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6.

When in Trouble 1

Before Using the Products
1. When in Trouble
What to Check ? ..........................................................................................6-2
2
Protective Function (What is Error Code ?) .................................................6-2

Protective function (Detail of error code) .....................................................6-4

Preparation
2. Setup of gain pre-adjustment protection .................................6-23
3. Troubleshooting
Motor Does Not Run ..................................................................................6-26
Unstable Rotation (Not Smooth) ,
Motor Runs Slowly Even with Speed Zero at Velocity Control Mode ........6-28 3

Positioning Accuracy Is Poor .....................................................................6-29
Origin Point Slips .......................................................................................6-30

Connection
Abnormal Motor Noise or Vibration ...........................................................6-30
Overshoot/Undershoot,
Overheating of the Motor (Motor Burn-Out) ...............................................6-31
Motor Speed Does Not Reach to the Setup,
Motor Revolutions (Travel) Is Too Large or Small .....................................6-31
4
Parameter Returns to Previous Setup .......................................................6-32

Setup
5

Adjustment

6
When in Trouble

7
Supplement

6-1

6 1. When in Trouble
When in Trouble What to Check ?

Isn't error code No. is displayed ?

Aren't the parameter
setups wrong ?
Doesn't the power voltage vary ?
Is the power turned on ?
Any loose connection ? Motor does not run.
Check the cause by referring to P.2-102,
Is the connecting portion “Display of Factor of No Motor Running” of
disconnected ? Preparation, and then take necessary measure.
(Broke wire, contact)
Host
Is the wiring correct ?
controller
Isn't the connector pulled off ?
Isn't the short wire pulled off ? Is the wiring to Connector
X4 correct ?
Is abnormal noise generated Or aren't any wires pulled
from the motor ? off ?

Is the wiring to Connector X5
Isn't the holding in case of full-closed control
brake engaged ? correct ?
Ground Or aren't any wires pulled off ?

Is the wiring to Connector X6
correct ?
Or aren't any wires pulled off ?
Machine Motor

Isn't the connection
loose ? External scale

6 1. When in Trouble
When in Trouble Protective Function (What is Error Code ?)

• Various protective functions are equipped in the driver. When these are triggered, the
motor will stall due to error, the driver will turn the Servo-Alarm output (ALM) to off (open).
• Error status and their measures
• During the error status, the error code No. will be displayed on the front panel LED,
and you cannot turn Servo-ON.
• You can clear the error status by Alarm clear input(A-CLR) in 120 ms or longer.
• When overload protection is triggered, you can clear it by Alarm clear input (A-CLR)
in 10sec or longer after the error occurs. (*1 Table below) You can clear the Overload
protection time characteristics (refer to P.6-14) by turning off the control power supply
between L1C and L2C (100 V, 200 V) of the driver.
• You can clear the above error by operating the front panel keys and setup support
softwear "PANATERM". Refer to P.2-111 “Alarm Clear Screen” of Preparation.
• Be sure to clear the alarm during stop after removing the cause of the error and se-
curing safety.

Note • The figure above shows connections on velocity, position, torque and full-closed mode
driver.
Related page • P.2-88 ... “How to Use the Front Panel” • P.3-32 “Inputs and outputs on connector X4”
• P.7-26 “Outline of Setup support software “PANATERM”

6-2

1. When in Trouble
Protective Function (What is Error Code ?)
1

Before Using the Products
<List of error code No.>
Error code Attribute Error code Attribute
Detail Detail
Protective function Can be Immediate page Protective function Can be Immediate page
Main Sub History cleared
stop*3 Main Sub History cleared
stop*3
11 0 Control power supply under- voltage protection 34 0 Software limit protection
12 0 Over-voltage protection 36 0 to 1 EEPROM parameter error protection
6-10
Main power supply under-voltage 37 0 to 2 EEPROM check code error protection

13
0
protection (between P and N)
Main power supply under-voltage
6-4 38 0 Over-travel inhibit input protection 2
0 Analog input1 excess protection

1 protection 39 1 Analog input2 excess protection
(AC interception detection)

Preparation
2 Analog input3 excess protection
0 Over-current protection *4
14 40 0 Absolute system down error protection
1 IPM error protection 6-11
6-5 41 0 Absolute counter over error protection
0 Over-heat protection *4
15 42 0 Absolute over-speed error protection
1 Encoder overheat error protection
*1 *
43 0 Initialization failure
0 Over-load protection Switchable 2
16 44 0 Absolute single turn counter error protection
1 Torque saturation error protection 6-6

18
0 Over-regeneration load protection
45 0 Absolute multi-turn counter error protection
47 0 Absolute status error protection
3

1 Over-regeneration Tr error protection
0 Feedback scale connection error protection
0 Encoder communication disconnect error protection 50
21 1 Feedback scale communication error protection

Connection
1 Encoder communication error protection
6-7 0 Feedback scale status 0 error protection 6-12
23 0 Encoder communication data error protection
1 Feedback scale status 1 error protection
0 Position deviation excess protection
24 2 Feedback scale status 2 error protection
1 Velocity deviation excess protection 51
3 Feedback scale status 3 error protection
25 0 Hybrid deviation excess error protection
4 Feedback scale status 4 error protection
0 Over-speed protection 5 Feedback scale status 5 error protection
26
1
0
2nd over-speed protection
Command pulse input frequency error protection 6-8
0 A-phase connection error protection 4

55 1 B-phase connection error protection
27 1 Absolute clear abnormal protection 2 Z-phase connection error protection
2 Command pulse multiplier error protection 0 U-phase current detector error protection
70

Setup
28 0 Limit of pulse replay error protection 1 W-phase current detector error protection 6-13
0 Deviation counter overflow protection 72 0 Thermal protector error
29
2 Deviation counter overflow error protection 2 80 0 Modbus communication timeout protection
0 Safety function error protection 1 87 0 Compulsory alarm input protection
31
2 Safety function error protection 2 92 0 Encoder data recovery abnormal protection
6-9
0
1
IF overlaps allocation error 1 protection
IF overlaps allocation error 2 protection
93
0 Parameter setup error 1
1 Block data setting error protection
5

2 IF input function number error 1 protection 0 Block operation error protection
94
3 IF input function number error 2 protection 2 Return to origin error protection

Adjustment
33
4 IF output function number error 1 protection 95 0 to 4 Motor automatic recognition error protection 6-14
5 IF output function number error 2 protection 97 0
6-10
6 CL fitting error protection Other Other error
7 INH fitting error protection number

Note History...The error will be stored in the error history.
Can be cleared...To cancel the error, use the alarm clear input (A-CLR).
If the alarm clear input is not effective, turn off power, remove the cause of the error and then turn on
6

power again.
When in Trouble

Immediate stop...Instantaneous controlled stop upon occurrence of an error.
(Setting of “Pr.5.10 Sequence at alarm” is also required.)

*1:When Err16.0 “Overload Protection 1”is activated, error can be cleared about 10 seconds after the occurrence.
*2:When Err40.0 “Absolute System Down Error protection,” or Err42.0 “Absolute Overspeed Protection” occurs, the
error is unable to be cleared unless Absolute Clear is performed.
*3:Immediate stop refers to alarms which result in an immediate stop when setting is made to 4 to 7 in Pr5.10 “Sequence 7

at alarm” are shown. For the detail of an immediate stop, see 6-5-4 “Sequence at alarm.”
Supplement

*4:Err 16.0 “Overload protection,”can be switched to responsive/non-responsive by switching bit 11 of “Function
expansion setting 2” of Pr 6.47. Set to non-responsive at time of shipment.

6-3

For single phase.16. voltage. L2 and L3) correctly.. 1) Increase the power capacity.08 (LV trip protection selection at the main power-off) is set to 1. Change the power supply. 400 VDC (approx. then re-enter the power. For the capacity. protection current at the main power-on. 110 VDC (approx. Voltage advancing capacitor. Causes Measures function Main Sub Control 11 0 Voltage between P and N of converting Measure L1C-L2C line voltage of connector power unit of control power supply has fallen and terminal block supply down and dropped below specified value.2-12. under. "Driver and List of Applicable current at the main power-on. the preset time with Pr5.. 140 VAC) 200 V version: approx. 3) Lack of power capacity.3-phase input driver has 4) Connect each phase of the power supply been operated with single phase input. use L1 and L3. Or the voltage between P and N of (PN) the converter portion of the main power Main power 1 supply has fallen below the specified supply value during Servo-ON. L2 and L3). 6 1. Change the (AC) Instantaneous power failure has power supply. 3) Servo driver failure (circuit failure) 3) Replace with new servo driver. Remove a phase- the permissible input voltage.. 100 V and 200 V driver. Related page • P. Set up each phase of the power correctly. 100 V version: approx. 3)External regeneration resistor is not 3) Change the specified regeneration appropriate and could not absorb the resistance value to wattage. resistance and wattage.2-10. supply has exceeded the specified value 100 V version: approx. When in Trouble When in Trouble Protective function (Detail of error code) Protective Error code No. voltage has fallen down due to inrush refer to P. 4) Phase lack. 4) External regeneration discharge resistor is not appropriate and could 4) Change to the one with specified not absorb the regeneration energy. surge due to the phase-advancing capacitor or UPS (Uninterruptible Power Supply) have occurred. 75 VAC) voltage protection 1) Power supply voltage is low. 200 VDC (approx. Replace the external resistor if the value is ∞. Main power 13 0 Instantaneous power failure has occurred Measure the voltage between lines of supply between L1 and L3 for longer period than connector (L1.. under. 80 VDC (approx. 280 VAC) 1) Power supply voltage has exceeded 1) Enter correct voltage.. regenerative energy. “System Configuration and Wiring” • P.B of the driver. 1) Low power supply voltage. 5) Failure of servo driver (failure of the circuit) 5) Check that Pr0. L2 and L3).09 (Main power voltage off detecting time) while Pr5. 2) Power capacity shortage…Due to rush 2) Increase the power capacity. 5) Failure of servo driver (failure of the circuit) 5) Replace the driver with a new one.09 (Main occurred.. Peripheral Equipments" of Preparation. Over-voltage 12 0 Voltage between P and N of the Measure the voltage between lines of protection converter portion of the control power connector (L1. Remove the causes of the occurred shutdown of the magnetic contactor or the main power supply. power off detecting time). under. Occurrence 1) Increase the capacity of power supply voltage of momentary power failure. 55 VAC) 200 V version: approx. (L1. 2) Instantaneous power failure has 2) Set up the longer time to Pr5.4-49 “Details of parameter” 6-4 . power supply voltage has fallen down.Power supply 3) Increase the power capacity. 2) Disconnection of the regeneration 2) Measure the resistance of the external discharge resistor resistor connected between terminal P .

V and W and earth wire. 2) Overload 2) Increase capacity of servo driver and motor.Set up longer acceleration/ deceleration time. replace with a new driver. IGBT or other components) motor. servomotor and the cooling condition. Setup (Only F and G frames) 9) Power Modulef overheat protection 9)Increase capacity of servo driver and motor. while disconnecting the 2 circuit. In IPM: case of poor insulation. 6) Welding of contact of dynamic braking 6) Replace the servo driver.Reduce the load. Lower the load. Do not use relay due to frequent servo ON/OFF Servo-ON/Servo-OFF as a means of operations. Servo-ON. * Over-heat 15 0 Temperature of the heat sink or power device has been risen over the specified 5 protection temperature. 1) Ambient temperature has risen over 1) Improve the ambient temperature and Adjustment the specified temperature.. When in Trouble Protective function (Detail of error code) 1 Before Using the Products Protective Error code No. If error occurs immediately. remove the cause. U. 5) Check the loose connectors. 5) Poor contact of the motor wire. Causes Measures function Main Sub * 14 0 Current through the converter portion has Over-current exceeded the specified value. V and W) is not shorted. 7) Timing of pulse input is same as or 7) Enter the pulses 100 ms or longer after 4 earlier than Servo-ON. and check the branched out wire out of the connector. If they are. protection 1) Failure of servo driver (failure of the 1) Turn to Servo-ON. replace the motor. Preparation 2) Short of the motor wire (U. Connection replace the motor. staring/stopping the operation.Reduce the load. Make a correct * 1 wiring connection. it can- not be disabled by the alarm clear input (A-CLR). 1) The ambient temperature of 1) Improve the ambient temperature of When in Trouble servomotor is high. To return to the normal operation. 8) Blowout of thermal fuse due to 8) Replace the driver. turn off power. 7 Supplement Note • When protective function marked with * in the protective function table is activated. V and W) 2) Check that the motor wire (U. 1 The temperature of encoder has exceeded an encoder overheat 6 abnormal level. Set up longer acceleration/ deceleration time. 3 Intelligent 4) Burnout of the motor 4) Check the balance of resister between Power Module each motor line. 6-5 . fix them securely. cooling condition. or pulled out. IPM error 3) Earth fault of the motor wire 3) Measure the insulation resistance between protection motor wires. Set up longer acceleration/deceleration time.1. 2) Over-load 2) Increase the capacity of the driver and motor. overheating dynamic brake circuit. and then turn on power again. and if unbalance is found.

• The over-load protection time characteristics are described on P. capacity of regenerative resistor. miswiring 6) Make a correct wiring by matching the has occurred by connecting the motor correct motor and encoder wires. 3) Miswiring. Check the over-load alarm characteristics (described later) display and load factor with the analog outoput and via communication.6-14. “Details of parameter” 6-6 . absorbed in the specified time due to a Check the load factor of the regenerative high motor rotational speed. 2) Oscillation and hunching action due to 2) Make a re-adjustment. When in Trouble Protective function (Detail of error code) Protective Error code No. Lower the motor rotational speed.16 to 2. resistor. remove the cause. 5) Electromagnetic brake has been kept 5) Measure the voltage between brake engaged. converter voltage has risen. Use the external regenerative resistor. 4) Machine has collided or the load has 4) Remove the cause of distortion. abnormal noise. Do not use in the continuous regenerative load 1) Due to the regenerative energy during brake application. Lower the gotten heavy. Increase the capacity of the driver and the motor. anomaly protection detect time.57 Torque saturation error • Refer to Measures described for Err16. distorted. Otherwise. protection 1) Check the running pattern (velocity deceleration caused by a large load inertia. Motor vibration. regenerative resistor loses the protection and it may be heated up extremely and may burn out. Torque 1 Torque saturation has continued for the • Check operation of the driver. resistor has been limited to 10 % duty. turn off power.12 oscillates nor fluctuate up an down very (Setup of over-load level) and resulted in much on the analog outoput and via overload protection according to the time communication. 2) Regenerative energy has not been 2) Check the running pattern (speed monitor).. 3) Make a wiring as per the wiring diagram. and then turn on power again.. and loosen the deceleration time. the deceleration time. poor adjustment. 1) Load was heavy and actual torque has 1) Increase the capacity of the driver exceeded the rated torque and kept and motor. Related page • P.0.04) setup error. Use an external regenerative resistor. Lower the load. Set up longer acceleration/ running for a long time. Inertia ratio (Pr0. Causes Measures function Main Sub Over-load 16 0 Torque command value has exceeded Check that the torque (current) does not protection the over-load level set with Pr5. Replace the cables. Caution Install an external protection such as thermal fuse without fail when you set up Pr0. saturation time set in Pr6. Check the load factor of the and the voltage is risen further due to regenerative resistor and over-regeneration the lack of capacity of absorbing this warning display. 1. terminals.. disconnection of the motor. and loosen resistor. To return to the normal operation. it can- not be disabled by the alarm clear input (A-CLR). Note • When protective function marked with * in the protective function table is activated.16 to 2. resistor from the front panel or via communi- regeneration cation. 3) Active limit of the external regenerative 3) Set up Pr0. protection * 18 0 Regenerative energy has exceeded the Check the load factor of the regenerative Over.4-7. Release the brake 6) While wiring multiple axes. deceleration time. Machine has been load. cable to other axis. monitor). it cannot be cleared at least for 10 sec. Caution Once this error occurs. Increase the capacity energy of the regeneration discharge of the driver and the motor.

speed is forcibly set to 0 due to • Disable the excess speed deviation instantaneous stop caused by the detection (Pr6.14. Encoder error cables are connected. command pulses. nection error protection 3 * 1 Communication error has occurred in • Secure the power supply for the encoder Encoder data from the encoder. tion discon. excess 1) The motor movement has not followed 1) Check that the motor follows to the position protection the command.02.1. * 23 0 Data communication between the • Connect the shield to FG.02 setup value should have sufficient margin because the speed 7 deviation also largely increases on the Supplement rising edge of the internal positional command speed.02 = 0).pay an attention Connection communica. 6-7 . protection setup vale of Pr6. Regenerative servo driver is defective. Mainly data of DC4.25 V). command pulse inhibit input (INH) or CW/CCW over-travel inhibit input. When in Trouble Protective function (Detail of error code) 1 Before Using the Products Protective Error code No.90 V to 5. deviation positional command speed and actual • Lengthen the acceleration/deceleration 6 excess speed (speed deviation) exceeds the time of internal positional command speed. Correct the miswiring communica.. in certain times. 2) Setup value of Pr0. detecting function has been triggered. Encoder encoder is normal.13 and Pr5. transistor 2 error protection Preparation * 21 0 Communication between the encoder Make a wiring connection of the encoder as Encoder and the driver has been interrupted per the wiring diagram.02. deviation excess setup) is small. error due to noise.22.. Adjustment Set up the longer acceleration/deceleration time.14 (Position 2) Set up a larger value to Pr0. or improve the follow-up characteristic by When in Trouble Note) If the internal positional command adjusting the gain. Encoder cables are especially when the encoder cables are tion error connected. Velocity 1 The difference between the internal • Increase the setup value of Pr6. but communication data has long. the speed deviation rapidly increases at this moment. Set up maximum 5 value to Pr0. Lower the load and speed. but contents of data communi. and disconnection of the connector pins. but communication protection data has some errors. Make a encoder wiring as per the wiring diagram. • Separate the encoder cable and the motor cable if they are bound together. are not correct. protection some errors. Pr6. Check that the output toque has not saturated in torque monitor. Make a gain adjustment. Setup Position 24 0 Deviation pulses have exceeded the deviation setup of Pr0. Causes Measures function Main Sub * 18 1 Regenerative driver transistor on the Replace the driver. 4 cation data Mainly data error due to noise.14.

33 to 0. Noises mixed with the command pulse input cause counting error. • If possible. deviation encoder slips larger than the setup • Check the connection between the external excess error pulses with Pr3. Causes Measures function Main Sub * 25 0 • Position of load by the external scale • Check the connection between the motor Hybrid and position of the motor by the and the load. 2nd Over. When in Trouble Protective function (Detail of error code) Protective Error code No. • Check that the variation of the motor position (encoder feedback value) and the load position (external scale feedback value) is the same sign when you move the load. use the line driver I/F. Over-speed 26 0 The motor rotational speed has exceeded • Do not give an excessive speed command. protection per single turn and the1st and the 4th between 1/1000 and 1000.15. The command pulses per 0. Pulse 28 0 The output frequency of pulse • Check the setup values of Pr0. • To disable the detection. regeneration regeneration has exceeded the limit. protection deviation excess) at full-closed control.2 times the setting in Pr5. frequency error protection Absolute 1 Absolute encode multi-rotation clear has Confirm whether absolute encode multi- clear been executed when a block operation rotation clear has when a block operation abnormal was enabled (Pr 6. • During full closed control. Electronic 2 Division and multiplication ratio which are • Set the command division and multiplication gear error set up with the command pulse counts ratio to a value as small as possible e. protection the setup value of Pr5. has occurred due to a poor gain adjustment.26) are correctly set. 1.32 (setting of max.32.g.24 and 3. • Check the command pulse input frequency and division/multiplication ratio. numerator/denominator of the electronic • Check the setup value of electronic gear. command pulse multiplied by the command division and input) to a value less than 1000 and enable multiplication ratio exceeds 3000 Mpps. digital filter. numerator • Do not change command division/ of command division/multiplication is multiplication during full closed control. was enabled. frequency.(Note) This is a safety measure protection and is not an abnormality.28 is non 0). changed or switched over.25) and reversal of external scale direction (Pr3. • Check that the numerator and denominator of the external scale division (Pr3. gear are not appropriate.28 (Setup of hybrid scale and the driver.167 ms • Set Pr5. 1 The motor rotational speed has exceeded • Make a gain adjustment when an overshoot speed the setup value of Pr6. The command pulse input fluctuates. Command 27 0 The frequency of command pulse input is Check the command pulse input for pulse input more than 1. protection • Make a wiring connection of the encoder as per the wiring diagram.11 and 5. limit protection 6-8 . set Pr5.03.13.

it can- not be disabled by the alarm clear input (A-CLR).22 “2ndtorque limit setting” to maximum. 6-9 . command units. SI5) are assigned with undefined number. SI4. SI10) Adjustment I/F input are assigned with two functions. SI9. • Make a gain adjustment. pin. remove the cause. SI10) I/F input are assigned with undefined number. function number error 2 protection 7 Supplement Note • When protective function marked with * in the protective function table is activated. In case of the repeated occurrence.0. SI2. replace the servo driver. • Adjust gain.22. * 31 0 Safety function has detected an error. Deviation 2 Value of positioning deviation has • Confirm that motor rotates in accordance counter overflow exceeded±230-1(1073741823) in pulse units. • Make a wiring connection of the encoder as per the wiring diagram. SI3. turn off power.13 and Pr5. position command pulses. because Safety failure is possible.13 “1st torque limit setting” and Pr5. Causes Measures function Main Sub Deviation 29 0 Positional deviation of encoder pulse • Check that the motor runs as per the counter reference has exceeded 229 (536870912). Preparation • Set up maximum value to Pr0. SI2. SI4. 4 2 function Return to a dealer for investigation (repair). SI3. 6 function When in Trouble number error 1 protection * 3 Input signals (SI6. overflow • Check that the output toque has not 2 protection saturated in torque monitor. SI7. duplicated allocation error 2 protection * I/F input 2 Input signals (SI1. SI8. duplicated allocation error 1 protection 5 * 1 Input signals (SI6. SI7. SI5) are Allocate correct function to each connector I/F input assigned with two functions. SI8. • Confirm that output torque has not saturated 3 protection 2 has exceeded ±230 (1073741824) in by the torque monitor. Connection • Set Pr. error protection Setup * 33 0 Input signals (SI1. SI9. Or the value ofpositioning deviation with the positioning command. To return to the normal operation.1. When in Trouble Protective function (Detail of error code) 1 Before Using the Products Protective Error code No. and then turn on power again. • Connect encoder connection wiring as per the wiring diagram.

positive or negative the rising time of the control power supply over-travel inhibit input has turned ON. SO2. (it may be a failure). error 2 protection * 38 0 With Pr5. EEPROM has been damaged when reading the Return the product to a dealer or check code 1 data from EEPROM at power-on.14 setup value is low. SO5.) Return the product to the error dealer or manufacturer. protection * 37 0 Data for writing confirmation to EEPROM Replace the driver. Set Pr5. 1) Gain is not appropriate. replace the driver (it parameter 1 EEPROM at power-on. direction over-travel inhibit input. both positive and negative switches. Causes Measures function Main Sub * 33 4 Output signals (SO1. over-travel inhibit input Check that there are not any errors in Over-travel setup = 0. assignment error * 7 Command pulse inhibit input function is INH assigned to a signal number other than assignment SI10. Or. 2) Increase the setup value of Pr5. SO6) are I/F output assigned with undefined number. 1. 1) Check the gain (balance between position loop gain and speed loop gain) and inertia ratio. the motor protection operates outside its working range specified in Pr5. error Software 34 0 When a position command within the limit specified input range is given. manufacturer. EEPROM damaged when reading the data from • If the error persists.14 to 0 to disable the protective function. Check that protection With Pr5.14. function number error 2 protection * 6 Counter clear function is assigned to a CL signal number other than SI7. pin. When in Trouble Protective function (Detail of error code) Protective Error code No. (DC12 V to 24 V) is not slow. wires or power supply which are inhibit over-travel inhibit inputs (POT/NOT) connected to positive direction/ negative input have been ON.04 = 2.04.14. * 36 0 Data in parameter storage area has been • Set up all parameters again. 6-10 . function number error 1 protection * 5 Output signals (SO4. SO3) are Allocate correct function to each connector I/F output assigned with undefined number. 2) Pr5. may be a failure.

30 correctly. • Set up Pr4. Check the input 3 (AI3) excess analog input 3 than the value that has been set by Pr4. remove the cause.27. Setup counter value. • Limit the travel from the machine origin over error within 32767 revolutions. 6-11 . Preparation Analog 1 Higher voltage has been applied to the • Set up Pr4. • Set up Pr4. 4 * 41 0 Multi-turn counter of the absolute • Set Pr0. excess been set by Pr4. • Check the connecting condition of the 5 protection bit encoder during the power failure. • Set up Pr4.24 to 0 and invalidate the 2 protection protective function.1. Causes Measures function Main Sub Analog 39 0 Higher voltage has been applied to the • Set up Pr4. connecting condition of the connector X4. To return to the normal operation. turn off power. connector X2.30 to 0 and invalidate the 3 protection protective function.27 to 0 and invalidate the protection protective function. the alarm cannot be cleared until the absolute Adjustment encoder is reset. excess been set by Pr4. protection Absolute 42 0 The motor speed has exceeded the • Check the supply voltage at the encoder over. Analog 2 Higher voltage has been applied to the • Set up Pr4.15 to 2 to ignore the multi-turn Absolute encoder has exceeded the specified counter over. Caution Once this error occurs. Encoder initialization error protection *1 6 When in Trouble * 44 0 Absolut: Replace the motor. down error power supply or battery for the absolute protection encoder has been down. When in Trouble Protective function (Detail of error code) 1 Before Using the Products Protective Error code No. specified value when only the supply side (5 V±5 %) speed error from the battery has been supplied to 17.24. * 43 0 Encoder initialization error was detected. and then turn on power again. Replace the motor. Caution Once this error occurs. Connection Absolute 40 0 Voltage of the built-in capacitor has fallen After connecting the power supply for the system below the specified value because the battery.27 correctly. it can- not be disabled by the alarm clear input (A-CLR). the alarm cannot be cleared until the absolute encoder is reset.30. Check the input 2 (AI2) analog input 2 than the value that has connecting condition of the connector X4.24 correctly. clear the absolute encoder. Check the input 1 (AI1) analog input 1 than the value that has connecting condition of the connector X4. Absolute single turn counter error protection single turn incremental: counter error single turn counter error protection protection *1 7 Supplement Note • When protective function marked with * in the protective function table is activated.

turn off power. Mainly data scale of DC5±5 % (4. scale in certain times. status error on. power-on.pay communi. protection *1 * 4 Bit 4 of the external scale error code External (ALMC) has been turned to 1. scale status Check the specifications of the external And then. Causes Measures function Main Sub * 45 0 Absolut: Replace the motor. and then turn on power again.75 V to 5. scale status Check the specifications of the external 2 error scale. shut off the power to reset.refer to wiring diagram. the external scale error from the front panel. protection *1 * 2 Bit 2 of the external scale error code External (ALMC) has been turned to 1. scale status Check the specifications of the external 3 error scale. protection *1 * 50 0 Communication between the external • Make a wiring connection of the external Feedback scale and the driver has been interrupted scale as per the wiring diagram. then clear External (ALMC) has been turned to 1. 0 error scale. and disconnection • Correct the miswiring of the connector pins. * 51 0 Bit 0 of the external scale error code Remove the causes of the error. protection *1 * 1 Bit 1 of the external scale error code External (ALMC) has been turned to 1. protection *1 * 3 Bit 3 of the external scale error code External (ALMC) has been turned to 1. remove the cause. When in Trouble Protective function (Detail of error code) Protective Error code No. error due to noise. scale status Check the specifications of the external 4 error scale. but communication date cables are long.. protection *1 Note • When protective function marked with * in the protective function table is activated. • Connect the shield to FG.. wiring error detecting function has been triggered. it can- not be disabled by the alarm clear input (A-CLR).. protection * 1 Communication error has occurred in • Secure the power supply for the external External data from the external scale.25 V).. Absolute multi-turn counter error protection multi-turn incremental: counter error single turn counter error protection protection *1 * 47 0 Encoder has been running at faster Arrange so as the motor does not run at Absolute speed than the specified value at power. 6-12 . External scale cables attention especially when the external scale cation data are connected. scale status Check the specifications of the external 1 error scale. 1. • Separate the external scale cable and the protection motor cable if they are bound together. To return to the normal operation. error has some error.

and replace the 4 motor and the driver. When in Trouble Protective function (Detail of error code) 1 Before Using the Products Protective Error code No. e.1. • Check the connection of Modbus 5 communication. protection Setup Thermal protector 72 0 Thermal protector error is detected. • Set Pr5. 2 5 error scale. 2) When a block operation was enabled (Pr 6.28 is non 0). wiring error protection U-phase current 70 0 U-phase current offset error is detected. error Modbus 80 0 While ensuring Modbus execution right.75 to 5. A-phase defective. wiring error protection * 1 B-phase wiring in the external scale is Check the B-phase wiring connection. protection Encoder data 92 0 Initialization process of internal position • Secure encoder power supply voltage at recovery information has not conducted normally DC5V±5% (4.37 is 0).28 is non 0). B-phase wiring error defective. time. scale status Check the specifications of the external And then.g. setup error 1 allowable range. then clear External (ALMC) has been turned to 1. 1) When a block operation was enabled 2) When a block operation was (Pr 6. this might be a failure. When in Trouble • Connect shield to FG. detector error • If error repeats. Parameter 93 0 1) Electronic gear ratio exceeds the • Check the setting value of the parameter. protection Stop using the products. shut off the power to reset. Return the products to W-phase current 1 W-phase current offset error is detected. Adjustment Forced 87 0 Forced alarm input (E-STOP) is applied. e. protection *1 Preparation * 55 0 A-phase wiring in the external scale is Check the A-phase wiring connection. Care must be abnormal protection under absolute and semi-closed control taken when the encoder lines are lengthy. detector error the dealer or manufacturer.37 is 0).g. separate them. discontinued. Modbus connection was 7 disabled (Pr 5.40 ”Modbus communication timeout communication Modbus communication against own axis period” to 0 to be disabled or to appropriate timeout protection has not been received for more than the set time. • If motor wires and encoder wires are bundled together. Connection Z-phase defective. Supplement 6-13 . connection was disabled (Pr 5.g. Check the wiring of forced alarm input alarm input (E-STOP). Electronic gear ratio enabled(Pr 6. the external scale error from the front panel. e. 6 mode. then re-enter.25V). • Turn off the power once. Modbus must be in the range 1/1000 to 8000. Causes Measures function Main Sub * 51 5 Bit 5 of the external scale error code Remove the causes of the error. 3 protection * 2 Z-phase wiring in the external scale is Check the Z-phase wiring connection. discontinued. discontinued.28 is non 0).

the dealer or manufacturer. command or the comparison purpose does not have any problems. turn off power. this might be a failure. and a block operation acceleration and deceleration. 2)A conditional branch command has not 2)Check whether the conditional branch been supported for comparison purpose. 6-14 . have any problems.Check whether the 4)Also. protection was started.28 “Special function mode selection”. a block Check the setting of Pr 0. Return the products to function of the driver. • If error repeats. then re-enter. have any problems. protection a new movement system command has been executed. excess noise or other causes. To return to the normal operation.01”control mode Control operation was enabled. a block 3)Check whether the host sequence does not operation was started. have any problems. block number designated does not have any problems. 1. * 95 0 to 4 The motor and the driver has not been Replace the motor which matches to the Motor matched. driver. and replace the driver while triggering self-diagnosis motor and the driver. Return to 94 0 1)During the execution of movement 1)Check whether the block operation origin system command (During the execution sequence does not have any problems. 2 Abnormal condition has occurred during Check for abnormalities in various sensor block operation return to origin. Note • When protective function marked with * in the protective function table is activated. 3)Although it was servo-off. automatic recognition error protection * 97 0 When it was not position control. setting error were set to 0. and then turn on power again. a new block 2)Check whether the host sequence does not number was designated to start. Some error has occurred inside of the Stop using the products. 4)Check whether the block data setup does not have any problems. installation status. error of position command creation process). setting” and Pr 6. setting error prtection * Other Control circuit has malfunctioned due to • Turn off the power once. When in Trouble Protective function (Detail of error code) Protective Error code No. acceleration and deceleration 1)Set a value other than zero for velocity. Causes Measures function Main Sub Block data 93 1 1)Velocity. 2)During block operation. Other error No. block data setup has some error. 3)A designated block data command has 3)Check whether the block data does not been undefined. remove the cause. it can- not be disabled by the alarm clear input (A-CLR).

When in Trouble Protective function (Detail of error code) Time characteristics of Err16.7-55 Motor characteristics (S-T characteristics).1 0. 15. 04 100 When the servo lock, ・MSMF10.1 115 100 150 200 250 300 350 100 150 200 250 300 350 Torque [%] 115 125 Torque[%] Caution Use the motor so that actual torque stays in the continuous running range shown in “S-T characteristic” of the motor. 011 When the servo lock,Duringthe rotaption 0.04. 20. 40. 15. MQMF04 During the rotaption 10 10 1 1 0. 15. 08. 50 When the servo lock 100 ・MSMF02. For the S-T characteristics. 50 1000 1000 ・MSMF30 When the servo lock ・MSMF08. 02 . 04 1000 1000 ・MQMF02 When the servo lock 100 ・MQMF01 100 ・MQMF04 When the servo lock When the servo lock, Duringthe rotaption ・MQMF02.1. 40. 01.0 (Overload protection) MSMF Overload protection time characteristics Time [s] MSMF5A. 09 When the servo lock, Duringthe rotaption ・MSMF10. 6-15 .1 115 100 150 200 250 300 350 100 150 200 250 300 350 115 120 125 Torque[%] Torque [%] MQMF Overload protection time characteristics Time [s] MQMF01 Time [s] MQMF02. 40. 30. 20. 20. see P. 09 Time [s] MSMF10. 50 Duringthe rotaption During the rotaption 10 10 1 ・MSMF012 1 When the servo lock, Duringthe rotaption ・MSMF5AZ.1 0. 30.

15. Time characteristics of Err16. 15.1 0. 13. 44 1000 1000 ・MGMF29. 13.1 0. 20. 30 Time [s] MDMF40. 44 100 ・MGMF09.1 115 115 100 150 200 250 300 350 100 150 200 250 300 350 Torque [%] Torque [%] 6-16 . 50 1000 1000 ・MDMF40 When the servo lock 100 ・MDMF10.0 (Overload protection) MDMF Overload protection time characteristics Time[s] MDMF10. 30 100 When the servo lock, ・MDMF50 When the servo lock Duringthe rotaption ・MDMF40 ,50 During the rotaption 10 10 1 1 0. 18 Time [s] MGMF29. 20.1 115 100 150 200 250 300 350 100 150 200 250 300 350 115 120 Torque [%] Torque [%] MGMF Overload protection time characteristics Time[s] MGMF09. 18 100 When the servo lock, When the servo lock, Duringthe rotaption Duringthe rotaption 10 10 1 1 0.

1 100 150 200 250 300 350 100 150 200 250 300 350 115 125 115 120 125 Torque [%] Torque[%] 6-17 . 01 Time [s] MHMF02. 09 1000 ・MHMF08 When the servo lock 100 ・MHMF09 When the servo lock ・MHMF08. 50 During the rotaption During the rotaption 10 10 1 1 0.20 ・MHMF30. 15. 15 When the servo lock ・MHMF50 When the servo lock ・MHMF10.0 (Overload protection) MHMF Overload protection time characteristics Time [s] MHMF5A.1 100115 150 200 250 300 350 100 150 200 250 300 350 Torque[%] 115 125 Torque [%] Time [s] MHMF08.1 100 150 200 250 300 350 115 125 Torque [%] Time [s] MHMF10. 40.1 0. 01 ・MHMF04 When the servo lock When the servo lock, ・MHMF02. 15.Time characteristics of Err16. 04 10 During the rotaption 10 During the rotaption 1 1 0. 40. 09 During the rotaption 10 1 0. 20 Time [s] MHMF30. 04 1000 1000 ・MHMF02 When the servo lock 100 100 ・MHMF5A.1 0. 50 1000 1000 ・MHMF40 When the servo lock ・MHMF20 When the servo lock ・MHMF30 When the servo lock 100 100 ・MHMF10.

15 2nd over-speed level setup In a specific condition. When in Trouble Protective function (Detail of error code) Setting Pr5.13 to the lower value compared with that of Pr6. Related page • P. disabling immediate stop. For example.15) <For immediate stop> Over-speed level setup (Pr5.13. it shuts off motor current and stops the motor by following sequence operation B of alarm process.15 is lower than that of Pr5. Err26.13 Over-speed level setup.13 Over-speed level setup and Pr6.0 is displayed. Current Flowing Turned off Normal operation Immediate Sequence at alarm (according to command from host) stop operation Operation following operation B When the speed exceeds the speed set in Pr6. and immediate stop function is activated. In this case Err26. Set Pr5.1 (Immediate stop unsupported alarm) is internally generated. set the allowable over-speed level.0 and Err26. Err26. the motor speed cannot be controlled. when the motor speed exceeds Pr5.1 is also gener- ated internally. When both settings are the same or margin is small.15 2nd over-speed level setup.4-50. turns off the current and operates according to sequence operation B at alarm.15 to have sufficient margin. but because Err26. if the setup value of Pr6.1 (2nd over-speed protection) is provid- ed.1 is an immediate stop unsupported alarm.0 (Immediate stop supported alarm) Err26.1 may be detect- ed at the same time. Speed [r/min] <For current off> 2nd over-speed level setup (Pr6. the motor will not stop normally when the immediate stop function is activated. In Pr6.1 is gener- ated before Err26. immediate stop unsupported alarm is given priority and immediate stop is not performed. Because Err26. 4-58 “Details of parameter” 6-18 . Furthermore. As a safety measure against over-speed. 1. Err26.15 2nd over-speed level setup.0.13) Motor speed velocity command Time Alarm Not generated Generated Err26. as shown below.

14 including the decel- eration movement. Related page • P.4-49. are correctly set. 1. assuring that the motor can run smoothly.10 (sequence at alarm). 3) Cautions • This function is not a protection against the abnormal position command. When in Trouble Protective function (Detail of error code) Software Limit Function (Err34.0) when the motor travels exceeding the movable range which is set up with Pr5. Full-closed control • Should be in servo-on condition • Input signals such as the deviation counter clear and command input Others inhibit. Note • Only for position control type is not provided with X5. and parameters except for controls such as torque limit setup. 2) Applicable range This function works under the following conditions. • This software limit protection will be invalidated during the trial run and frequency characteristics functioning of the PANATERM. • When this software limit protection is activated. The work (load) may collide to the machine end and be damaged depending on the load during this deceleration. You can prevent the work from colliding to the machine end caused by motor oscilla- tion. Conditions under which the software limit works Control mode • Position control. 4-50 “Details of parameter” 6-19 .14 (Motor working range setup) against the position command input range. the motor decelerates and stops ac- cording to Pr5. hence set up the range of Pr5.0) 1) Outline You can make an alarm stop of the motor with software limit protection (Err34.

Motor Load Pr5.0 occurrence range (oblique line range).14 Motor Error occurrence range movable Error occurrence range range (2) When the load moves to the right (at Servo-ON). When in Trouble Protective function (Detail of error code) 4) Example of movement (1) When no position command is entered (Servo-ON status). Motor Load Position command Pr5. Related page • P.14 Error occurrence range Error occurrence range Motor movable range (3) When the load moves to the left (at Servo-ON). The motor movable range will be the travel range which is set at both sides of the motor with Pr5. • when the power is turned on. When the load enters to the Err34. 1.14 Error occurrence range Error occurrence range Motor movable range 5) Condition under which the position command input range is cleared The position command input range will be 0-cleared under the following conditions. “Details of parameter” 6-20 .14 Pr5.14 since no position command is entered. and the movable range will be the position command input range + Pr5.05 (Sequence at over-travel inhibition) is 2 and over-travel inhibition input is valid. • while the position deviation is being cleared (Deviation counter clear is valid. When the position command to the right direction is entered. the motor movable range will be expanded by entered position command.14 input range Pr5. Motor Load Position command Pr5... software limit protection will be activated. When the position command to the left direction.) • At the beginning and ending of trial run via communication.14 input range Pr5. Pr5.14 setups in both sides.4-47. the motor movable range will be expanded further.

10 Function expansion setup to “1”. this function starts to keep the cur- rent flow after the brake release output (BRK-OFF) OFF until activation of external brake.5 to 5 ms 0. Sets bits related to falling prevention function. 1) Related parameters Class No.10 Sequence at alarm to “4” and set bit 10 of Pr6. sets the status during Sequence at 5 10 deceleration and after stop. turn off brake release output (BRK-OFF) and set the time during which Immediate the current flows through the motor. the falling prevention function completion wait is disabled. bit10 Positional deviation of falling prevention function Function during alarm 6 10 expansion setup  0: Invalid (always)  1: Valid (clear) To enable the falling prevention function. Set a time which is longer than the time period between brake release output (BRK-OFF) OFF and actual engagement of external brake to Pr6. cessation 6 51 When the setup value is 0. * The least significant bit is represented by bit0. When in Trouble Protective function (Detail of error code) Falling prevention function at alarm Upon occurrence of immediate stop supported alarm.1. set Pr5.51 Immediate stop complete wait time.51 is set Pr6. 2) Description • Falling prevention operation at immediate stop supported alarm Motor stops Motor runs (at 30 r/min or lower) (at 30 r/min or higher) Deceleration start Motor speed (30 r/min or lower) 30 r/min 30 r/min or lower With/without alarm Normal Immediate stop supported alarm Normal Immediate stop supported alarm 0. the time required for processing is 12 ms. For example: when the setup value is 11. time Setting resolution is 2 ms. preventing falling from vertical axis. When immediate stop alarm is issued.5 to 5 ms Servo alarm output ON (normal) OFF (abnormal) ON (normal) OFF (abnormal) (ALM) Application of external brake Application of external brake Brake release output OFF (operation) OFF (operation) ON (release) ON (release) (BRK-OFF) Pr6.51 is set Motor current ON OFF ON OFF Dynamic brake Released Released Engaged Engaged Caution To enable the falling prevention function at alarm. Title Function Once an alarm occurs. set to 1. 6-21 . alarm Setup values 4 to 7 enable immediate stop.

This is normal and no fan alarm is displayed. To forcibly clear the alarm. However. the alarm code is issued to indicate that the corresponding protective function will be triggered if suitable corrective action is not taken. *2 The upper fan on the H-frame driver stops during servo OFF to save energy. all warnings are always cleared. overloading occurs. Fan alarm A3 Fan has stopped for 1 sec.37. The alarm will be cleared as the cause of the error is removed. External scale error A8 The feedback scale detects the alarm.2 V or lower. Note that the battery warning and the end of life warning have no time limit. Lifetime detection Fixed at no The life expectancy of capacity or fan A7 alarm time limit. Encoder overheat A5 The encoder detects overheat alarm. time limit. Fixed at no Battery alarm A2 Battery voltage is 3. *2 The number of successive encoder Encoder A4 communication errors exceeds the specified communication alarm value. becomes shorter than the specified time.14 “Main power off warning detection time” is 10-1999. certain alarm will remain latched for predetermined period as shown in the table below. When in Trouble Protective function (Detail of error code) Warning Function When an error condition e. Main power off C3 instantaneous power interruption occurs warning between L1 and L3 and lasts for a time longer than the setting of Pr7.27 “Warning latching time”. Over-regeneration Regenerative load factor is 85 % or more the A1 alarm protection level. take the normal alarm clear procedure. Alarm Alarm Pr6. 1. Load factor is 85 % or more the protection Overload protection A0 level. When setting of Pr7. alarm The number of successive feedback scale External scale A9 communication errors exceeds the specified communication alarm value. 6-22 .g. alarm Oscillation detection The motor vibration exceeds oscillation A6 alarm detection level set in Pr6.27 *1 Content No.14. If alarm clear input (A-CLR) is kept valid. *1 The “circle” means that a time in the range 1 s to 10 s or no time limit can be selected through Pr6.

P. Refer to interface specification. Pr5. Related page P.) 6-23 . setup the over- speed protection by multiplying the adjusting speed by a certain margin to protect the mo- tor against possible oscillation.13 Setup of over-speed level = Vmax × (1.4-47 (Pr5.3-48 (TLC). Pr5. By allocating the torque in-limit output (TLC) of interface specification to the output sig- nal.4-52 (Pr5.0 Over-speed protection when the motor speed is excessively high. 6 2. the bumping against mechanical end can be prevented. and excess positional deviation protection when response to the command delays. Default setting is the applicable motor maximum speed [r/min] × 1.05 Sequence at over-travel inhibit Related page P. P. Related page P.2.04 Setup of over-travel inhibit input Pr5. positive/negative direction over- travel inhibit input (POT/NOT)..05) 2) Setup of torque limit By limiting motor maximum torque.13). set the following parameters based on the conditions of use.04.4-12 (Pr0. set Pr5. When running the motor at a low speed during initial adjustment stage. If the torque limit setup is lower than the value required during the actual application. set Pr0.3-40 (POT/NOT).4-50 (Pr5. Setup of gain pre-adjustment protection When in Trouble Before starting gain adjustment. To apply standardized limit through parameters.13 Setup of over-speed level by using the formula below. Pr5.21) 3) Setup of over-speed protection Generates Err26. the following two protective features will be triggered: over-speed protection when overshoot occurs. damage caused by failure or disturbance such as bite of the machine and collision will be minimized. torque limit condition can be detected externally. to assure safe operation.. If your application operates below the motor maximum speed. 1) Setup of over-travel inhibit input By inputting the limit sensor signal to the driver. P. Set the following parameters which are related to over- travel inhibit input.2 to 1.13 The 1st torque limit.5) Vmax: motor maximum speed [r/min] in operating condition Factor in ( ) is margin to prevent frequent activation of over-speed protection.13) (Continued .

20 = 0 (detection through command positional deviation) Pr0. full-closed positional deviation) Pr0.4-12 (Pr0. Note 1) When switching position loop gain Kp. select the smallest value for calculation.14.14 Motor working range setup. Note 2) When using the positional command filter and damping control. and is- sues Err34. Excess positional deviation level can be set to Pr0. setups of positional command filter and damping control have no effect. • When Pr5. Related page P.0 Excess positional deviation protection.2 to 2. Note 4) When Pr5. Because the positional deviation during normal operation depends on the operating speed and gain setting.20) 5) Setup of motor working range During the position control or full-closed control.14 Setup of positional deviation excess = Ve/Kp × (1. Related page P. fill the equation below based on your operating condition and input the resulting value to Pr0. Positional command smoothing filter: Vc × filter time constant [s] Positional command FIR filter: Vc × filter time constant [s]/2 Damping control: Vc/(π × damping frequency [Hz]) • When Pr5. and one of which can be selected by Pr5. (See the control block dia- gram. 2.0 Software limit protection.14 Setup of positional deviation excess = Vc/kp × (1.14 Setup of positional deviation excess.14) 6-24 . P4-52 (Pr5.20 = 1 (detection through encoder positional deviation. add the following values.0) Ve: maximum operation frequency [pulse/s] in encoder unit or full-closed unit Kp: position loop gain [1/s] Note 3) When switching position loop gain Kp. The deviation can be detected through command positional deviation [pulse (command unit)] and encoder positional deviation [pulse (encoder unit)].0) Vc: maximum frequency of positional command pulse [pulse (command unit)/s] Kp: position loop gain [1/s] Factor in ( ) is margin to prevent frequent activation of excess positional deviation protection.) Default setting is 100000[pulse (command unit)].20 Position setup unit select. Setup of gain pre-adjustment protection 4) Setup of the excess positional deviation protection During the position control or full-closed control.14).2 to 2. this function detects the motor posi- tion which exceeds the revolutions set to Pr5.4-50 (Pr5. this function detects potential exces- sive difference between the positional command and motor position and issues Err24. select the smallest value for calculation.20 = 1.

4-36 (Pr3. Setup of gain pre-adjustment protection 1 Before Using the Products 6) Setup of hybrid deviation excess error protection At the initial operation with full-closed control. 2.28) 3 Connection 4 Setup 5 Adjustment 6 When in Trouble 7 Supplement 6-25 . Add a margin to this setting ac- cording to your operating condition.0 Hybrid deviation excess error protection is is. 2 sued when the deviation of motor position (encoder unit) and load position (external scale unit) exceed Pr3. Err25. Related page P. To indicate this type of defect. Preparation Default setting is 16000 pulse (command unit).28 Setup of hybrid deviation excess. Because the deviation in normal opera- tion varies with the operation speed and gain setup. operation failure may occur due to re- verse connection of external scale or wrong external scale division ratio.

Pr0.21 to 0 and apply -9 [V] to N-ATL and torque limit is not analog input (N-ATL/ +9 [V ] to P-ATL when you use the external input.09 and Pr5. Connector X4 to COM–.13 when you use the parameter value.10 and Pr5.2-102. correct P-ATL) is not used for the 2) Set up Pr05.04 to 1 (invalid) and reset the power. mode. ON in “ .. variation of command 2) Check that the command pulses are entered (Position/Full. 2) Set up Pr5. command pulses.4-4. correctly in the format selected with Pr0. Setup of Check that the motor 1) Check the setups of Pr0. Wiring Servo-ON input In the front panel monitor Check and make a wiring so as to connect the SRV- of Connector mode. 6 3.18 to 1 (invalid). inhibition (INH) of corresponding to INH in 2) Set up Pr5. NOT/POT inputs to COM–. is not correct.01 is set to 3 to 5. Selection of Check that the external 1) Set up Pr05. revolution against the 2) Connect the electronic gear switching input (DIV) of (Position/Full. value to torque limit.01 again. Command In the front panel monitor 1) Check and make a wiring so as to connect the INH pulse input mode. Connector X4 corresponding to CL in is connected to “ A ” state? COM–. is the Pin No. control mode is control mode is correct 2) Check that the input to control mode switching not correct with monitor mode of the (C-MODE) of the Cnnector X4 is correct. Troubleshooting When in Trouble Motor Does Not Run When the motor does not run. (Position/ Full-closed) Related page • P. travel inhibit input corresponding to NOT/ 2) Set up Pr5.09.. is the Pin No.3-32 “Inputs and outputs on connector X4” • P. Pr0. Connector X4 is “ A ” state? open. when front panel. pulse sum does not slips. (Position/ Full-closed) Counter clear In the front panel monitor 1) Check and make wiring so as to open the CL input input (CL) of mode. is the Pin No. or invalidate the division/ closed) multiplication switching by setting up the same value to Pr0.2-88.17 to 0 (invalid)..00.. closed) with monitor mode of the front panel.21 to 1 and set up the max.02 again. Command pulse Check that the input 1) Check that the command pulses are entered input setup pulse counts and correctly to the direction selected with Pr0. X4 (SRV-ON) is corresponding to SRV- open. of Connector X4 POT in “ A ” state? (NOT/POT) is open. Classification Causes Measures Parameter Setup of the Check that the present 1) Set up Pr0.00 to electronic gear moves by expected Pr5.05. input to COM–. Pr0.” state? Positive/negative In the front panel monitor 1) Check and make a wiring so as to connect both direction over. is the Pin No. refer to P. is incorrect. ON input to COM–. “Details of parameter” 6-26 .07. “How to Use the Front Panel” • P. "Display of Factor of No-Motor Running" of Preparation as well.

. 7 Supplement Related page • P. 3 (ZEROSPD) of No. (Velocity/Torque) Torque command Check that the torque 1) Check that the input voltage is applied correctly by is invalid (Torque) command input method setting up Pr3. when you use SPR/TRQR (SPR/TRQR input.08 to Pr3. Speed zero In the front panel 1) Check and make wiring so as to connect speed clamp input monitor mode. when you use the external Preparation (Velocity) (external analog analog command. after turning off the power and separate it from the machine.02 to Pr3. mode. when correct. when you use the P-ATL/ TRQR input.17 to 0. is the Pin No. when you use the parameter speed. is the Pin zero clamp input to COM–. “Details of parameter” • P. TRQR/SPL input.17 to 1.15.03 again by is invalid command input method setting up Pr3.21 by setting up invalid (Torque) limit input method Pr3.17 to 1. the motor turn the motor shaft. setting up Pr3. SPR/ 2) Check that the input voltage is applied correctly TRQR/SPL input) is by setting up Pr3. Installation Main power is In the front panel monitor Check the wiring/voltage of main power of the driver 5 shut off.17 to 0. Setup Velocity control is Check that the velocity 1) Set up the desired value to Pr3. consult with the drags. Connecter X4 is ZEROSPD in “ A ” state? Connection open.4-29. 6 2) Check that you can When in Trouble turn the motor shaft while applying DC24 V to the brake in case of the motor with electro- magnetic brake. refer to P. Troubleshooting Motor Does Not Run 1 Before Using the Products When the motor does not run.3-32 “Inputs and outputs on connector X4” 6-27 . 3. does not run. dealer for repair. input.00 to either one of 1. corresponding to S-RDY Adjustment in “ . P-ATL/TRQR input) is 2) Check that the input voltage is applied correctly by 4 correct.04 to Pr3. L2 and L3).00 to 0.2-102. corresponding to 2) Set up Pr3. 2 or 3. (L1..07 and Pr3. Classification Causes Measures 2 Wiring Speed command Check that the velocity 1) Check the setups of Pr3. (parameter velocity. you use the internal speed command. "Display of Factor of No-Motor Running" of Preparation as well.” state? The motor shaft 1) Check that you can If you cannot turn the motor shaft. command/internal 2) Set up Pr3.11 by velocity command) is setting up Pr3. when you use the SPR/ correct.

the motor runs slowly at servo-ON due to speed command offset. Slip of offset Check the voltage between Pin-14 and 15 (speed command input) using a tester or an oscilloscope. Separate the power line and signal line (30 cm or longer) in the separate duct. Correct the wiring and connection so that the speed zero clamp input can be entered normally. Separate the power line and signal line (30 cm or longer) in the separate duct.01 again. connector contact failure and controller. Connector X4 using the display function of I/O signal status. When in Trouble Motor Runs Slowly Even with Speed Zero at Velocity Control Mode Classification Causes Measures Parameter Setup of the control mode is not If you set up Pr0. 5) Check the wiring and connection between Pin-33 and 41of the 5) Command pulse inhibition Connector X4 using display function of I/O signal status. Wiring Each input signal of Connector 1) Check the wiring and connection between Pin29 and 41 of the X4 is chattering. Correct the wiring and connection so that the deviation counter input can be turned on normally. Change the setup of Pr0. Review the controller. 16 and torque limit input signal 17 of the Connector X4 using tester or oscilloscope. Noise is on the velocity Use a shield cable for connecting cable to the Connector X4. Increase the setup of Pr1. Correct the wiring and connection so that Positive/Negative direction torque limit input can be entered normally. 2) Positive/Negative direction 2) Check the wiring and connection between Pin-18 and 17.04 and increase the setup of Pr1. Troubleshooting Unstable Rotation (Not Smooth). 6 3.01 to 1(Velocity control mode) by mistake at correct. position control mode. 1st velocity loop gain. Review the controller.7-26 “Outline of Setup support software “PANATERM” 6-28 . 3) Deviation counter input signal 3) Check the wiring and connection between Pin-30 and 41 of the Connector X4 using display function of I/O signal status. Review the controller.4-4 “Details of parameter” • P. Velocity and position command Check the motor movement with connector X7 of the front panel are not stable. 1) Servo-ON signal Correct the wiring and connection so that the Servo-ON signal can be turned on normally. command.3-32 “Inputs and outputs on connector X4” • P. 4) Check the wiring and connection between Pin-26 and 41of the 4) Speed zero clamp signal Connector X4 using Display function of I/O signal status. or the waveform graphic function of the PANATERM.01. Adjustment Gain adjustment is not proper. command. Noise is on the position Use a shield cable for connecting cable to the Connector X4.01 to 0. Review the controller. Review the wiring. Enter torque filter of Pr1. Correct input the wiring and connection so that the command pulse inhibition input can be entered normally. Related page • P.

Connector X4 using display function of I/O signal status. • Review the wiring and connection so that the connection between Pin-27 and 41 of the gain switching input connector. review the controller. Pin-30). Make a noise 2 measure to command pulse. Correct the wiring and connection so that the command pulse inhibition input can be entered normally. Velocity loop gain is proportion • Set up Pr1. 6 3) Positive/Negative direction 3 Check the wiring and connection between Pin-18 and 17. Review the controller. Preparation complete signal at the edge.09 and Pr0. Correct the wiring and connection so that the deviation counter clear input can be turned on normally. Use a pulse line interface exclusive to line driver when pulse line interface is used. Connector X4 using display function of I/O signal status. use a larger capacity motor and driver. review command pulse is not per the the pulse generating circuit.10. 3 (Connector X4. specifications.14 of 2nd gain setup. Review the controller. to 1. Count the feedback pulses with a monitor function of the (Amount of command pulse) PANATERM or feedback pulse monitor mode of the console while repeating the movement of the same distance.31 within the range where no chattering of complete range is large. Make a noise measure. If it does not multiplication is not correct. Installation Load inertia is large.7-26 “Outline of Setup support software “PANATERM” 6-29 .4-4 “Details of parameter” • P. Increase the setup of Pr1. increase the driver and motor capacity. Correct the wiring and connection so that the servo-On signal can be turned on normally.02 and Pr1. Review the controller. Pr0. Shape or width of the If the shape of the command pulse is broken or narrowed. 2) Deviation counter clear input 2) Check the wiring and connection between Pin-30 and 41 of the signal connector. Parameter Setup of the positioning Lower the setup of Pr4. connector. Connector X4 using tester or oscilloscope. Correct the wiring and connection so that Positive/Negative direction torque limit input can be entered normally. Change the division/ multiplication ratio of 1st and 2nd numerator of command division/ 4 multiplication. Adjustment Position loop gain is small. Check the position deviation with the monitor function of the Connection PANATERM or at the monitor mode of the console. Noise is superposed on deviation counter clear input CL Make a noise measure to external DC power supply and make no wiring of the unused signal lines. 5 Wiring Each input signal of Connector 1) Check the wiring and connection between Pin29 and 41 of the Adjustment X4 is chattering.07 of time constant of velocity loop action at motor in stall. integration to 9999 or smaller. If the value does not return to the same value.00 within the range where no oscillation occurs. Troubleshooting 1 Before Using the Products When in Trouble Positioning Accuracy Is Poor Classification Causes Measures System Position command is not correct. 16 and When in Trouble torque limit input signal 17 of the connector. Captures the positioning Monitoring with the waveform graphic function of the PANATERM. 6 3. If no improvement is obtained. complete signal occurs. Setup Setup of the division/ Check if the repetition accuracy is same or not. change. Lower the command pulse frequency. Make the controller capture the signal not at the edge but with some time allowance. Check the overshoot at stopping with graphic function of the 7 PANATERM. Command pulse frequency have exceeded 500kpps or 4Mpps.3-32 “Inputs and outputs on connector X4” • P. Connector X4 using the display function of I/O signal 1) Servo-ON signal status. 4) Command pulse inhibition 4) Check the wiring and connection between Pin-33 and 41of the input connector. Supplement Related page • P. Connector X4 becomes off while you set up Pr1.

Reduce noise (installation of noise filter or ferrite core). Check if the machine resonance exists or not with frequency characteristics analyzing function of the PANATERM. Electro-magnetic sound. Installation Resonance of the machine and Re-adjust Pr1. Noise is on the encoder line. Check the Z-phase signal with oscilloscope.09. Set up the notch frequency to Pr2.04 and 1. Review the wiring near to proximity dog and make a noise measure or reduce noise. Check that the Z-phase matches to the center of proximity dog. hub noise or rubbing noise of encoder.10 if resonance exists.04. Pr2. noise. Execute the homing matching to the controller correctly. 6-30 . gear Check the noise of the motor while running the motor with no load.01 and 1.06. rubbing noise at brake Replace the motor to check. oscilloscope. of velocity loop gain and Pr1. Request for repair.01. Check the wiring to see only one side of the line driver is connected or not. Lower the homing speed at origin proximity. Homing creep speed is fast. Request for repair. Adjustment Gain setup is large. use of a twisted pair. engagement. 6 3. Lower the gain by setting up lower values to Pr1. separation of power and signal lines. Replace the motor to check. shield treatment of I/F cables. Miswiring of Z-phase output. Motor bearing Check the noise and vibration near the bearing of the motor while running the motor with no load. No Z-phase signal output. Measure the speed command inputs of Pin-14 and 15 of the connector. Reduce noise (installation of noise filter or ferrite core). Replace the motor and driver. Request for repair. Connect the earth of the controller because the open collector interface is not insulated. Check that the Pin- 13 of the connector.07 or Pr2. Wiring Chattering of proximity sensor Check the dog sensor input signal of the controller with (proximity dog sensor) output . connector X4 is connected to the earth of the controller. use of a twisted pair or separation of power and signal lines. Or widen the origin sensor. Troubleshooting When in Trouble Abnormal Motor Noise or Vibration Classification Causes Measures Wiring Noise is on the speed command. Troubleshooting When in Trouble Origin Point Slips Classification Causes Measures System Z-phase is not detected. Connector X4 with an oscilloscope. the motor. shield treatment of I/F cables.05 of position loop gain. Pr2. 6 3. Use a CZ output (open collector if the controller is not differential input.00 and Pr1.

Failure of motor bearing. Set up Pr1. oil. Check with graphic function of PANATERM or monitor (Connector 2 X7). 1000. Replace the motor 4 and request for repair if the noise is heard. gear.11. Troubleshooting 1 Before Using the Products Overshoot/Undershoot. Refer to parameter setup at each mode. made so as to make the setup of 500 makes 3000 r/min/6 V. water or Avoid the installation place where the motor is subject to high others) temperature. (The upper fan on the H-frame driver stops during servo OFF to save energy.. Setup Motor failure (oil. Motor has been turned by Check the running pattern. Select a the motor. Use a gear reducer. numerator multiplier of electronic gear and Pr0. Lower the temperature with cooling fan if the ambient temperature environment.02.) Connection Mismatching of the driver and Check the name plates of the driver and the motor. dust or iron particles. dirt of fan Check the cooling fans of the driver and the machine. Installation Load inertia is large. Make an appropriate adjustment. Division/Multiplication is not Set up correct values to Pr0.05. Troubleshooting Adjustment Motor Speed Does Not Reach to the Setup. 6 3. is not correct. Increase the motor and driver capacity and lower the inertia ratio. Adjustment Position loop gain is low. Stall of cooling fan. Check that the motor does not generate rumbling noise while turning it by hand after shutting off the power. Check with graphic function of PANATERM or monitor (connector X7). When in Trouble Overheating of the Motor (Motor Burn-Out) Classification Causes Measures Adjustment Gain adjustment is not proper. 7 denominator of electronic gear. position loop gain to approx.4-9. exceeds the predications. Replace the 3 ventilation duct. speed command input gain.7-26 “Outline of Setup support software “PANATERM” 6-31 . Refer to “Adjustment”. This is normal. Pr0. driver fan or request for repair. Make a correct gain adjustment.. When in Trouble Motor Revolutions (Travel) Is Too Large or Small 6 When in Trouble Classification Causes Measures Parameter Velocity command input gain is Check that the setup of Pr3. machine.10. release the brake. 6 3. humidity. external force while dynamic and inhibit the operation under the condition of the left. “Details of parameter” • P. working condition and operating status. Electromagnetic brake is kept Check the voltage at brake terminals. Apply the power (DC24 V) to engaged (left un-released).00and Pr1. 1st numerator of electronic proper. Ambient temperature. correct combination of them referring to the instruction manual or catalogue. Supplement Related page • P. Preparation Looseness or slip of the Review the mounting to the machine. 5 brake has been engaged.09.

6 3. “EEPROM Writing Mode” of Preparation.2-109. carried out before turning off the power. 6-32 . Troubleshooting When in Trouble Parameter Returns to Previous Setup Classification Causes Measures Parameter No writing to EEPROM has been Refer to P.

Before Using the Products 1 2 3 4 5 6 7 Preparation Connection Setup Adjustment When in Trouble Supplement 6-33 MEMO .