or DOWN key display "FA009".

Press S key, and the display content is as shown in the left

figure, and "rEF_o” is displayed.

"donE" will flash and then switch to the display on the left when

the f key is pressed.

Press the S key again to return to the display of "FA009".

8.4.9

Manual Adjustment of Speed Command Bias (FA00A)

Please refer to the following contents besides the operation steps

Operation

Steps

Display after operation

Operation

key

Press the F key to select the auxiliary function.

UP or DOWN key display "FA00A".

Press S key, and the display content is shown in the left figure.

Turn ON the servo from the outside to display the content on

the left.

Press the S key to display the current offset.

Press the UP or DOWN key to adjust and stop the servo motor.

This value is the offset.

"donE" will flash and then switch to the display on the left when

the f key is pressed.

Press the S key again to return to the display of "FA00A".

8.4.10 Manual Adjustment of Torque Command Bias (FA00B)

Please refer to the following contents besides the operation steps

Operation

Steps

Display after operation

Operation

key

Press the F key to select the auxiliary function.

UP or DOWN key display "FA00b".

Press S key, and the display content is shown in the left figure.

Turn ON the servo from the outside to display the content on

the left.

Operation

Steps

Display after operation

Operation

key

Press the S key to display the current offset.

Press the UP or DOWN key to adjust and stop the servo motor.

This value is the offset.

"donE" will flash and then switch to the display on the left when

the f key is pressed.

Press the S key again to return to the display of "FA00b".

8.4.11 Automatic Adjustment of Offset of Motor Current Detection Signal（FA00E）

Please refer to the following contents besides the operation steps

Operation

Steps

Display after operation

Operation

key

Press the F key to select the auxiliary function.

UP or DOWN key display "FA00E".

Press S key, and the display content is shown in the left figure.

When the F key is pressed, the offset is automatically adjusted.

After the adjustment is completed, the left display will be

returned after flashing "donE".

Press the S key again to return to the display of "FA00E".

8.4.12 Write inhibit setting of parameters（FA010）

Please refer to the following contents besides the operation steps

Operation

Steps

Display after operation

Operation

key

Press the F key to select the auxiliary function.

UP or DOWN key display "FA010".

Press S key, and the display content is shown in the left figure.

Press the UP or DOWN key to set to any of the following values.

"P.0000": Allowed to Change [Factory Settings]

"P.0001": no change

Press F to confirm the setting. After the setting is completed,

flash "donE" and return to the display on the left.

(Note) "Error" is displayed if it is set to a value other than

"P.0000" and "P.0001".

8.4.13 Displays the motor model (FA011)

Please refer to the following contents besides the operation steps

Operation

Steps

Display after operation

Operation

key

Press the F key to select the auxiliary function.

Operation

Steps

Display after operation

Operation

key

UP or DOWN key display "FA011".

Press the S key to display the current motor code. The display

content will be shown in the left figure.

Press F key to display the current servo internal parameter 1.

Press F key to display the current servo internal parameter 2.

Press F key to display the current servo internal parameter 3.

Press F key to display the current servo internal parameter 4.

Press F key to display the current servo internal parameter 5.

Press F key, the current motor capacity is 850W,and the unit is

10W.

Press F key, the encoder resolution.

Press the S key again to return to the display of "FA011".

8.4.14 Display software version (FA012)

Please refer to the following contents besides the operation steps

Operation

Steps

Display after operation

Operation

key

Press the F key to select the auxiliary function.

UP or DOWN key display "FA012".

Press S to display the servo-driven software version, as shown

in the left figure.

Press the F key to display the FPGA version.

Press the S key again to return to the display of "FA012".

8.4.15 Single parameter adjustment (FA203)

Please refer to the following contents besides the operation steps

Operation

Steps

Display after operation

Operation

key

Press the F key to select the auxiliary function.

UP or DOWN key display "FA203".

Press S key, and the display content is shown in the left figure.

Operation

Steps

Display after operation

Operation

key

Press the UP or DOWN key to set the adjustment mode.

TUNING MODE(Adjust the strength of the setting)

0: Pay attention to the adjustment of stability.

1. Pay attention to responsive adjustment.

(Note) TYPE (Rigid type) is fixed as "2".

In the non-servo ON state, a servo ON (/S-ON) signal is input

from the upper device.

In the servo ON state, proceed to step 6.

Press S key to display single parameter gain data as shown on

the left.

When the UP key or DOWN key is operated to change the single

parameter gain value, the actual servo gains (Pn100, Pn101,

Pn102, Pn401) also change simultaneously.

This function judges the response result by the customer, and

the adjustment ends when the customer is satisfied.

Press F key to save the calculated 4 gains into the parameters.

After the adjustment is normally completed, the left display will

be returned after flashing "donE".

(Note) Please enter Step 9 when the calculated gain is directly

ended without saving.

Press the S key again to return to the display of "FA203".

8.4.16 EasyFFT（Fn206）

Please refer to the following contents besides the operation steps

Operation

Steps

Display after operation

Operation

key

Press the F key to select the auxiliary function.

UP or DOWN key display "FA206".

Press S key, the display content is as shown in the left figure,

and enter the command amplitude setting mode.

Press the UP or DOWN key to set the command amplitude.

Command amplitude setting range: 1-800

(Note) 1. When setting EasyFFT for the first time, do not change

the setting of command amplitude, and start from the

initial setting of "15".If the command amplitude is

increased, the detection accuracy will be improved, but

the vibration and noise generated by the machine will

become larger in a short time. Please gradually

increase the amplitude value and make changes while

observing the situation when changing the command

amplitude.

2. The set command amplitude is stored in Pn456.

Press and hold the S key to enter the operation preparation

state.

Press F key to enter servo ON state. At this time, if you want to

turn OFF the servo, press F key. Return to step 5.

In the servo ON state, press the UP or DOWN key, and the

servo motor will rotate forward and reverse several times with a

maximum amplitude of 1/4 rotation (within 10mm in the case of

linear servo motor). The running time is about 2 seconds. During

operation, the display on the left will flash.

(Note) 1. Press the F key to return to step 5 when stopping the

action.

2. The servo motor moves slightly and makes a sound at

the same time. For safety, please do not approach the

machine.

Operation

Steps

Display after operation

Operation

key

After the detection process is normally completed, the "E_FFt"

display stops blinking and shows the detected resonance

frequency. If the check-out fails, "F----" is displayed.

When setting the check-out result, you must proceed to step 9.

If only the resonance frequency is confirmed without setting the

detection result, press the S key to return to step 2.

＜Important＞

Even if the detection ends normally, if the running time exceeds

2 seconds, the detection accuracy may be insufficient. If the

command amplitude is increased to slightly greater than "15"

and then executed again, the detection accuracy may be

improved. However, after the command amplitude is increased,

the vibration and noise generated by the machine will become

larger in a short time. Please gradually increase the amplitude

value and make changes while observing the situation when

changing the command amplitude.

Press F key and it will be automatically set as the best notch

filter corresponding to the detected resonant frequency. After the

notch filter is normally set, "donE" flashes and returns to the left

display. When the 1st notch filter frequency has been set, the

2nd notch filter frequency (Pn40C) will be automatically set in

(PN 408.0 = 1).Press F again to return to step 5.

(Note) 1. When the notch filters of section 1 and section 2 have

been set, it is not possible to set the notch filter at

(Pn408= n.□1□1).

2. When the notch filter frequency detected by this

function is not used, Pn408.0= 00 is set.

Press the S key again to return to the display of "FA206".

8.4.17 Load Inertia/Mass Detection (FA208)

Please refer to the following contents besides the operation steps

Operation

Steps

Display after operation

Operation

key

Press the F key to select the auxiliary function.

UP or DOWN key display "FA208".

Press S key, and the display content is as shown in the left

figure. Enter the load inertia/mass pushing distance setting.

Press the UP or DOWN key to set the moving distance.

Unit: coil (rotating motor) mm (linear motor)

Press and hold the S key to enter the operation preparation

state.

Press S key to enter servo ON state. At this time, if you want to

turn OFF the servo, press S key. Return to step 5.

Press the UP or DOWN key in the servo ON state, and the

servo motor will rotate forward and reverse several times

within the set moving distance (within 10mm in the case of

linear servo motor). The running time is about 8 seconds.

During operation, the display on the left will flash.

The flicker is stopped and the detected load inertia/mass

percentage is displayed after the detection process is normally

completed. If the check-out fails, "J.----" is displayed.

Press the S key again to return to the display of "FA208".

Chapter 9

Maintenance

9.1 Inspection and component replacement

The inspection of servo drive and component replacement will be described below.

9.1.1

Inspection

Servo drive does not need routine inspection, but the following items need to be inspected at least once a

year.

Inspection

Check interval

Maintenance essentials

Handling in case of failure

item

Appearance

Please wipe with cloth or clean with air

No garbage, dust, oil stains, etc.

inspection

At least once a

gun.

Looseness of

year

Terminal blocks, connector mounting

Please tighten it further.

screws

screws, etc. shall not be loosened.

9.1.2

Battery Replacement

When the battery voltage is below about 3V, "encoder battery alarm (A.830)" or "absolute encoder battery

abnormality alarm (A.930)" will be displayed.

When this alarm or warning is displayed, the battery needs to be replaced.

Battery Alarm/Warning Settings

Whether to display alarm or warning is set by alarm/warning of battery undervoltage (Pn 008 = n. X).

Effective

Parameter

Meaning

Category

time

n.0

[Factory

An alarm is displayed when the battery voltage drops (A.830).

Power

Pn008

Setup

setting]

restart

n.1

An alarm is displayed when the battery voltage drops (A.930).

yWhen Pn008=n.0 is set

yAfter switching on the power supply and outputting a servo alarm (ALM) signal for up to 5 seconds, monitor

the battery voltage for 4 seconds.

Even if the battery voltage drops below the specified value after 4 seconds, no alarm will be displayed.

yWhen Pn008 = n. 1 is set

After the power supply is turned on and the servo alarm (ALM) signal is output for up to 5 seconds, the

battery voltage will always be monitored.

Control power

ALM signal

Alarm status

Normal status

Maximum 5

seconds

4 seconds

When the alarm

shows Pn008 = n.

0

When the alarm

shows Pn008 = n.

1

Battery voltage monitoring

Battery Replacement Steps

◆ When installing the battery on the upper device

1. Only connect to the servo drive control power supply.

2. Remove the used battery and install the new battery.

3. Please turn off the servo drive control power supply to cancel the "A.830 (Encoder Battery Alarm)" display.

4. Connect to the servo drive control power supply again.

5. Confirm that the alarm display disappears and the servo drive can operate normally.

◆ When using encoder cable with battery unit

1. Only connect to the servo drive control power supply.

If the battery is removed after the servo drive control power supply is OFF (including when the encoder

cable is removed), the memory data in the absolute value encoder will be lost.

Important

2. Open the outer cover of the battery unit

3. Remove the used battery and install the new battery.

Encoder cable for absolute value encoder

Servo unit side connector

Installation of lithium battery

Battery unit

Lithium battery

4. Cover the outer cover of the battery unit.

5. Please turn off the servo drive power supply to cancel the "A.830 (Encoder Battery Alarm)" display.

6. Connect to the servo drive power supply again.

7. Confirm that the alarm display disappears and the servo drive can operate normally.

9.2 Alarm display

When the servo drive is abnormal, the LED of the panel display unit displays the Alarm number.

The Alarm number that is occurring is shown below and is displayed in the panel display area.

Example: When "A.20" alarm occurs, it will display:

9.2.1

Warning list

The Alarm name, Alarm content, stop method when alarm occurs and whether alarm reset is possible

according to the order of Alarm numbers are listed in the alarm list lists.

Whether the alarm can be reset

Yes: the alarm can be released through alarm reset. However, if the alarm factor still exists, it cannot be

released.

No: The alarm cannot be released.

Alarm list

Alarm

Alarm name

Alarm content

stop

reset

number

mode

Whether

A.020

Parameter and check exceptions

The data of internal parameters of servo drive is abnormal.

Gr.1

A.021

Parameter format exception

The data format of internal parameters of servo drive is abnormal.

Gr.1

A.022

System and check exceptions

The data of internal parameters of servo drive is abnormal.

Gr.1

The main circuit detection unit is

A.030

Various detected data of the main circuit are abnormal.

Gr.1

May

abnormal.

A.040

Parameter setting exception

Out of set range.

Gr.1

A.042

Parameter combination exception

The combination of multiple parameters is out of the set range.

Gr.1

A.050

Combination error

Outside the combinable motor capacity range.

Gr.1

May

A.051

The product does not support Alarms

Unsupported products are connected.

Gr.1

A servo ON command is sent from the upper device after performing the auxiliary

A.0b0

Servo ON command invalid alarm

Gr.1

May

function of energizing the motor.

A.100

Overcurrent detection

Power transistor overcurrent or heat sink overheating.

Gr.1

A.101

Motor overcurrent detection

A current exceeding the allowable current flows through the motor.

Gr.1

A.300

Regeneration anomaly

Regenerative faults.

Gr.1

May

A.320

Regeneration overload

Regeneration overload occurred.

Gr.2

May

The setting of AC power input/DC power input is incorrect. The power cord is wired

A.330

Main circuit power supply wiring error

Gr.1

May

incorrectly.

A.400

Overvoltage

The main circuit DC voltage is abnormally high.

Gr.1

May

A.410

Under voltage

The DC voltage of the main circuit is insufficient.

Gr.2

May

A.510

Over speed

The motor speed exceeds the maximum speed.

Gr.1

May

A.520

Vibration alarm

Abnormal vibration of motor speed is detected.

Gr.1

May

A.521

Automatically adjust alarm

Vibration is detected in the automatic adjustment of the adjustment-free function.

Gr.1

May

Incorrect ESM requires exception

A.600

A state transition request that cannot be converted from the current state was received.

Gr.1

May

protection

Undefined ESM requires exception

A.601

An undefined state transition request was received.

Gr.1

May

protection

Boot state requires exception

A.602

Bootstrap state transition request received.

Gr.1

May

protection

PLL has not completed exception

The phase combination of communication and servo is still unable to be completed after

A.603

Gr.1

May

protection

synchronization is started for 1s.

A.604

PDO watchdog exception protection

When SP or OP, bit10 of ESC register 0200h is not ON within the specified time.

Gr.1

May

A.605

ESC hardware initialization error

ESC hardware initialization error.

Gr.1

May

A.606

PLL exception protection

ESM status is SP or OP, and the communication and servo phases do not match.

Gr.1

May

Abnormal protection of synchronous

SYNC0 or IRQ interrupt processing timed out after synchronization processing was

A.607

Gr.1

May

signals

completed.

The same period set abnormal

A.610

Unsupported synchronization period (SYNC0) is set.

Gr.1

May

protection

A.611

Mailbox Set Exception Protection

SM0/1 of mailbox is set incorrectly.

Gr.1

May

PDO Watchdog Sets Abnormal

A.614

PDO watchdog setting error.

Gr.1

May

Protection

A.615

DC set exception protection

DC setting error.

Gr.1

May

SM event mode setting exception

A.616

Unsupported SM events are set.

Gr.1

May

protection

A.617

SM2/3 Set Abnormal Protection

SM2/3 is set to an incorrect value.

Gr.1

May

A.620

CAN controller hardware error

CAN transceiver hardware error

Gr.1

May

A.621

CANopen heartbeat timed out

Monitor heartbeat time loss or timeout

Gr.1

May

CANopen synchronization frame

A.622

Synchronization frame lost or timed out

Gr.1

May

timed out

TxPDO

allocates

exception

A.650

The data size of the TxPDO map exceeds 32 bytes.

Gr.1

May

protection.

A.651

RxPDO assigns exception protection.

The data size of the RxPDO map exceeds 32 bytes.

Gr.1

May

A.652

Lost link exception protection

After ESM leaves Init state, Port0 or 1 appears lost link state.

Gr.1

May

Overload

(instantaneous maximum

It runs for several seconds to tens of seconds with a torque greatly exceeding the rated

A.710

Gr.2

May

load)

value.

A.720

Overload (continuous maximum load)

Continuous operation is carried out with torque exceeding the rated value.

Gr.1

May

Due to the action of DB (dynamic brake), the operating energy exceeds the capacity of

A.730/1

DB overload

Gr.1

May

DB resistor.

Impulse current limiting resistor

A.740

The main circuit power on frequency is too high.

Gr.1

May

overload

The power supply of the encoder is completely exhausted and the position data is

A.810

Encoder backup alarm

Gr.1

cleared.

A.820

Encoder and check alarm

The sum check result of encoder memory is abnormal.

Gr.1

The voltage of the battery drops below the specified value after switching on the control

A.830

Encoder battery alarm

Gr.1

May

power supply.

A.840

Encoder data alarm

Data inside encoder is abnormal.

Gr.1

A.850

Encoder overspeed

When the power supply is ON, the encoder rotates at high speed.

Gr.1

MECHATROLINK communication

A.b6A

MECHATROLINK Communication ASIC Failure 1 Occurred

Gr.1

ASIC fault 1

MECHATROLINK communication

A.b6b

MECHATROLINK Communication ASIC Failure 2 Occurred.

Gr.2

ASIC fault 2

A.C10

Out of control detection

Servo motor out of control.

Gr.1

May

A.C20

Phase error detection

Error detecting phase.

Gr.1

A.C22

Phase information is inconsistent

Phase information is inconsistent.

Gr.1

A.C90

Encoder communication failure

There is no communication between encoder and servo drive.

Gr.1

Abnormal acceleration of encoder

A.C91

A failure occurred in the calculation of encoder position data.

Gr.1

communication position data

Encoder communication timer

A.C92

The communication timer between encoder and servo drive has failed.

Gr.1

exception

A.CA0

Encoder parameter exception

Parameters of encoder are corrupted.

Gr.1

A.Cb0

Encoder loopback check exception

The communication content with encoder is incorrect.

Gr.1

In the servo ON state, the position deviation exceeds the excessive position deviation

A.d00

Position deviation is too large

Gr.1

May

warning value (Pn520).

Alarm for excessive position

Servo ON is maintained when the position deviation in servo OFF exceeds the set value

A.d01

Gr.1

May

deviation when servo ON

of the excessive position deviation warning value (Pn526) when servo ON.

A.d02

Alarm for excessive positi ON

When the servo is ON in the position deviation accumulation state, the speed limit is

Gr.2

May

deviation caused by speed limit when

executed by the speed limit value (Pn529 or Pn584) when the servo is ON. When a

servo is on

position command is input in this state, the limit is not released and the set value of the

warning value (Pn520) for excessive position deviation is exceeded.

Excessive deviation between motor

A.d10

In full closed loop control, the deviation between motor and load position is too large.

Gr.2

May

and load positions

A.d30

Location data is too large

The position feedback data exceeds 1879048192.

Gr.1

MECHATROLINK

Internal

A.E02

MECHATROLINK communication and servo drive synchronization are abnormal.

Gr.1

May

Synchronization Exception 1

MECHATROLINK transmission cycle

A.E40

The transmission period of MECHATROLINK communication is set incorrectly.

Gr.2

May

setting error

The

address

setting

A.E42

The address of MECHATROLINK Station is set incorrectly.

Gr.2

MECHATROLINK station is abnormal

MECHATROLINK synchronization

A.E50*

Synchronization exception occurred in MECHATROLINK communication.

Gr.2

May

exception

MECHATROLINK synchronization

A.E51

Synchronization failure occurred in MECHATROLINK communication.

Gr.2

May

failed

MECHATROLINK communication

A.E60*

MECHATROLINK Communication failure occurs continuously during communication.

Gr.2

May

failure (receiving error)

MECHATROLINK transmission cycle

A.E61

Abnormal transmission period occurred in MECHATROLINK communication.

Gr.2

May

is abnormal

MECHATROLINK did not receive

Unreceived synchronization frames occur continuously in MECHATROLINK

A.E63

Gr.2

May

synchronization frames

communication.

A.Ed1

Command execution timed out

MECHATROLINK command timeout error occurred.

Gr.2

May

When the main loop power supply is ON, the low voltage state of one of the three phases

A.F10

Power cord phase loss

Gr.2

May

lasts for more than 1 second.

* This Alarm will not be saved in the Alarm record. Only on the panel display.

9.2.2

Cause of Alarm and Treatment Measures

The following table lists the cause of the alarm and the treatment measures. If the fault cannot be cleared after

processing according to the following table, please contact our agency or the nearest branch.

Alarm number:

Reason

Confirmation method

The treatment measures

Alarm name

Set the power supply voltage within the

The

supply

voltage

drops

Measure the supply voltage.

specification range, and perform initialization

instantaneously.

of the parameter setting value.

Re-enter parameters after initialization of

Power off when writing parameters

Confirm the time of power failure.

parameter settings.

A.020：

The number of writes to the parameter

Confirm whether parameter changes are

Replace the servo drive. Change the

Parameter and check

exceeded the maximum

frequently made from the upper device.

parameter writing method.

exceptions

Misoperation occurs due to interference

Connect to the servo drive power supply

The data of internal

from AC power supply, grounding, static

again. When the alarm still occurs, it may

Take measures to prevent mutual interference.

parameters of servo

electricity, etc.

be disturbed.

drive is abnormal.

Due to gas, water droplets or cutting oil,

etc., the components inside the servo

Confirm the setting environment.

Replace the servo drive.

drive have failed.

Connect to the servo drive power supply

Servo drive failure

again. When the alarm still occurs, it may

Replace the servo drive.

be a fault.

A.021：

The software version of the write

Read the product information and confirm

Write the parameters of other servo drives

Parameter

format

parameter is updated as compared to

whether the software versions are the

with the same software version and model,

exception

the software version of the servo drive

same. If the versions are different, an alarm

and then switch on the power supply.

(The data of internal

where the alarm occurred.

may occur.

parameters of servo

Servo drive failure

Replace the servo drive.

drive is abnormal.)

The

supply

voltage

drops

A.022：

Measure the power supply voltage

Replace the servo drive.

instantaneously.

System parameters and

The power supply was turned off in the

check exceptions

Confirm the time of power failure.

Replace the servo drive.

process of setting the auxiliary function.

(The data of internal

Connect to the servo drive power supply

parameters of servo

Servo drive failure

again. When the alarm still occurs, it may

Replace the servo drive.

drive is abnormal)

be a fault.

A.030：

Main circuit detection

Servo drive failure

Replace the servo drive.

unit failure

Confirm the capacity of servo drive and

Servo capacity does not match servo

Capacity of servo drive and servo motor

servo motor

motor capacity

Match each other.

A.040：

Quantity and combination.

Parameter

setting

Servo drive failure

Replace the servo drive.

exception

Confirm the setting range of the changed

Set the changed parameters to values within

Outside the parameter setting range

(beyond the set range)

parameters.

the set range.

The electronic gear ratio setting value is

Verify that the electronic gear ratio is

Set the electronic gear ratio to

outside the set range

0.001<(Pn20E/Pn210)< 64000.

0.001< (Pn20E/Pn210) < 64000.

Since the electronic gear ratio (Pn20E

/Pn210) or servo motor is changed, the

Confirm whether the detection condition

Reduce the value of the electronic gear ratio

running speed of the program JOG does

formula^*1 is true.

(Pn20E/Pn210).

not conform to the set range.

Since the program JOG moving speed

A.042：

(Pn533) has been changed, the running

Confirm whether the detection condition

Increase the value of Pn533.

Parameter combination

speed of the program JOG does not

formula^*1 is true.

exception

conform to the set range.

Due to the change of electronic gear

ratio (Pn20E/Pn210) or servo motor, the

Confirm whether the detection condition

Reduce the value of the electronic gear ratio

moving speed of advanced automatic

formula^*2 is true.

(Pn20E/Pn210).

adjustment does not conform to the set

range.

A.050：

Servo drive capacity does not match

Capacity of servo drive and servo motor

Confirm¹≤≤Motorcapacity

Combination error

servo motor capacity

Servo drive capacity

Match each other.

(outside the combinable

Servo drive failure

Replace the servo drive.

motor capacity range)

A.051：

The motor parameter file is not written

Verify that the motor parameter file is

Write the motor parameter file into the

The product does not

into the encoder

(only when serial

written into the encoder.

encoder.

support Alarms

conversion unit is not used)

Alarm number:

Reason

Confirmation method

The treatment measures

Alarm name

A.0b0：

After performing the auxiliary function of

Connect to the servo drive power supply

Servo ON command is

energizing the motor, servo is sent from

again. Or perform a software reset.

invalid alarm

the upper device ON(SV_ON) command

The main loop cable is incorrectly wired

Verify that the wiring is correct.

Modify the wiring.

or has poor contact.

Verify that there is a short circuit between

Internal short circuit of main loop cable or

The cable may be short-circuited. Replace the

UVW phases of the cable and between

short circuit to ground occurred.

cable.

UVW and ground.

Verify that there is a short circuit between

Short circuit or short circuit to ground

It is possible that the servo motor is faulty.

UVW phases of the motor terminals and

occurs inside servo motor

Replace the servo motor.

between UVW and ground.

Incorrect wiring or poor contact of

Verify that the wiring is correct.

Modify the wiring.

regenerative resistor

Use frequency of DB is confirmed by power

The dynamic brake (emergency stop due

Change the type selection, operation method

A.100：

consumption of DB resistor. Or use alarm

to DB and servo drive) is used frequently

and mechanism of servo drive to reduce the

Overcurrent detection

display to confirm whether DB overload

or DB overload alarm occurs.

use frequency of DB.

(overcurrent flows

alarm has occurred (A.730 or A.731).

through the power

Regenerative resistance value is too

Confirm the frequency of use of the

Discuss the operating conditions and loads

transistor or heat sink to

high

regenerative resistor.

again.

overheat)

The regenerative resistance value is changed

The regenerative resistance value of

Confirm the frequency of use of the

to a value above the minimum allowable

servo drive is too small

regenerative resistor.

resistance value for servo drive.

When the servo motor stops or runs at

Verify that the operating conditions are

Reduce the load borne by the servo motor. Or

low speed, it bears high load

outside the specifications of the servo drive.

at a higher operating speed.

Take measures to prevent interference, such

Improve the interference environment such

as correctly wiring FG. In addition, the wire

Misoperation due to interference

as wiring and confirm whether there is any

size of FG should be the same as that of servo

effect.

drive main loop.

Connect to the servo drive power supply

Servo drive failure

again. When an alarm still occurs, replace the

servo drive.

The main loop cable is incorrectly wired

Verify that the wiring is correct

Modify the wiring.

or has poor contact

Verify that there is a short circuit between

Internal short circuit of main loop cable or

The cable may be short-circuited. Replace the

UVW phases of the cable and between

short circuit to ground occurred

cable.

UVW and ground.

Verify that there is a short circuit between

Short circuit or short circuit to ground

It is possible that the servo motor is faulty.

UVW phases of the motor terminals and

occurs inside servo motor

Replace the servo motor.

A.101：

between UVW and ground.

Motor overcurrent

Verify that there is a short circuit between

detection

Short circuit or short circuit to ground

UVW phases and between UVW and

Replace the servo drive.

(The motor flows

occurred inside servo drive

ground at the servo motor connection

through excess

terminal of servo drive.

capacity

When the servo motor stops or runs at

Verify that the operating conditions are

Reduce the load borne by the servo motor. Or

Allowable current)

low speed, it bears high load

outside the specifications of the servo drive.

at a higher operating speed.

Take anti-interference measures, such as

Improve the noise environment such as

correctly wiring FG, etc. In addition, the wire

Misoperation due to noise

wiring and setting, and confirm whether

size of FG should be the same as that of servo

there is any effect.

drive main loop.

Connect to the servo drive power supply

Servo drive failure

again. When an alarm still occurs, replace the

servo drive

The regenerative resistance capacity

Confirm the connection of external

Connect external regenerative resistor or set

(Pn600) is set to a value other than "0",

regenerative resistor and the value of

Pn600 (regenerative resistor capacity) to

and no regenerative resistance is

Pn600.

when regenerative resistor is not needed.

installed

Set the appropriate value for Pn600

after

Confirm external regenerative resistor or

connecting the external regenerative resistor,

No external regenerative resistance

regenerative power resistance device

or set Pn600

after connecting the

connection and Pn600 value.

regenerative resistor device.

A.300：

The jumper wire of the regenerative

Confirm the wiring of the power terminal

Regenerative faults

resistor connection terminal B2-B3 falls

Correct wiring of jumper wires.

jumper.

off

Poor connection, falling off or

Confirm the wiring of the external

Correct wiring of external regenerative

disconnection of external regenerative

regeneration resistor.

resistor.

resistor

In the state that the main loop power supply is

not turned on, the servo drive control power

Servo drive failure

supply is turned on again. When an alarm still

occurs, replace the servo drive.

Power supply voltage

exceeds

Set the power supply voltage within the

Measure the supply voltage.

specification range

specification.

External regenerative resistance value or

Change the regenerative resistance value and

regenerative resistance capacity is

Reconfirm operating conditions and

regenerative resistance capacity. Adjust the

insufficient or in continuous regenerative

capacity.

operating conditions again.

state

Continuously bears negative load and is

Confirm the load applied to the running

Discuss the system including servo,

in continuous regeneration state

servo motor.

mechanical and operating conditions again.

A.320：

The capacity set in Pn600 (regenerative

Regeneration overload

resistance capacity) is smaller than the

Confirm the connection of regenerative

Correct the Pn600 setting.

capacity of external regenerative

resistor and the value of Pn600.

resistance

The value set in Pn603

(regenerative

Confirm the connection of regenerative

resistance value) is smaller than the

Correct the Pn603 setting.

resistor and the value of Pn603.

external regenerative resistance value

Excessive

external

regenerative

Verify that the regenerative resistance

Change it to the correct resistance value and

resistance

value is correct.

capacity

Servo drive failure

Replace the servo drive.

Replace the servo drive when using the

The power supply voltage inside the

Measure the resistance value of the

regenerative resistor built into the servo drive.

servo drive is too high, and the

regenerative resistor with a measuring

When using an external regenerative resistor,

regenerative resistor is disconnected.

instrument.

replace the regenerative resistor.

A.330：

When setting AC power input, DC power

Make the set value of the power supply

Main circuit power

Verify that the power supply is DC.

is input

consistent with the power supply used.

supply wiring error

When setting DC power input, AC power

Make the set value of the power supply

(detected when main

Verify that the power supply is AC.

is input

consistent with the power supply used.

circuit power is turned

The regenerative resistance capacity

on)

Confirm the connection of external

Connect an external regenerative resistor or

(Pn600) is set to a value other than "0"

regenerative resistor and the value of

set Pn600 to 0 when no external regenerative

and no regenerative resistance is

Pn600.

resistor is required.

installed

Servo drive failure

Replace the servo drive.

Alarm number:

Reason

Confirmation method

The treatment measures

Alarm name

Power supply voltage

exceeds

Adjust the AC/DC power supply voltage to the

Measure the supply voltage.

specification range

product specifications.

Improve the power supply condition and

The power supply is in an unstable state

switch on the servo drive power again after

Measure the supply voltage.

or is affected by lightning strike

installing surge suppressor. When an alarm

still occurs, replace the servo drive.

When the AC power supply voltage

exceeds the specification range,

Confirm the power supply voltage, speed

Adjust the AC power supply voltage to the

acceleration and deceleration are carried

and torque in operation.

product specifications.

A.400：

out

Overvoltage

External regenerative resistance value is

Confirm the operating conditions and

Confirm that the rotational inertia ratio or mass

(Overvoltage Detected

larger than operating conditions

regenerative resistance value.

ratio is within the allowable range.

by Main Circuit Power

Operate in a state where the allowable

Supply in Servo Drive)

moment of inertia ratio or mass ratio is

above the allowable moment of inertia

Confirm that the rotational inertia ratio or

Extend deceleration time or reduce load.

ratio or mass ratio to confirm that the

mass ratio is within the allowable range.

moment of inertia ratio or mass ratio is

within the tolerance

In the state that the main loop power supply is

not turned on, the servo drive control power

Servo drive failure

supply is turned on again. When an alarm still

occurs, replace the servo drive.

Adjust the power supply voltage to the normal

Supply voltage below specification

Measure the power supply voltage.

A.410：

range

Under voltage

Power supply voltage drops during

Measure the power supply voltage.

Increase power supply capacity.

(The power supply part

operation

of the main loop inside

If the instantaneous stop holding time (Pn509)

Instantaneous power failure occurred

Measure the power supply voltage.

the servo drive detects

is changed, it is set to a smaller value.

the undervoltage)

Servo drive fuse blown

Replace the servo drive

Servo drive failure

Replace the servo drive.

U, V, W phase sequence error of motor

Confirm whether there is any problem with the

Confirm the connection of servo motor.

wiring

motor wiring.

A.510：

The command input value exceeds the

Confirm the input command.

Lower the command value. Or adjust the gain.

Over speed

overspeed value

(Motor speed is above

Reduce the speed command input gain and

The motor speed exceeds the maximum

the highest speed)

Confirm the waveform of motor speed.

adjust the servo gain. Or adjust operating

speed

conditions.

Servo drive failure

Replace the servo drive.

Confirm the abnormal sound of the motor

Abnormal vibration of motor speed is

Reduce motor speed. Or reduce the speed

and the speed and torque waveforms

detected

loop gain (Pn100).

during operation.

A.520：

The value of the moment of inertia ratio

Confirm the moment of inertia ratio or mass

Correctly set the moment of inertia ratio

Vibration alarm

(Pn103) is larger than the actual value or

ratio.

(Pn103).

varies greatly

Vibration detection value

(Pn312) is

Verify that the vibration detection value

Set the vibration detection value appropriately

inappropriate

(Pn312) is appropriate.

(Pn312).

A.521：

Reduce the load below the allowable moment

Automatically

adjust

The motor vibrates greatly when using

of inertia ratio, or increase the load value set

Confirm the waveform of motor speed.

alarm

the adjustment-free function

by the adjustment-free value to reduce the

(Custom adjustments,

rigidity value.

EasyFFT,

The processing method described in the

The motor vibrates greatly when custom

adjustment

Vibration

Confirm the waveform of motor speed.

operation steps for implementing each

adjustment and EasyFFT are performed.

detected in function)

function.

Motor wiring, encoder wiring or poor

Confirm whether there is any problem with

Confirm wiring.

A.710：

connection

motor wiring and encoder wiring.

Overload

Discuss load conditions and operating

The operation of the motor exceeds the

Confirm the overload characteristics and

(instantaneous

conditions again. Or reconsider the motor

overload protection characteristic

operation commands of the motor.

maximum load)

capacity.

A.720：

The motor is not driven due to

Confirm the operation command and motor

Overload

(continuous

mechanical factors,

resulting

Improve mechanical factors.

speed.

maximum load)

excessive load during operation

Servo drive failure

Replace the servo drive.

The motor is being driven by external

A.730：

Confirm operation status.

Do not drive the motor by external force.

force

A.731：

Try the following measures.

DB overload

The rotating or operating energy when

• Reduce the command speed of servo motor.

(Excessive

power

The usage frequency of DB is confirmed by

DB stops exceeds the capacity of DB

• Reduce the rotational inertia ratio or mass

consumption

the power consumption of DB resistor.

resistor

ratio.

dynamic

brake

• Reduce the number of DB stops.

detected)

Servo drive failure

Replace the servo drive.

A.740: Impulse Current

The allowable number of inrush current

Lower the ON/OFF frequency of the main loop

Limiting

Resistance

limiting resistors when the main loop

power supply.

Overload

power supply is ON/OFF is exceeded

(The main circuit power

on frequency is too

Servo drive failure

Replace the servo drive.

high)

Turn on the power supply of absolute

Confirm whether the power is switched on

Setting operation of encoder is carried out

value encoder for the first time

for the first time.

A.810：

The encoder cable was removed and

Confirm whether the power is switched on

Confirm the connection of the encoder and set

Encoder backup alarm

then connected

for the first time.

the encoder.

(only detected when

The servo drive control power supply

After power supply to the encoder is restored

Verify that the encoder connector battery

absolute value encoder

(+5V) and battery power supply have

(battery replacement, etc.), the encoder is set

and connector status are correct.

is connected

both failed

up.

(Detected on encoder

When the alarm cannot be released even if

side

Absolute value coder fault

the setting operation is performed again,

replace the servo motor.

Servo drive failure

Replace the servo drive.

A.820：

Reset encoder. When it still occurs frequently,

Encoder and check

Encoder failure

it is possible that the servo motor fails.

alarm

(Detected on

Replace the servo motor.

encoder side）

Servo drive failure

Replace the servo drive.

A.830：

The battery is not well connected and not

Confirm battery connection.

Connect the battery correctly.

Encoder battery alarm

connected

(The absolute value

The battery voltage is lower than the

Measure the battery voltage.

Replace the battery.

encoder battery voltage

specified value (2.7 V)

is below the specified

Servo drive failure

Replace the servo drive.

value)

Alarm number:

Reason

Confirmation method

The treatment measures

Alarm name

Connect to the servo drive power supply

A.840：

Encoder malfunction

again. When an alarm still occurs, replace the

Encoder data alarm

servo motor or encoder.

(Detected on encoder

Correct wiring of encoder periphery

Incorrect operation of encoder due to

side）

(separating encoder cable from servo motor

interference, etc

main loop cable, grounding treatment, etc.).

When the control power supply is turned

Confirm the motor speed when the power

Adjust the rotation speed of servo motor to

on, the motor rotates at a speed of 200

A.850：

supply is turned on through the motor

less than 200min^-1, and then switch on the

min^-1 or more (when rotating the servo

Encoder overspeed

rotation speed.

control power supply.

motor)

(detected when the

Connect to the servo drive power supply

control power is turned

Encoder failure

again. When an alarm still occurs, replace the

on)

servo motor or encoder.

(Detected on encoder

Connect to the servo drive power supply

side）

Servo drive failure

again. When an alarm still occurs, replace the

servo drive.

A.b6A：

Connect to the servo drive power supply

MECHATROLINK

Servo

drive

MECHATROLINK

again. When an alarm still occurs, replace the

Communication ASIC

communication failure

servo drive.

fault 1

Take the following anti-interference measures.

Due to interference, MECHATROLINK

Correct the connection of communication

A.b6b：

communication caused misoperation.

cable or FG.

MECHATROLINK

Install ferrite cores on communication cables.

Communication ASIC

Connect to the servo drive power supply

fault 2

Servo

drive

MECHATROLINK

again. When an alarm still occurs, replace the

communication failure

servo drive.

U, V, W phase sequence error of motor

Confirm whether there is any problem with the

Confirm the wiring of motor.

wiring

motor wiring.

Whether there is no problem with the wiring of

A.C10：

the motor, if the alarm still occurs after the

Out of control detection

Encoder failure

power is switched on again, it may be the fault

(detected when servo is

of the servo motor or encoder. Replace the

ON)

servo motor or encoder.

Connect to the servo drive power supply

Servo drive failure

again. When an alarm still occurs, replace the

servo drive.

Confirm the voltage of the linear encoder

Installation of reading head of fine grating

Linear encoder signal level low

signal

ruler. Or replace the linear encoder.

Confirm the setting of Pn080=n.   X 

The positive counting direction of the

Change

the

setting

(motor phase sequence selection) and the

A.C20：

linear encoder does not match the

Pn080=n.X.Reinstall the linear encoder

installation direction of linear encoder and

Phase error detection

positive direction of the motor rotor

and motor rotor.

motor rotor.

Correct FG wiring. Implement anti-interference

The magnetic pole sensor signal is

countermeasures for magnetic pole sensor

disturbed

wiring.

Linear encoder grating scale pitch

Confirm linear encoder grating pitch

Confirm the specifications of linear encoder

(Pn282) setting error

(Pn282).

and set the value correctly.

A.C21：

The magnetic pole sensor is exposed

Magnetic pole sensor

Confirm magnetic pole sensor.

Reinstall the motor rotor or stator.

outside the motor stator

failure

Incorrect wiring of magnetic pole sensor

Confirm the wiring of magnetic pole sensor.

Correct the wiring of magnetic pole sensor.

Magnetic pole sensor failure

Replace the magnetic pole sensor.

A.C22：

Servo unit and linear encoder

Phase information is

Perform magnetic pole detection.

Phase information is different

inconsistent

The settings of linear encoder grating pitch

Confirm the specifications of the linear

(Pn282) and motor phase sequence selection

Parameter setting incorrect

encoder and the status of the feedback

(Pn080 = n.   X  ) may not be consistent

signal.

with the state of the device.Set parameters

correctly.

Confirm that the serial conversion unit, FG

of servo motor and FG of servo unit are

connected, and FG of servo unit is

connected with FG of power supply. In

Take appropriate anti-interference measures

The grating scale signal is disturbed

addition, it is confirmed that the cable of the

for cables used for linear encoders.

linear encoder is indeed shielded. Confirm

whether the detection command is

repeatedly output in the same direction for

many times.

A.C50：

Even if the detection command is 0 and the

Magnetic pole detection

speed feedback is not 0 when external force

failed

such as cable tension is applied to the motor

The motor rotor is subjected to external

rotor, and it cannot be detected smoothly.

force

Reduce the external force so that the speed

feedback is

0. Increase the magnetic pole

detection speed loop gain (Pn481) when the

external force cannot be reduced.

When the pitch of linear encoder grating scale

is more than

100m, the servo unit cannot

detect the correct speed feedback. Use high

precision linear encoder grating scale pitch

Confirm whether the pitch of linear encoder

Linear encoders have low resolution

(within 40m is recommended). Or increase the

grating ruler is within 100 m.

magnetic pole detection command speed

(Pn485). However, the motor operation range

when magnetic poles are detected becomes

larger.

A.C51：

Connect the over-travel signal. Magnetic pole

Over-travel

detection

Over-travel signal is detected when

Confirm the overtravel position.

detection is carried out at the position where

when magnetic pole is

magnetic pole is detected

the over-travel signal cannot be detected.

detected

Servo ON in the following states

A.C52：

• When magnetic pole detection is not

Magnetic pole detection

Input /P-DET signal.

completed

is not complete

• When/p-det is not entered

A.C53：

The detection moving distance exceeds

Expand the range of magnetic pole detection

The magnetic pole

the magnetic pole detection moving

activities

(Pn48E). Or increase the pole

detection is beyond the

range.（Pn48E）

detection speed loop gain (Pn481).

active range

Increase the value of the magnetic pole

detection confirmation thrust command

A.C54：

(Pn495). Increase the allowable range of

Magnetic pole detection

Under external force

magnetic pole detection error

(Pn498).

failed 2

However, once the error tolerance range is

expanded, the motor temperature will rise.

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