Linear Motor MECHATROLINK-II Communications Reference Troubleshooting 5.1

8
Troubleshooting
8.1 Alarm Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2

8.1.1 List of Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2
8.1.2 Troubleshooting of Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-6
8.2 Warning Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-22

8.2.1 List of Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-22
8.2.2 Troubleshooting of Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-23
8.3 Monitoring Communication Data on Occurrence of an Alarm

or Warning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-27
8.4 Troubleshooting Malfunction Based on Operation
and Conditions of the Servomotor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-28
Troubleshooting
8-1
8 Troubleshooting
8.1.1 List of Alarms
8.1 Alarm Displays

The following sections describe troubleshooting in response to alarm displays.
The alarm name, alarm meaning, alarm stopping method, and alarm reset capability are listed in order of the
alarm numbers in 8.1.1 List of Alarms.
The causes of alarms and troubleshooting methods are provided in 8.1.2 Troubleshooting of Alarms.

This section provides list of alarms.
Servomotor Stopping Method

If an alarm occurs, the servomotor can be stopped by doing either of the following operations.
Gr.1: The servomotor is stopped according to the setting in Pn001.0 if an alarm occurs. Pn001.0 is factory-set
to stop the servomotor by applying the DB.
Gr.2: The servomotor is stopped according to the setting in Pn00B.1 if an alarm occurs. Pn00B.1 is factory-set
to stop the servomotor by setting the speed reference to "0." The servomotor under force control will
always use the Gr.1 method to stop. By setting Pn00B.1 to 1, the servomotor stops using the same
method as Gr.1. When coordinating a number of servomotors, use this stopping method to prevent
machine damage that may result due to differences in the stop method.
Alarm Reset
Available:Removing the cause of alarm and then executing the alarm reset can clear the alarm.
N/A:Executing the alarm reset cannot clear the alarm.
Servo-
Alarm motor Alarm
Alarm Name Meaning
Number Stopping Reset
Method
Parameter Checksum The data of the parameter in the SERVOPACK is
A.020 Gr.1 N/A
Error 1 incorrect.
The data of the parameter in the SERVOPACK is
A.021 Parameter Format Error 1 Gr.1 N/A
incorrect.
The data of the parameter in the SERVOPACK is
A.022 System Checksum Error 1 Gr.1 N/A
incorrect.
A.030 Main Circuit Detector Error Detection data for main circuit is incorrect. Gr.1 Available
A.040 Parameter Setting Error 1 The parameter setting is outside the setting range. Gr.1 N/A
Encoder Output Pulse The encoder output resolution (Pn281) is outside the
A.041 Gr.1 N/A
Setting Error setting range or does not satisfy the setting conditions.
Parameter Combination Combination of some parameters exceeds the setting
A.042 Gr.1 N/A
Error range.
A.04A Parameter Setting Error 2 Bank member/bank data setting is incorrect. Gr.1 N/A
The SERVOPACK and the servomotor capacities do
A.050 Combination Error Gr.1 Available
not match each other.
A.051 Unsupported Device Alarm The device unsupported was connected. Gr.1 N/A
Linear Scale Pitch Setting The setting of the linear scale pitch (Pn282) has not
A.080 Gr.1 N/A
Error been changed from the default setting.
The servo ON command (SV_ON) was sent from the
Cancelled Servo ON
A.0b0 host controller after executing a utility function that Gr.1 Available
Command Alarm
turns ON servomotor.
Overcurrent or Heat Sink An overcurrent flowed through the IGBT or the heat
A.100 Gr.1 N/A
Overheated sink of the SERVOPACK was overheated.
A.300 Regeneration Error Regenerative circuit or regenerative resistor is faulty. Gr.1 Available
8-2
8.1 Alarm Displays
(cont’d)
Servo-
Alarm motor Alarm
Alarm Name Meaning
Method
Regenerative energy exceeds regenerative resistor
A.320 Regenerative Overload Gr.2 Available
capacity.
Main Circuit Power • Setting of AC input/DC input is incorrect.
A.330 Gr.1 Available
Supply Wiring Error • Power supply wiring is incorrect.
A.400 Overvoltage Main circuit DC voltage is excessively high. Gr.1 Available
A.410 Undervoltage Main circuit DC voltage is excessively low. Gr.2 Available
Main-Circuit The capacitor of the main circuit has deteriorated or is
A.450 Gr.1 N/A
Capacitor Overvoltage faulty.
A.510 Overspeed The servomotor speed is above the maximum speed. Gr.1 Available
Overspeed of Encoder The motor speed upper limit of the set encoder output
Output Pulse Rate resolution (Pn281) is exceeded.
A.520 Vibration Alarm Incorrect vibration at the motor speed was detected. Gr.1 Available
Vibration was detected while performing tuning-less
A.521 Autotuning Alarm Gr.1 Available
function.
Maximum Speed Setting
A.550 The Pn385 setting is greater than the maximum speed. Gr.1 Available
Error
The servomotor was operating for several seconds to
A.710 Overload: High Load several tens of seconds under a force largely exceed- Gr.2 Available
ing ratings.
The servomotor was operating continuously under a
A.720 Overload: Low Load Gr.1 Available
force exceeding ratings.
A.730 When the dynamic brake was applied, moving energy
Dynamic Brake Overload Gr.1 Available
A.731 exceeded the capacity of dynamic brake resistor.
Overload of Surge The main circuit power was frequently turned ON and
Current Limit Resistor OFF.
A.7A0 Heat Sink Overheated The heat sink of the SERVOPACK exceeded 100°C. Gr.2 Available
Built-in Fan in
A.7AB The fan inside the SERVOPACK stopped. Gr.1 Available
SERVOPACK Stopped
The checksum results of linear scale memory is incor-
A.820 Encoder Checksum Error Gr.1 N/A
rect.
A.840 Encoder Data Error Data in the linear scale is incorrect. Gr.1 N/A
The linear scale was moving at high speed when the
A.850 Encoder Overspeed Gr.1 N/A
power was turned ON.
A.860 Encoder Overheated The internal temperature of linear scale is too high. Gr.1 N/A
A.890 Encoder Scale Error A linear scale fault occurred Gr.1 N/A
A.891 Encoder Module Error Linear scale is faulty. Gr.1 N/A
A.A SERVOPACK: Command
− − −
*1 Option Module Alarms
A.b31 Current Detection Error 1 The current detection circuit for phase U is faulty. Gr.1 N/A
A.b32 Current Detection Error 2 The current detection circuit for phase V is faulty. Gr.1 N/A
Troubleshooting
A.b33 Current Detection Error 3 The detection circuit for the current is faulty. Gr.1 N/A
MECHATROLINK
ASIC error occurred in the MECHATROLINK com-
A.b6A Communications Gr.1 N/A
munications.
ASIC Error 1
MECHATROLINK
ASIC error occurred in the MECHATROLINK com-
A.b6b Communications Gr.2 N/A
munications.
ASIC Error 2 8
∗1. These alarms occur in SERVOPACKs with command option modules.
For details, refer to the manual for the command option module that is connected.
8-3
8 Troubleshooting
(cont’d)
Servo-
Alarm motor Alarm
Alarm Name Meaning
Method
"Internal program error 0" of the SERVOPACK
A.bF0 System Alarm 0 Gr.1 N/A
occurred.
occurred.
occurred.
occurred.
occurred.
A.C10 Servo Overrun Detected The servomotor ran out of control. Gr.1 Available
A.C20 Phase Detection Error The detection of the phase is incorrect. Gr.1 N/A
A.C21 Hall Sensor Error The hall sensor is faulty. Gr.1 N/A
Phase Information Dis-
A.C22 The phase information does not match. Gr.1 N/A
agreement
A.C50 Polarity Detection Error The polarity detection failed. Gr.1 N/A
Overtravel Detection at The overtravel signal was detected at polarity detec-
A.C51 Gr.1 Available
Polarity Detection tion.
Polarity Detection The servomotor was turned ON under the condition of
A.C52 Gr.1 Available
Uncompleted polarity detection uncompleted.
Out of Range for Polarity The moving distance exceeded the set value of Pn48E
A.C53 Gr.1 N/A
Detection during polarity detection.
A.C54 Polarity Detection Error 2 The polarity detection failed. Gr.1 N/A
Absolute Encoder Clear The data for the absolute linear scale was not properly
A.C80 Gr.1 N/A
Error cleared or set.
Encoder Communications Communications between the SERVOPACK and the
A.C90 Gr.1 N/A
Error linear scale is not possible.
Encoder Communications
A.C91 A linear scale position data calculation error occurred. Gr.1 N/A
Position Data Error
Encoder Communications An error occurs in the communications timer between
A.C92 Gr.1 N/A
Timer Error the linear scale and the SERVOPACK.
A.CA0 Encoder Parameter Error Linear scale parameters are faulty. Gr.1 N/A
Contents of communications with linear scale are
A.Cb0 Encoder Echoback Error Gr.1 N/A
incorrect.
Position error exceeded the value of excessive posi-
A.d00 Position Error Overflow tion error alarm level (Pn520) when the servomotor Gr.1 Available
power is ON.
This alarm occurs if the servomotor power is turned
Position Error Overflow
A.d01 ON when the position error is greater than the set Gr.1 Available
Alarm at Servo ON
value of Pn526 while the servomotor power is OFF.
When the position errors remain in the error counter,
Pn584 limits the speed if the servomotor power is
Position Error Overflow turned ON. If Pn584 limits the speed in such a state,
A.d02 Alarm by Speed Limit at this alarm occurs when position references are input Gr.2 Available
Servo ON and the number of position errors exceeds the value
set for the excessive position error alarm level
(Pn520).
A.d30 Position Data Overflow The position feedback data exceeded ±1879048192. Gr.1 N/A
MECHATROLINK
Synchronization error during MECHATROLINK
A.E02 Internal Synchronization Gr.1 Available
communications with the SERVOPACK.
Error 1
8-4
8.1 Alarm Displays
(cont’d)
Servo-
Alarm motor Alarm
Alarm Name Meaning
Method
MECHATROLINK
The setting of the MECHATROLINK transmission
A.E40 Transmission Cycle Gr.2 Available
cycle is out of the allowable range.
Setting Error
MECHATROLINK A synchronization error occurs during MECHA-
A.E50 Gr.2 Available
Synchronization Error TROLINK communications.
MECHATROLINK A synchronization failure occurs in MECHA-
Synchronization Failed TROLINK communications.
MECHATROLINK
A communications error occurs continuously during
A.E60 Communications Error Gr.2 Available
MECHATROLINK communications.
(Reception error)
MECHATROLINK
Transmission Cycle Error The transmission cycle fluctuates during MECHA-
(Synchronization interval TROLINK communications.
error)
Safety Option Module
A.E71 Detection of the safety option module failed. Gr.1 N/A
Detection Failure
Unsupported Safety
A.E74 An unsupported safety option module was connected. Gr.1 N/A
Option Module
Unsupported Feedback An unsupported feedback option module was con-
A.E75 Gr.1 N/A
Option Module nected.
SERVOPACK: Safety
A.E81*2 Module Alarm – – –
DRV Alarm 2
A.EA2 A SERVOPACK DRV alarm 0 occurs. Gr.2 Available
(SERVOPACK WDC error)
Safety Function Signal
A.Eb1 The safety function signal input timing is faulty. Gr.1 N/A
Input Timing Error
A.Eb SERVOPACK: Safety
– – –
*2 Module Alarms
A.EC SERVOPACK: Safety
– – –
*2 Module Alarms
Command Execution A timeout error occurred when using a MECHA-
A.Ed1 Gr.2 Available
Timeout TROLINK command.
Main Circuit Cable Open With the main power supply ON, voltage was low for
A.F10 Gr.2 Available
Phase more than 1 second in phase R, S, or T.
FL-1*3 − N/A
System Alarm Internal program error occurred in the SERVOPACK
FL-2*3 − N/A
Digital Operator
CPF00 − N/A
Transmission Error 1 Digital operator (JUSP-OP05A-1-E) fails to commu-
Digital Operator nicate with the SERVOPACK (e.g., CPU error).
CPF01 − N/A
Transmission Error 2
A.− − Not an error Normal operation status − −
Troubleshooting
∗2. These alarms occur in SERVOPACKs with safety modules.

For details, refer to Σ-V Series User’s Manual, Safety Module (No.: SIEP C720829 06).
∗3. These alarms are not stored in the alarm history and are displayed only in the panel display.
8-5
8 Troubleshooting
8.1.2 Troubleshooting of Alarms

If an error occurs in servo drives, an alarm display such as A. and CPF will appear on the panel dis-
play.
Refer to the following table to identify the cause of an alarm and the action to be taken.
Contact your Yaskawa representative if the problem cannot be solved by the described corrective action.
Alarm Number:
Alarm Name Cause Investigative Actions Corrective Actions
(Alarm Description)
Set the power supply voltage within
The power supply voltage sud-
Measure the power supply voltage. the specified range, and set Fn005
denly dropped.
to initialize the parameter.
The power supply went OFF
Check the circumstances when the Set Fn005 to initialize the parameter
while changing a parameter set-
power supply went OFF. and then set the parameter again.
ting.
The SERVOPACK may be faulty.
The number of times that parame- Check to see if the parameters were Replace the SERVOPACK.
ters were written exceeded the frequently changed through the host
A.020: Reconsider the method of writing
limit. controller.
Parameter Checksum parameters.
Error 1 Malfunction caused by noise Turn the power supply ON and OFF
(The parameter data in from the AC power supply or several times. If the alarm still Take countermeasures against
the SERVOPACK is grounding line, static electricity occurs, there may be noise interfer- noise.
incorrect.) noise, etc. ence.
Gas, water drops, or cutting oil
entered the SERVOPACK and The SERVOPACK may be faulty.
Check the installation conditions.
caused failure of the internal Replace the SERVOPACK.
components.
Turn the power supply ON and OFF
several times. If the alarm still The SERVOPACK may be faulty.
A SERVOPACK fault occurred.
occurs, the SERVOPACK may be Replace the SERVOPACK.
faulty.
Write the parameter of another
A.021: The software version of SERVO- Check Fn012 to see if the set soft-
SERVOPACK of the same model
Parameter Format Er- PACK that caused the alarm is ware version agrees with that of the
with the same software version.
ror 1 older than that of the written SERVOPACK. If not, an alarm may
Then turn the power OFF and then
(The parameter data in parameter. occur.
ON again.
the SERVOPACK is
incorrect.) The SERVOPACK may be faulty.
A SERVOPACK fault occurred. −
Replace the SERVOPACK.
The power supply voltage sud- The SERVOPACK may be faulty.
Measure the power supply voltage.
A.022: denly dropped. Replace the SERVOPACK.
System Checksum Er- The power supply went OFF Check the circumstances when the The SERVOPACK may be faulty.
ror 1 while setting an utility function. power supply went OFF. Replace the SERVOPACK.
(The parameter data in Turn the power supply ON and OFF
the SERVOPACK is several times. If the alarm still The SERVOPACK may be faulty.
incorrect.) A SERVOPACK fault occurred.
occurs, the SERVOPACK may be Replace the SERVOPACK.
faulty.
A.030:
Main Circuit Detector A SERVOPACK fault occurred. −
Error
The SERVOPACK and servomo- Select the proper combination of
Check the combination of SERVO-
tor capacities do not match each SERVOPACK and servomotor
PACK and servomotor capacities.
other. capacities.
A.040:
Parameter Setting Er- The SERVOPACK may be faulty.
ror 1 Replace the SERVOPACK.
(The parameter setting The parameter setting is out of Check the setting ranges of the Set the parameter to a value within
was out of the setting the setting range. parameters that have been changed. the setting range.
range.)
Check the electronic gear ratio. The Set the electronic gear ratio in the
The electronic gear ratio is out of ratio must satisfy:
range: 0.001< (Pn20E/Pn210)
the setting range.
0.001< (Pn20E/Pn210) < 4000. < 4000.
8-6
8.1 Alarm Displays
(cont’d)
Alarm Number:
(Alarm Description)
The encoder output resolution
A.041:
(Pn281) is out of the setting range
Encoder Output Pulse Check the parameter Pn281. Set Pn281 to a correct value.
and does not satisfy the setting
Setting Error conditions.
The speed of program JOG oper-
ation (Fn004) is lower than the
setting range after having Check if the detection conditions Decrease the setting of the elec-
changed the electronic gear ratio are satisfied. tronic gear ratio (Pn20E/Pn210).
(Pn20E/Pn210) or the servomo-
tor.
The speed of program JOG oper-
A.042:*1 ation (Fn004) is lower than the
Parameter Combina- setting range after having Check if the detection conditions Increase the setting of the program
tion Error changed the setting of the pro- are satisfied. JOG movement speed (Pn585).
gram JOG movement speed
(Pn585).
The moving speed of advanced
autotuning is lower than the set-
Check if the detection conditions Decrease the setting of the elec-
ting range after having changed
are satisfied. tronic gear ratio (Pn20E/Pn210).
the electronic gear ratio (Pn20E/
Pn210) or the servomotor.
For a 4-byte parameter bank, no Change the number of bytes for
registration in two consecutive – bank members to an appropriate
A.04A: bytes for two bank members. value.
Parameter Setting Er-
ror 2 The total amount of bank data
Reduce the total amount of bank
exceeds 64. (Pn900 × Pn901 > –
data to 64 or less.
64)
Check the capacities to see if they
The SERVOPACK and servomo- satisfy the following condition: Select the proper combination of
A.050: tor capacities do not match each 1 SERVOPACK and servomotor
Servomotor capacity
other. ≤ ≤4 capacities.
Combination Error 4 SERVOPACK capacity
(The SERVOPACK and
servomotor capacities do A linear scale fault occurred. Replace the linear scale and see if
Replace the linear scale.
not correspond.) the alarm occurs again.
The parameters of the motor
Check if the parameters of the
parameter file are not written in Write the parameters of the motor
motor parameter file are written in
A.051: the linear scale. (Only when not parameter file in the linear scale.
the linear scale.
Unsupported Device using serial converter units)
Alarm An unsupported serial converter
Check the product specifications, Select the correct combination of
unit or linear scale is connected to
and select the correct model. units.
the SERVOPACK.
A.080:
The setting of the linear scale
Linear Scale pitch (Pn282) has not been Check the value of Pn282. Correct the value of Pn282.
Pitch Setting changed from the default setting.
Error
After executing the utility func-
Troubleshooting
A.0b0: tion to turn ON the power to the Turn the SERVOPACK power sup-
Cancelled Servo ON motor, the servo ON command − ply OFF and then ON again or exe-
Command Alarm (SV_ON) was sent from the host cute a software reset.
controller.
∗1. Detection conditions
If one of the following conditions is detected, an alarm occurs.
Pn585[mm/s] Number of divisions of serial converter unit Pn20E
• × ≤ 8
Linear scale pitch [μm] 10 Pn210
Pn385 [100 mm/s] Number of divisions of serial converter unit Pn20E
• × ≥
Linear scale pitch [μm] About 6.10 × 105 Pn210
8-7
8 Troubleshooting
(cont’d)
Alarm Number:
(Alarm Description)
Incorrect wiring or contact fault Check the wiring. Refer to 3.1
Correct the wiring.
of main circuit cables. Main Circuit Wiring.
Check for short-circuits across the
servomotor terminal phases U, V,
Short-circuit or ground fault of and W, or between the grounding The cable may be short-circuited.
main circuit cables. and servomotor terminal phases U, Replace the cable.
V, or W. Refer to 3.1 Main Circuit
Wiring.
servomotor terminal phases U, V,
Short-circuit or ground fault and W, or between the grounding The servomotor may be faulty.
inside the servomotor. and servomotor terminal phases U, Replace the servomotor.
V, or W. Refer to 3.1 Main Circuit
Wiring.
servomotor connection terminals U,
Short-circuit or ground fault V, and W on the SERVOPACK, or The SERVOPACK may be faulty.
inside the SERVOPACK. between the grounding and terminal Replace the SERVOPACK.
U, V, or W. Refer to 3.1 Main Cir-
cuit Wiring.
Incorrect wiring or contact fault Check the wiring. Refer to 3.7 Con-
A.100: Correct the wiring.
of the regenerative resistor. necting Regenerative Resistors.
Overcurrent or Heat
Check the power consumed by DB
Sink Overheated The dynamic brake (DB: Emer-
resistance (Un00B) to see how Change the SERVOPACK model,
(An overcurrent flowed gency stop executed from the
many times the DB has been used. operating conditions, or the mecha-
through the IGBT or SERVOPACK) was frequently
Or, check the alarm history display nism so that the DB does not need
heat sink of SERVO- activated, or the DB overload
Fn000 to see if the DB overload to be used so frequently.
PACK overheated.) alarm occurred.
alarm A.730 or A.731 was reported.
The generated regenerative resis-
Check the regenerative load ratio Check the operating condition
tor value exceeded the SERVO-
(Un00A) to see how many times the including overload, and reconsider
PACK regenerative energy
regenerative resistor has been used. the regenerative resistor value.
processing capacity.
Change the regenerative resistance
Check the regenerative load ratio
The SERVOPACK regenerative value to a value larger than the
(Un00A) to see how many times the
resistance is too small. SERVOPACK minimum allowable
regenerative resistor has been used.
resistance value.
A heavy load was applied while Check to see if the operating condi- Reduce the load applied to the ser-
the servomotor was stopped or tions are outside servo drive specifi- vomotor or increase the operating
running at a low speed. cations. speed.
Take countermeasures for noise,
Improve the wiring or installation
such as correct wiring of the FG.
Malfunction caused by noise environment, such as by reducing
Use an FG wire size equivalent to
interference. noise, and check to see if the alarm
the SERVOPACK main circuit wire
recurs.
size.
Turn the power supply OFF and
then ON again. If the alarm still
occurs, the SERVOPACK may be
faulty. Replace the SERVOPACK.
8-8
8.1 Alarm Displays
(cont’d)
Alarm Number:
(Alarm Description)
• Regenerative resistor capacity
(Pn600) is set to a value other
than 0 for a SGDV-R70, -R90,
-1R6, -2R1, or -2R8 SERVO-
PACK, and an external regen- Check the external regenerative Connect the external regenerative
erative resistor is not resistor connection and the value of resistor, or set Pn600 to 0 if no
connected. the Pn600. regenerative resistor is required.
• An external regenerative resis-
tor is not connected to the
SGDV-550 or SGDV-260
SERVOPACK.
The jumper between the power
A.300: supply terminals B2 and B3 is Confirm that a jumper is mounted
Regeneration Error removed for the SERVOPACKs between the power supply terminals Correctly mount a jumper.
other than the SERVOPACKs B2 and B3.
shown above.
The external regenerative resis-
Check the external regenerative Correctly connect the external
tor is incorrectly wired, or is
resistor connection. regenerative resistor.
removed or disconnected.
While the main circuit power sup-
ply is OFF, turn the control power
supply OFF and then ON again. If
the alarm still occurs, the SERVO-
PACK may be faulty. Replace the
SERVOPACK.
The power supply voltage Set the power supply voltage within
exceeds the specified limit. the specified range.
Insufficient external regenerative Change the regenerative resistance,
resistance, regenerative resistor Check the operating condition or regenerative resistor capacity, or
capacity, or SERVOPACK capac- the capacity using the capacity SERVOPACK capacity. Reconsider
ity. selection Software SigmaJunma- the operating conditions using the
Or, regenerative power has been Size+, etc. capacity selection software Sigma-
continuously flowing back. JunmaSize+, etc.
Regenerative power continu-
A.320: Reconsider the system including
ously flowed back because nega- Check the load applied to the servo-
servo, machine, and operating con-
Regenerative Over- tive load was continuously motor during operation.
ditions.
load applied.
The setting of parameter Pn600 is Check the external regenerative
smaller than the external regener- resistor connection and the value of Set the Pn600 to a correct value.
ative resistor's capacity. the Pn600.
Change the regenerative resistance
The external regenerative resis- to a correct value or use an external
Check the regenerative resistance.
tance is too high. regenerative resistor of appropriate
capacity.
Troubleshooting
8-9
8 Troubleshooting
(cont’d)
Alarm Number:
(Alarm Description)
When using a regenerative resistor
built in the SERVOPACK:
The regenerative resistor discon- Measure the resistance of the regen- Replace the SERVOPACK.
nected when the SERVOPACK erative resistor using a measuring When using an external regenera-
power supply voltage was high. instrument. tive resistor:
Replace the external regenerative
resistor.
In the AC power input mode, DC Check the power supply to see if it Correct the settings to match the
power was supplied. is a DC power supply. actual power supply specifications.
A.330: In the DC power input mode, AC Check the power supply to see if it Correct the settings to match the
Main Circuit Power power was supplied. is an AC power supply. actual power supply specifications.
Supply Wiring Error Regenerative resistor capacity
(Detected when the (Pn600) is set to a value other
power to the main circuit than 0 for a SGDV-R70, -R90, - Check the external regenerative Connect the external regenerative
is turned ON.) resistor connection and the value of resistor, or set Pn600 to 0 if no
1R6, -2R1, or -2R8 SERVO- the Pn600. regenerative resistor is required.
PACK, and an external regenera-
tive resistor is not connected.
The jumper between the power
supply terminals B2 and B3 is Confirm that a jumper is mounted
removed for the SERVOPACKs between the power supply terminals Correctly mount a jumper.
other than the SERVOPACKs B2 and B3.
shown above.
• For 100-VAC SERVOPACKs:
The AC power supply voltage
exceeded 145 V.
exceeded 290 V.
The AC power supply voltage Set AC/DC power supply voltage
exceeded 580 V. within the specified range.
with DC power supply input:
The DC power supply voltage
exceeded 410 V.
The DC power supply voltage
exceeded 820 V.
A.400: Improve the power supply condi-
Overvoltage tions by installing a surge absorber,
The power supply is unstable, or
(Detected in the SER- etc. Then, turn the power supply
was influenced by a lightning Measure the power supply voltage.
VOPACK main circuit OFF and ON again. If the alarm still
surge.
power supply section.) occurs, the SERVOPACK may be
Voltage for AC power supply was Check the power supply voltage and
Set AC power supply voltage within
too high during acceleration or the speed and force during opera-
the specified range.
deceleration. tion.
The external regenerative resis- Select a regenerative resistance
Check the operating conditions and
tance is too high for the actual value appropriate for the operating
the regenerative resistance.
operating conditions. conditions and load.
The mass ratio exceeded the Confirm that the mass ratio is Increase the deceleration time, or
allowable value. within the allowable range. reduce the load.
Turn the control power OFF and
then ON again while the main cir-
cuit power supply is OFF. If the
alarm still occurs, the SERVO-
SERVOPACK.
8-10
8.1 Alarm Displays
(cont’d)
Alarm Number:
(Alarm Description)
is 49 V or less.
The AC power supply voltage Measure the power supply voltage.
is 120 V or less.
A.410: is 240 V or less.
Undervoltage
The power supply voltage
(Detected in the SER- Measure the power supply voltage. Increase the power supply capacity.
dropped during operation.
VOPACK main circuit
power supply section.) When the instantaneous power cut
Occurrence of instantaneous
Measure the power supply voltage. hold time (Pn509) is set, decrease
power interruption.
the setting.
Replace the SERVOPACK, con-
The SERVOPACK fuse is blown
− nect a reactor, and run the SERVO-
out.
PACK.
A.450:
Main-Circuit A SERVOPACK fault occurred. − Replace the SERVOPACK.
Capacitor Overvoltage
The order of phases U, V, and W
Confirm that the servomotor is cor-
in the servomotor wiring is incor- Check the motor wiring.
rectly wired.
rect.
A reference value exceeding the
A.510: Reduce the reference value or adjust
overspeed detection level was Check the input value.
Overspeed the gain.
input.
(The servomotor speed
exceeds the maximum.) Reduce the speed reference input
The motor speed exceeded the
Check the motor speed waveform. gain, adjust the servo gain, or recon-
maximum.
sider the operating conditions.
The encoder output pulse fre- Check the encoder output pulse set- Decrease the setting of the encoder
quency exceeded the limit. ting. output resolution (Pn281).
A.511:
Overspeed of Encoder The encoder output pulse output
Output Pulse Rate frequency exceeded the limit Check the encoder output pulse out-
Decrease the motor speed.
because the motor speed was too put setting and motor speed.
high.
Check for abnormal noise from the
Abnormal vibration was detected servomotor, and check the speed Reduce the motor speed or reduce
at the motor speed. and force waveforms during opera- the speed loop gain (Pn100).
A.520: tion.
Vibration Alarm
The mass ratio (Pn103) value is
Set the mass ratio (Pn103) to an
greater than the actual value or is Check the mass ratio.
appropriate value.
greatly changed.
Troubleshooting
Reduce the load so that the mass

A.521: The servomotor vibrated consid- ratio falls within the allowable
Autotuning Alarm erably while performing tuning- Check the motor speed waveform. value, or raise the load level using
(Vibration was detected less function. the tuning-less levels setting
while executing the one- (Fn200) or reduce the rigidity level.
parameter tuning, Easy-
FFT, or tuning-less func- The servomotor vibrated consid- Check the operation procedure of
tion.) erably during one-parameter tun- Check the motor speed waveform. corresponding function and take a
ing or EasyFFT. corrective action.
8
8-11
8 Troubleshooting
(cont’d)
Alarm Number:
(Alarm Description)
Check the value of Pn385 and
A.550: Set Pn385 to a value equal to or
The Pn385 setting is greater than Un010 (Monitor for allowable
Maximum Speed Set- lower than the motor maximum
the maximum speed. motor maximum speed and encoder
ting Error speed.
output resolution).
Incorrect wiring or contact fault Confirm that the servomotor and
Check the wiring.
of servomotor and linear scale. linear scale are correctly wired.
Check the servomotor overload Reconsider the load conditions and
Operation beyond the overload
characteristics and executed run operating conditions. Or, increase
protection characteristics.
command. the motor capacity.
A.710: Excessive load was applied dur-
A.720: ing operation because the servo- Check the executed operation refer-
Remove the mechanical problems.
Overload motor was not driven due to ence and motor speed.
A.710: High Load mechanical problems.
A.720: Low Load The setting of the linear scale
Check the setting of Pn282. Correct the setting of Pn282.
pitch (Pn282) is incorrect.
The setting of the motor phase
Check the setting of Pn080.1. Correct the setting of Pn080.1.
selection (Pn080.1) is incorrect.
Take measures to ensure the servo-
The servomotor moves because
Check the operation status. motor will not move because of
of external force.
external force.
A.730:
A.731: Reconsider the following:
Dynamic Brake Over- • Reduce the motor reference
The moving energy at a DB stop Check the power consumed by DB
load speed.
exceeds the DB resistance capac- resistance (Un00B) to see how
(An excessive power • Reduce the mass ratio.
ity. many times the DB has been used.
consumption of dynamic • Reduce the number of times of
brake was detected.) the DB stop operation.
The inrush current limit resistor
A.740: operation frequency at the main
Overload of Surge Reduce the frequency of turning the
circuit power supply ON/OFF −
Current Limit Resistor main circuit power supply ON/OFF.
operation exceeds the allowable
(The main circuit power range.
is turned ON/OFF too
frequently.) The SERVOPACK may be faulty.
Decrease the surrounding air tem-
The surrounding air temperature Check the surrounding air tempera-
perature by improving the SERVO-
is too high. ture using a thermostat.
PACK installation conditions.
The overload alarm has been Check the alarm history display
Change the method for resetting the
reset by turning OFF the power (Fn000) to see if the overload alarm
alarm.
too many times. was reported.
A.7A0: Check the accumulated load ratio
Heat Sink Overheated Excessive load or operation (Un009) to see the load during oper-
Reconsider the load and operating
(Detected when the heat beyond the regenerative energy ation, and the regenerative load
conditions.
sink temperature processing capacity. ratio (Un00A) to see the regenera-
exceeds 100°C.) tive energy processing capacity.
Incorrect SERVOPACK installa-
tion orientation or/and insuffi- Check the SERVOPACK installa- Install the SERVOPACK correctly
cient space around the tion conditions. as specified.
SERVOPACK.
8-12
8.1 Alarm Displays
(cont’d)
Alarm Number:
(Alarm Description)
A.7AB: Remove foreign matter or debris

from the SERVOPACK. If the
Built-in Fan in The fan inside the SERVOPACK Check for foreign matter or debris
alarm still occurs, the SERVO-
SERVOPACK stopped. inside the SERVOPACK.
Stopped
SERVOPACK.
A.820: The linear scale may be faulty.
A linear scale fault occurred. −
Encoder Checksum Replace the linear scale.
Error
(Detected on the linear The SERVOPACK may be faulty.
scale side.) Replace the SERVOPACK.
A linear scale malfunctioned. −
occurs, the linear scale may be
faulty. Replace the linear scale.
Reinstall the linear scale, so the tol-
Misreading of the linear scale
− erance is within the allowable
occurred.
range.
Set the motor speed within the
A.840: The speed of the linear scale range specified by the linear scale
Encoder Data Error −
exceeded the allowable range. manufacturer and restart the control
(Detected on the linear power supply.
scale side.)
Correct the wiring around the linear
scale by separating the linear scale
Malfunction of linear scale
− connection cable from the servomo-
because of noise interference, etc.
tor main circuit cable or by check-
ing the grounding and other wiring.
The hall sensor wiring is incor-
Check the hall sensor wiring. Correct the hall sensor wiring.
rect.
A hall sensor fault occurred. − Replace the hall sensor.
The servomotor speed is higher Set the motor speed within the
Check the motor moving speed
than the specified speed when the range specified by the linear scale
(Un000) to confirm the servomotor
control power supply was turned manufacturer and restart the control
A.850: speed when the power is turned ON.
ON. power supply.
Encoder Overspeed
(Detected when the con- then ON again. If the alarm still
trol power supply was A linear scale fault occurred. −
turned ON.) faulty. Replace the linear scale.
(Detected on the linear
scale side.) Turn the power supply OFF and
The ambient operating tempera-
Measure the ambient operating tem- The ambient operating temperature
ture around the servomotor is too
perature around the servomotor. must be 40°C or less.
high.
A.860: The motor load is greater than the Check the accumulated load ratio The motor load must be within the
Encoder Overheated rated load. (Un009) to see the load. specified range.
(Only when an absolute Turn the power supply OFF and
linear scale is con- then ON again. If the alarm still
Troubleshooting
nected.) occurs, the linear scale may be

(Detected on the linear faulty. Replace the linear scale.
scale side.)
A.890: The linear scale may be faulty.
Encoder Scale Error Replace the linear scale.
8
A.891: then ON again. If the alarm still
Encoder Module Error occurs, the linear scale may be
8-13
8 Troubleshooting
(cont’d)
Alarm Number:
(Alarm Description)
A.b31:
The current detection circuit for then ON again. If the alarm still
Current Detection −
phase U is faulty. occurs, the SERVOPACK may be
Error 1 faulty. Replace the SERVOPACK.
A.b32:
The current detection circuit for then ON again. If the alarm still
Current Detection −
phase V is faulty. occurs, the SERVOPACK may be
The detection circuit for the cur- then ON again. If the alarm still
A.b33: −
rent is faulty. occurs, the SERVOPACK may be
Current Detection faulty. Replace the SERVOPACK.
Error 3
The servomotor main circuit Check for disconnection of the ser-
Correct the servomotor wiring.
cable is disconnected. vomotor main circuit cable.
A.b6A: Turn the power supply OFF and
SERVOPACK MECHA-
MECHATROLINK then ON again. If the alarm still
TROLINK communication sec- −
Communications ASIC tion fault. occurs, the SERVOPACK may be
Take measures against noise. Check
the MECHATROLINK communi-
MECHATROLINK data recep-
cations cable and FG wiring and
tion error occurred due to noise −
A.b6b: take measures such as adding ferrite
interference.
MECHATROLINK core on the MECHATROLINK
Communications ASIC communications cable.
Error 2 Turn the power supply OFF and
SERVOPACK MECHA-
TROLINK communication sec- −
tion fault.
A.bF0: then ON again. If the alarm still
System Alarm 0 occurs, the SERVOPACK may be
A.bF3: A SERVOPACK fault occurred. −
8-14
8.1 Alarm Displays
(cont’d)
Alarm Number:
(Alarm Description)
The order of phases U, V, and W
Confirm that the servomotor is cor-
in the servomotor wiring is incor- Check the motor wiring.
rectly wired.
rect.
The setting of the motor phase
Check the setting of Pn080.1. Correct the setting of Pn080.1.
A.C10: selection (Pn080.1) is incorrect.
Servo Overrun If the alarm still occurs after turning
Detected the power OFF and then ON again,
(Detected when the A linear scale fault occurred. − even though the linear scale is cor-
servomotor power is rectly wired, the linear scale may be
ON.) faulty. Replace the linear scale.
Fine-adjust the installation status of
Check the voltage of the linear scale
The linear scale signal is weak. the linear scale head, or replace the
signal.
linear scale.
Check the setting of Pn080.1
The count-up direction of the lin- Change the setting of Pn080.1
(Motor Phase Selection).
A.C20: ear scale does not match the for- (Motor Phase Selection).
Check the installation directions for
Phase Detection Error ward direction of the motor coil Correctly reinstall the linear scale
the linear scale and motor coil
assembly. and motor coil assembly.
assembly.
Correct the FG wiring and take
The hall sensor signal is affected
− measures against noise for the hall
by noise.
sensor wiring.
The hall sensor is protruding Correctly reinstall the motor coil
Check the hall sensor.
from the motor magnetic way. assembly or motor magnetic way.
Check the specifications of the lin-
The setting of the linear scale Check the setting of the linear scale
A.C21: ear scale and correct the value of
pitch (Pn282) is incorrect. pitch (Pn282).
Hall Sensor Error Pn282.
The hall sensor wiring is incor-
Check the hall sensor wiring. Correct the hall sensor wiring.
rect.
A hall sensor fault occurred. − Replace the hall sensor.
A.C22: The SERVOPACK phase data
Phase Information does not match that of the linear − Execute polarity detection (Fn080).
Disagreement scale.
The settings of the linear scale pitch
(Pn282) and motor phase selection
Check the linear scale specifications
Parameter settings are incorrect. (Pn080.1) may not match the actual
and feedback signal status.
product requirements. Set these
parameters to the correct values.
Check the wiring to see if:
• Each FG of the serial converter
A.C50: unit and servomotor is connected
Polarity Detection Er- to the FG of the SERVOPACK.
ror • The FG of the SERVOPACK is Take measures to avoid noise inter-
Noise interference occurred on connected to the FG of the power ference by correctly connecting FG
Troubleshooting
the scale signal. supply. lines, shielding the linear scale con-
• The linear scale connection nection cables, etc.
cables are securely shielded.
Check to see if the detection refer-
ence is repeatedly output in one
direction.
8-15
8 Troubleshooting
(cont’d)
Alarm Number:
(Alarm Description)
The polarity cannot be properly
detected if the detection reference is
0 (zero), but the speed feedback is
not 0 (zero) because of an external
force, such as cable tension, applied
to the motor coil assembly.
An external force was applied to Take measures to reduce the exter-
−
the motor coil assembly. nal force so that the speed feedback
becomes 0 for a 0 detection refer-
ence.
If external force cannot be reduced,
A.C50: increase the value of the changes in
Polarity Detection the sequence input signal allocation
Error for each signal (Pn481).
(cont’d) If the linear scale pitch is 100 μm or
longer, the SERVOPACK cannot
detect the correct speed feedback.
Use a scale pitch with higher accu-
racy (a pitch within 40 μm recom-
The linear scale resolution is too Check the linear scale pitch to see if mended.) Or, increase the value of
low. it is within 100 μm. the polarity detection reference
speed (Pn485). However, note that
increasing the value of Pn485 will
widen the servomotor movement
range required for polarity detec-
tion.
A.C51: Perform the wiring for an overtravel
Overtravel An overtravel signal was detected signal. Execute polarity detection at
Check the position after overtravel.
Detection at Polarity during polarity detection. a position where an overtravel sig-
Detection nal is not detected.
The servomotor has been turned
ON under the following circum-
stances.
• An absolute linear scale is
A.C52: being used.
When using an absolute linear
Polarity Detection − scale, set the parameter Pn587.0 to
• The polarity detection selection
Uncompleted 1 to execute polarity detection.
for the absolute linear scale
was set to not execute.
(Pn587.0 = 0)
• Polarity was not yet detected.
Increase the value of the polarity
A.C53: The moving distance exceeded detection range (Pn48E). Or,
Out of Range for the set value of Pn48E in the mid- − increase the value of the changes in
Polarity Detection dle of detection. the sequence input signal allocation
for each signal (Pn481).
Increase the value of the polarity
detection confirmation force refer-
ence (Pn495).
A.C54:
External force was applied to the Increase the value of the polarity
Polarity Detection −
servomotor. detection allowable error range
Error 2
(Pn498). Note that increasing the
allowable error will also increase
the motor temperature.
A.C80: faulty. Replace the linear scale.
Absolute Encoder
Clear Error Turn the power supply OFF and
8-16
8.1 Alarm Displays
(cont’d)
Alarm Number:
(Alarm Description)
Contact fault of connector or Re-insert the connectors and con-
Check the connector contact status
incorrect wiring for linear scale firm that the linear scale is correctly
for linear scale connection cables.
connection cables. wired.
Cable disconnection for linear
scale connection cables or short- Check the linear scale connection Use the cables with the specified
circuit. cables. rating.
Or, incorrect cable impedance.
Corrosion caused by improper
temperature, humidity, or gas, Improve the operating environmen-
short-circuit caused by intrusion tal conditions, and replace the cable.
Check the operating environment.
A.C90: of water drops or cutting oil, or If the alarm still occurs, replace the
connector contact fault caused by SERVOPACK.
Encoder
vibration.
Communications Error
Correct the wiring around the linear
scale by separating the linear scale
Malfunction caused by noise connection cables from the servo-
−
interference. motor main circuit cable or by
checking the grounding and other
wiring.
Connect the servomotor to another
SERVOPACK, and turn ON the
A SERVOPACK fault occurred. − control power. If no alarm occurs,
the SERVOPACK may be faulty.
Noise interference occurred on
the I/O signal line because the
Check the linear scale connection Confirm that there is no problem
linear scale connection cables are
cables and connectors. with the cable layout.
bent and the sheaths are dam-
aged.
A.C91:
The linear scale connection
Encoder cables are bundled with a high- Check the cable layout for linear Confirm that there is no surge volt-
Communications current line or near a high-current scale connection cables. age on the cables.
Position Data Error line.
The FG potential varies because
of influence from machines on Check the cable layout for linear Properly ground the machines to
the servomotor side, such as the scale connection cables. separate from the linear scale FG.
welder.
Noise interference occurred on
Take countermeasures against noise
the I/O signal line from the linear −
for the linear scale wiring.
scale.
Excessive vibration and shocks Reduce the machine vibration or
were applied to the linear scale. correctly install the linear scale.
A.C92:
Encoder Turn the power supply OFF and
Communications then ON again. If the alarm still
Timer Error occurs, the linear scale may be
Troubleshooting

A.CA0: faulty. Replace the linear scale.
Encoder Parameter
Error Turn the power supply OFF and
then ON again. If the alarm still 8
8-17
8 Troubleshooting
(cont’d)
Alarm Number:
(Alarm Description)
The wiring and contact for linear
scale connection cables are incor- Check the wiring. Correct the wiring.
rect.
Use tinned annealed copper
Noise interference occurred due shielded twisted-pair or screened
to incorrect cable specifications − unshielded twisted-pair cable with a
of linear scale connection cables.
core of at least 0.12 mm2.
Noise interference occurred
because the wiring distance for The wiring distance must be 20 m
−
the linear scale connection cables max.
are too long.
A.Cb0: The FG potential varies because
Encoder Echoback of influence from machines on Check the cable layout for linear Properly ground the machines to
Error the servomotor side, such as the scale connection cables. separate from linear scale FG.
welder.
Excessive vibration and shocks Reduce the machine vibration or
were applied to the linear scale. correctly install the linear scale.
Confirm that there is no contact
The servomotor U, V, and W wir- Check the servomotor main circuit
fault in the motor wiring or linear
ings is faulty. cable connection.
scale wiring.
Reduce the position reference speed
The position reference speed is Reduce the reference speed, and or acceleration of position refer-
too high. operate the SERVOPACK. ence. Or, reconsider the electronic
gear ratio.
A.d00: Reduce the reference acceleration

of the position reference using a
Position Error
MECHATROLINK command, or
Overflow
The acceleration of the position Reduce the reference acceleration, smooth the acceleration of the posi-
(Position error exceeded reference is too high. and operate the SERVOPACK. tion reference by selecting the posi-
the value set in the tion reference filter (ACCFIL)
excessive position error using a MECHATROLINK com-
alarm level (Pn520).) mand.
Setting of the excessive position Check the alarm level (Pn520) to
error alarm level (Pn520) is low see if it is set to an appropriate Set the Pn520 to proper value.
against the operating condition. value.
This alarm occurs if the servomo-
A.d01:
tor power is turned ON when the Check the position error amount
Position Error Correct the excessive position error
position error is greater than the (Un008) while the servomotor
Overflow Alarm at alarm level at servo ON (Pn526).
set value of Pn526 while the ser- power is OFF.
Servo ON
vomotor power is OFF.
8-18
8.1 Alarm Displays
(cont’d)
Alarm Number:
(Alarm Description)
When the position errors remain
in the error counter, Pn584 limits
the speed if the servomotor power
A.d02:
is ON. If Pn584 limits the speed Correct the excessive position error
Position Error in such a state, this alarm occurs alarm level (Pn520).
Overflow Alarm by −
when position references are Or, adjust the speed limit level at
Speed Limit at Servo
input and the number of position servo ON (Pn584).
ON
errors exceeds the value set for
the excessive position error alarm
level (Pn520).
A.d30:
The position data exceeded Check the input reference pulse Reconsider the operating specifica-
Position Data ±1879048192. counter (Un00C). tions.
Overflow
MECHATROLINK transmission Remove the cause of transmission
A.E02: −
cycle fluctuated. cycle fluctuation at host controller.
MECHATROLINK
Internal Turn the power supply OFF and
Synchronization then ON again. If the alarm still
Error 1 occurs, the SERVOPACK may be
A.E40:
Setting of MECHATROLINK
MECHATROLINK Check the MECHATROLINK Set the transmission cycle to the
transmission cycle is out of speci-
Transmission Cycle transmission cycle setting. proper value.
fications range.
Setting Error
WDT data of host controller was Check the WDT data updating for Update the WDT data at the host
not updated correctly. the host controller. controller correctly.
A.E50:
MECHATROLINK Turn the power supply OFF and
Synchronization Error then ON again. If the alarm still
WDT data of host controller was
not updated correctly at the syn-
Check the WDT data updating for Update the WDT data at the host
chronization communications
A.E51: the host controller. controller correctly.
start, and synchronization com-
MECHATROLINK munications could not start.
Synchronization
Failed Turn the power supply OFF and
Correct the MECHATROLINK wir-
MECHATROLINK wiring is Check the MECHATROLINK wiring.
incorrect. ings.
Connect the terminator correctly.
A.E60: the MECHATROLINK communi-
MECHATROLINK data recep-
cations cable and FG wiring and
MECHATROLINK tion error occurred due to noise −
take measures such as adding ferrite
Communications error interference.
core on the MECHATROLINK
(Reception error)
communications cable.
Troubleshooting

A.E61: MECHATROLINK transmission Check the MECHATROLINK Remove the cause of transmission
MECHATROLINK cycle fluctuated. transmission cycle setting. cycle fluctuation at host controller.
Transmission Cycle Turn the power supply OFF and
Error then ON again. If the alarm still
(Synchronization A SERVOPACK fault occurred. −
occurs, the SERVOPACK may be 8
interval error) faulty. Replace the SERVOPACK.
8-19
8 Troubleshooting
(cont’d)
Alarm Number:
(Alarm Description)
The connection between the Check the connection between the
Correctly connect the safety option
SERVOPACK and the safety SERVOPACK and the safety option
module.
option module is faulty. module.
Execute Fn014 (Resetting configu-
ration error of option module) with
A.E71: The safety option module was
– using the digital operator or Sig-
Safety Option Module disconnected.
maWin+ and turn the power supply
Detection Failure OFF and then ON again.
A safety option module fault
– Replace the safety option module.
occurred.
A SERVOPACK fault occurred. – Replace the SERVOPACK.
A safety option module fault

A.E74: − Replace the safety option module.
occurred.
Unsupported Safety
Option Module A unsupported safety option Refer to the catalog of the con- Connect a compatible safety option
module was connected. nected safety option module. module.
A feedback option module fault Replace the feedback option mod-
A.E75: −
occurred. ule.
Unsupported
Feedback Option Refer to the catalog of the con-
A unsupported feedback option Connect a compatible feedback
Module nected feedback option module or
module was connected. option module.
the manual of the SERVOPACK.
MECHATROLINK transmission Check the MECHATROLINK Remove the cause of transmission
A.EA2: cycle fluctuated. transmission cycle setting. cycle fluctuation at host controller.
DRV Alarm 2 Turn the power supply OFF and
(SERVOPACK WDT then ON again. If the alarm still
error) A SERVOPACK fault occurred. −
The output signal circuits or devices
for /HWBB1 and
A.Eb1: The lag between activations of /HWBB2 or the SERVOPACK
Measure the time lag between the /
the input signals /HWBB1 and input signal circuits may be faulty.
Safety Function Signal HWBB1 and
/HWBB2 for the HWBB function Alternatively, the input signal
Input Timing Error /HWBB2 signals.
is ten second or more. cables may be disconnected. Check
if any of these items are faulty or
have been disconnected.
Execute the SV_ON or SENS_ON
Check the motor status when the
command only when the motor is
A.Ed1: A timeout error occurred when command is executed.
not running.
Command Execution using an MECHATROLINK
Timeout command. Check the status of the linear scale Execute the SENS_ON command
after an output is made to execute only when a linear scale is con-
the command. nected.
The three-phase power supply Confirm that the power supply is
Check the power supply wiring.
wiring is incorrect. correctly wired.
A.F10:
Main Circuit Cable The three-phase power supply is Measure the voltage at each phase Balance the power supply by chang-
Open Phase unbalanced. of the three-phase power supply. ing phases.
(With the main power A single-phase power is input
supply ON, voltage was without setting Pn00B.2 (power
low for more than 1 sec- Check the power supply and the Match the parameter setting to the
supply method for three-phase
ond in an R, S, or T parameter setting. power supply.
SERVOPACK) to 1 (single-phase
phase.) power supply).
(Detected when the main
power supply was turned Turn the power supply OFF and
ON.) then ON again. If the alarm still
8-20
8.1 Alarm Displays
(cont’d)
Alarm Number:
(Alarm Description)
FL-1*2: − Turn the power supply OFF and
System Alarm then ON again. If the alarm still
SERVOPACK failure
FL-2*2: − faulty. Replace the SERVOPACK.
System Alarm
The contact between the digital
Insert securely the connector or
CPF00: operator and the SERVOPACK is Check the connector contact.
replace the cable.
Digital Operator faulty.
Transmission Error 1 Malfunction caused by noise Keep the digital operator or the
−
interference. cable away from noise sources.
Disconnect the digital operator and
then re-connect it. If the alarm still
A digital operator fault occurred. −
occurs, the digital operator may be
CPF01: faulty. Replace the digital operator.
Digital Operator
Transmission Error 2 Turn the power supply OFF and
∗2. These alarms are not stored in the alarm history and are displayed only in the panel display.
Troubleshooting
8-21
8 Troubleshooting
8.2.1 List of Warnings
8.2 Warning Displays

The following sections describe troubleshooting in response to warning displays.
The warning name and warning meaning output are listed in order of the warning numbers in 8.2.1 List of
Warnings.
The causes of warnings and troubleshooting methods are provided in 8.2.2 Troubleshooting of Warnings.
8.2.1 List of Warnings

This section provides list of warnings.
Warning
Warning Name Meaning
Number
Position error exceeded the parameter setting
A.900*1 Position Error Overflow
(Pn520×Pn51E/100).
Position Error Overflow When the servomotor power is ON, the position error exceeded the parameter
A.901*1 Alarm at Servo ON setting (Pn526×Pn528/100).
This warning occurs before the overload alarms (A.710 or A.720) occur. If
A.910*1 Overload
the warning is ignored and operation continues, an overload alarm may occur.
Abnormal vibration at the motor speed was detected. The detection level is
A.911*1 Vibration the same as A.520. Set whether to output an alarm or warning by the vibra-
tion detection switch (Pn310).
This warning occurs before the regenerative overload alarm (A.320) occurs.
A.920*1 Regenerative Overload If the warning is ignored and operation continues, a regenerative overload
alarm may occur.
This warning occurs before dynamic brake overload alarm (A.731) occurs. If
A.921*1 Dynamic Brake Overload the warning is ignored and operation continues, a dynamic brake overload
alarm may occur.
Data Setting Warning 1
A.94A*2 (Parameter Number Error) Incorrect command parameter number was set.

A.94B*2 (Out of Range) Command input data is out of range.

A.94C*2 (Calculation Error)
Calculation error was detected.

A.94D*2 (Parameter Size)
Data size does not match.

A.94E*2 (Latch Mode Error)
Latch mode error is detected.
Command Warning 1 Command was sent although the conditions for sending a command were not
A.95A*2 (Unsatisfying Command) satisfied.
Command Warning 2
A.95B*2 (Non-supported Unsupported command was sent.
Command)
Command Warning 4
A.95D*2 (Command Interference)
Command, especially latch command, interferes.
Command Warning 5
A.95E*2 (Subcommand Disable)
Subcommand and main command interfere.
Command Warning 6
A.95F*2 (Undefined Command)
Undefined command was sent.
MECHATROLINK
A.960*2 Communications Warning
Communications error occurred during MECHATROLINK communications.
This warning occurs before undervoltage alarm (A.410) occurs. If the warn-
A.971*3 Undervoltage
ing is ignored and operation continues, an undervoltage alarm may occur.
A.9A0*1 Overtravel Overtravel is detected while the servomotor power is ON.
∗1. Use Pn008.2 to activate or not the warning detection.

8-22
8.2.2 Troubleshooting of Warnings

Refer to the following table to identity the cause of a warning and the action to be taken. Contact your
Yaskawa representative if the problem cannot be solved by the described corrective action.
Warning Num-
ber: Warning
Cause Investigative Actions Corrective Actions
Name (Warning
Description)
Confirm that there is no contact fault
The servomotor U, V, Check the servomotor main circuit
in the motor wiring or linear scale wir-
and W wirings is faulty. cable connection.
ing.
The SERVOPACK gain Increase the servo gain by using the

Check the SERVOPACK gain.
is too low. function such as advanced autotuning.
Reduce the reference acceleration of

the position reference using a
The acceleration of the MECHATROLINK command, or
Reduce the reference acceleration, and
position reference is too smooth the acceleration of the position
A.900: operate the SERVOPACK.
high. reference by selecting the position ref-
Position Error erence filter (ACCFIL) using a
Overflow MECHATROLINK command.
Setting of the excessive
position error alarm
Check the alarm level (Pn520) to see
level (Pn520) is low Set the Pn520 to proper value.
if it is set to an appropriate value.
against the operating
condition.
Turn the power supply OFF and then

A SERVOPACK fault ON again. If the alarm still occurs, the
−
occurred. SERVOPACK may be faulty. Replace
the SERVOPACK.
When the servomotor

A.901:
power is ON, the posi- Set an appropriate value for the exces-
Position Error
tion error exceeded the − sive position error warning level at
Overflow Alarm
parameter setting servo ON (Pn528).
at Servo ON
(Pn526×Pn528/100).
Incorrect wiring or con-

Confirm that the servomotor and lin-
tact fault of servomotor Check the wiring.
ear scale are correctly wired.
and linear scale.
Operation beyond the Reconsider the load conditions and

Check the motor overload characteris-
overload protection operating conditions. Or, increase the
A.910: tics and executed run command.
characteristics. motor capacity.
Overload
(Warning before Excessive load was
alarm A.710 or applied during opera-
A.720 occurs) tion because the servo- Check the executed operation refer-
Remove the mechanical problems.
motor was not driven ence and motor speed.
due to mechanical prob-
Troubleshooting
lems.
A SERVOPACK fault The SERVOPACK may be faulty.

−
occurred. Replace the SERVOPACK.
Abnormal vibration was Check for abnormal noise from the Reduce the motor speed or reduce the
detected at the motor servomotor, and check the speed and servo gain by using the function such
speed. force waveforms during operation. as one-parameter tuning.
A.911:
The mass ratio (Pn103)
8
Vibration
value is greater than the Set the mass ratio (Pn103) to an
Check the mass ratio.
actual value or is greatly appropriate value.
changed.
8-23
8 Troubleshooting
(cont’d)
Warning Num-
ber: Warning
Name (Warning
Description)
The power supply volt-
age exceeds the speci- Measure the power supply voltage.
fied limit.
Insufficient external
regenerative resistance, Change the regenerative resistance,
A.920: regenerative resistor regenerative resistor capacity, or SER-
Check the operating condition or the
Regenerative capacity, or SERVO- VOPACK capacity. Reconsider the
capacity using the capacity selection
Overload PACK capacity. operating conditions using the capac-
Software SigmaJunmaSize+, etc.
(Warning before Or, regenerative power ity selection software SigmaJunma-
the alarm A.320 has been continuously Size+, etc.
occurs) flowing back.
Regenerative power
continuously flowed Reconsider the system including servo
Check the load to the servomotor dur-
back because negative drives, machine, and operating condi-
ing operation.
load was continuously tions.
applied.
The servomotor moves Take measures to ensure the servomo-
because of external Check the operation status. tor will not move because of external
force. force.
A.921: Reconsider the following:
Dynamic Brake
The moving energy at a Check the power consumed by DB • Reduce the motor reference speed.
Overload
DB stop exceeds the DB resistance (Un00B) to see how many • Reduce the mass ratio.
(Warning before
resistance capacity. times the DB has been used. • Reduce the number of times of the
the alarm A.731
occurs) DB stop operation.

−
A.94A Refer to 8.3 Monitoring Communica-

Data Setting tion Data on Occurrence of an Alarm
Disabled parameter
Warning 1 or Warning to determine which Use the correct parameter number.
number was used.
(Parameter Num- command was the cause of the
ber Error) warning.
A.94B Refer to 8.3 Monitoring Communica-

Attempted to send val- tion Data on Occurrence of an Alarm
Data Setting Set the value of the parameter within
ues outside the range to or Warning to determine which
Warning 2 the allowable range.
the command data. command was the cause of the
(Out of Range) warning.
A.94C Refer to 8.3 Monitoring Communica-
Data Setting tion Data on Occurrence of an Alarm
Calculation result of set Set the value of the parameter within
Warning 3 or Warning to determine which
value is incorrect. the allowable range.
(Calculation command was the cause of the
Error) warning.
A.94D Refer to 8.3 Monitoring Communica-

tion Data on Occurrence of an Alarm
Data Setting Parameter size set in
or Warning to determine which Use the correct parameter size.
Warning 4 command is incorrect.
command was the cause of the
(Parameter Size) warning.
A.94E Refer to 8.3 Monitoring Communica- Change the setting value of Pn850 or
Data Setting tion Data on Occurrence of an Alarm the LT_MOD data for the
Latch mode error is
Warning 5 or Warning to determine which LTMOD_ON command sent by the
detected. host controller to the proper value.
(Latch mode command was the cause of the
error) warning.
A.95A Refer to 8.3 Monitoring Communica-
Command tion Data on Occurrence of an Alarm
Command sending con- Send a command after command
dition is not satisfied. sending condition is satisfied.
(Unsatisfying command was the cause of the
Command) warning.
8-24
(cont’d)
Warning Num-
ber: Warning
Name (Warning
Description)
A.95B Refer to 8.3 Monitoring Communica-
SERVOPACK received
Warning 2 or Warning to determine which Do not sent an unsupported command.
unsupported command.
(Non-supported command was the cause of the
Command) warning.
A.95D Refer to 8.3 Monitoring Communica-
Command sending con-
dition for latch-related Send a command after command
commands is not satis- sending condition is satisfied.
(Command Inter- command was the cause of the
fied.
ference) warning.
A.95E Refer to 8.3 Monitoring Communica-
Command Subcommand sending tion Data on Occurrence of an Alarm
Send a command after command
Warning 5 condition is not satis- or Warning to determine which
sending condition is satisfied.
(Subcommand fied. command was the cause of the
Disable) warning.
A.95F Refer to 8.3 Monitoring Communica-
Undefined command
Warning 6 or Warning to determine which Do not use an undefined command.
was sent.
(Undefined Com- command was the cause of the
mand) warning.
Correct the MECHATROLINK wir-

MECHATROLINK ing.
Confirm the wiring.
wiring is incorrect. Or, connect a terminal to the terminal
station.

A.960 MECHATROLINK the MECHATROLINK communica-
MECHATROLINK data reception error tions cable and FG wiring and take
Confirm the installation conditions.
Communications occurred due to noise measures such as adding ferrite core
Warning interference. on the MECHATROLINK communi-
cations cable.
A SERVOPACK fault A fault occurred in the SERVOPACK.

–
Troubleshooting
8-25
8 Troubleshooting
(cont’d)
Warning Num-
ber: Warning
Name (Warning
Description)
• For 100 VAC SER-
VOPACKs:
The AC power supply
voltage is 60 V or
less.
• For 200-VAC SER-
VOPACKs:
The AC power supply Measure the power supply voltage.
voltage is 140 V or
less.
• For 400-VAC SER-
VOPACKs:
The AC power supply
voltage is 280 V or
A.971:
less.
Undervoltage
The power supply volt-
age dropped during Measure the power supply voltage. Increase the power supply capacity.
operation.
Occurrence of instanta- When the instantaneous power cut
neous power interrup- Measure the power supply voltage. hold time (Pn509) is set, decrease the
tion. setting.
The SERVOPACK fuse Replace the SERVOPACK and con-

−
is blown out. nect a reactor to the SERVOPACK.

−
Refer to 8.4 Troubleshooting Malfunc-

tion Based on Operation and Condi-
tions of the Servomotor. Even if
overtravel signals were not shown by
the input signal monitor (Un005),
A.9A0: momentary overtravel may have been
When the servomotor Check the input signal monitor detected. Take the following precau-
Overtravel
power is ON, over- (Un005) to check the status of the tions.
(Overtravel status travel status is detected. overtravel signals. • Do not specify movements that
is detected.)
would cause overtravel from the
host controller.
• Check the wiring of the overtravel
signals.
• Take countermeasures for noise.
8-26
8.3 Monitoring Communication Data on Occurrence of an Alarm or Warning
8.3 Monitoring Communication Data on Occurrence of an Alarm or

Warning
The command data received on occurrence of an alarm or warning, such as a data setting warning (A.94 ) or
a command warning (A.95 ) can be monitored using the following parameters. The following is an example
of the data when an alarm/warning has occurred in the normal state.
Command Data Monitor at Alarm/Warning Occurrence:Pn890 to Pn89E

Response Data Monitor at Alarm/Warning Occurrence:Pn8A0 to Pn8AE
Command Data Storage at

Command Alarm/Warning Occurrence
Byte Order
CMD RSP Example: Pn8A0 = 87 65 43 21
1 Pn890.1 to 0 Pn8A0.1 to 0
2 Pn890.3 to 2 Pn8A0.3 to 2
3 Pn890.5 to 4 Pn8A0.5 to 4
4 Pn890.7 to 6 Pn8A0.7 to 6
5 to 8 Pn892 Pn8A2
9 to 12 Pn894 Pn8A4
13 to 16 Pn896 Pn8A6
17 to 20 Pn898 Pn8A8
21 to 24 Pn89A Pn8AA
25 to 28 Pn89C Pn8AC
29 to 32 Pn89E Pn8AE
Note 1. Data is stored in little endian byte order and displayed in the hexadecimal format.
2. For details on commands, refer to Σ-V Series User’s Manual MECHATROLINK-II Commands (No.: SIEP
S800000 54)
Troubleshooting
8-27
8 Troubleshooting
8.4 Troubleshooting Malfunction Based on Operation and

Conditions of the Servomotor
Troubleshooting for the malfunctions based on the operation and conditions of the servomotor is provided in
this section.
Be sure to turn OFF the servo system before troubleshooting items shown in bold lines in the table.
Problem Probable Cause Investigative Actions Corrective Actions

The control power supply is not Check voltage between control
Correct the wiring.
ON. power terminals.
The main circuit power supply is Check the voltage between main
Correct the wiring.
not ON. circuit power terminals.
Wiring of I/O signal connector CN1 Check if the connector CN1 is prop- Correct the connector CN1 connec-
is faulty or disconnected. erly inserted and connected. tion.
Wiring for servomotor main circuit
cable or linear scale connection Check the wiring. Correct the wiring.
cables is disconnected.
Run under no load and check the Reduce load or replace with larger
Overloaded
load status. capacity servomotor.
Linear scale type differs from Check the settings for parameter Set parameter Pn002.2 to the linear
parameter setting (Pn002.2). Pn002.2. scale type being used.
Settings for the input signal selec-
Check the settings for parameters Correct the settings for parameter
tions (Pn50A, Pn50B and Pn511) is
Pn50A, Pn50B and Pn511. Pn50A, Pn50B and Pn511.
incorrect.
Check the command sent from the
SV_ON command is not sent. Send the SV_ON command.
host controller.
Servomotor Does
Not Start Check the command sent from the Send the command in the correct
SENS_ON command is not sent.
host controller. SERVOPACK sequence.
The forward run prohibited (P-OT)
Turn P-OT or N-OT input signal
and reverse run prohibited (N-OT) Check P-OT or N-OT input signal.
ON.
input signals are turned OFF.
Set the /HWBB1 and /HWBB2
input signal to ON.
The safety input signal (/HWBB1 or Check the /HWBB1 and /HWBB2 When not using the safety function,
/HWBB2) remains OFF. input signal. mount the safety function jumper
connector (provided as an acces-
sory) on the CN8.
A SERVOPACK fault occurred. − Replace the SERVOPACK.
Check the parameter Pn080.0. Correct the setting of Pn080.0.
• When using an incremental linear
The polarity detection is not exe- scale, send the SV_ON command
cuted. from the host controller.
Check the SV_ON command.
• When using an absolute linear
scale, execute Fn080.
8-28
8.4 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor
(cont’d)
Servomotor wiring is incorrect. Check the wiring. Correct the wiring.
Serial converter unit wiring is incor-
Check the wiring. Correct the wiring.
rect.
Linear scale wiring is incorrect. Check the wiring. Correct the wiring.
Linear scale pitch (Pn282) is incor-
Servomotor Check the setting of Pn282. Correct the setting of Pn282.
rect.
Moves
Instantaneously, Change the setting of Pn080.1
Linear scale counting up direction
and then Stops (Motor Phase Selection).
and servomotor coil assembly for- Check the directions.
ward direction do not agree. Match the linear scale direction and
coil assembly direction.
Check if the value of Un004 (elec-
Polarity detection is not performed trical angle 2 from polarity origin) Correct the settings for the polarity
correctly. at an arbitrary position is between detection related parameter.
±10 degrees.
Check connections of power line
Servomotor Wiring connection to servomotor is Tighten any loose terminals or con-
(phases U, V, and W) and serial
Speed Unstable defective. nectors and correct the wiring.
converter unit connectors.
Change the setting of Pn080.1
Linear scale counting up direction (Motor Phase Selection).
and servomotor coil assembly for- Check the directions.
Servomotor Match the linear scale direction and
ward direction do not agree.
Moves Without servomotor direction.
Reference Input
±10 degrees.
Check the setting for parameter Correct the setting for parameter
Improper Pn001.0 setting
Pn001.0. Pn001.0.
Check if excessive mass, motor
Replace the SERVOPACK, and
Dynamic Brake DB resistor disconnected overspeed, or DB frequently acti-
reduce the load.
Does Not Operate vated occurred.
There is a defective component in
DB drive circuit fault − the DB circuit. Replace the SER-
VOPACK.
Reduce the load so that the mass
The servomotor largely vibrated ratio becomes within the allowable
during execution of tuning-less Check the motor speed waveform. value, or increase the load level or
function. lower the tuning level for the tun-
ing-less levels setting (Fn200).
Check if there are any loose mount-
Mounting is not secured. Tighten the mounting screws.
ing screws.
Check for any foreign matter, dam-
Vibration source at the driven
age, or deformations on the machin- Contact the machine manufacturer.
machine.
ery's movable parts.
Abnormal Noise The I/O signal cable must be tinned
from Servomotor annealed copper shielded twisted-
Noise interference due to incorrect pair or screened unshielded twisted- Use the specified I/O signal cable.
Troubleshooting
I/O signal cable specifications.

pair cable with a core of 0.12 mm2
min.
Noise interference due to length of Check the length of the I/O signal The I/O signal cable length must be
I/O signal cable. cable. no more than 3 m.
The linear scale connection cables
Noise interference due to incorrect must be tinned annealed copper
shielded twisted-pair or screened Use the specified linear scale con-
cable specifications of linear scale
connection cables. unshielded twisted-pair cable with a nection cables. 8
core of 0.12 mm2 min.
8-29
8 Troubleshooting
(cont’d)
The length of each cable must be
equal to or shorter than the maxi-
mum wiring length listed here.
• Connection cables for serial con-
Noise interference due to length of Check the length of the linear scale verter unit: 20 m
linear scale connection cables. connection cables. • Connection cables for linear
scale: 15 m
• Connection cables for hall sensor:
15 m
Check if the linear scale connection

Noise interference due to damaged Replace the linear scale connection
cables are bent and the sheaths are
linear scale connection cables. cables and correct the cable layout.
damaged.
Abnormal Noise Check if the linear scale connection
Excessive noise to the linear scale Correct the cable layout so that no
from Servomotor cables are bundled with a high-cur-
connection cables. surge is applied.
(cont’d) rent line or near a high-current line.
The FG potential varies because of
Check if the machines are correctly Properly ground the machines to
influence from machines on the ser-
grounded. separate from the linear scale FG.
vomotor side, such as the welder.
Check if there is noise interference
SERVOPACK pulse counting error Take measures against noise in the
on the I/O signal line from the linear
due to noise interference linear scale wiring.
scale.
Check if vibration from the machine
Reduce vibration from the machine,
Excessive vibration and shock to occurred or linear scale installation
or secure the linear scale installa-
the linear scale is incorrect (mounting surface accu-
tion.
racy and fixing method).
Serial converter unit fault − Replace the serial converter unit.
A linear scale fault occurred. − Replace the linear scale.
Check to see if the servo gains have
Unbalanced servo gains Execute the advanced autotuning.
been correctly adjusted.
Speed loop gain value (Pn100) too Check the speed loop gain (Pn100). Reduce the speed loop gain
high. Factory setting: Kv = 40.0 Hz (Pn100).
Servomotor
Vibrates at Check the position loop gain
Position loop gain value (Pn102) (Pn102). Reduce the position loop gain
Frequency of
too high. (Pn102).
Approx. 200 to Factory setting: Kp = 40.0/s
400 Hz.
Check the speed loop integral time
Incorrect speed loop integral time constant (Pn101). Correct the speed loop integral time
constant (Pn101) constant (Pn101).
Factory setting: Ti = 20.0 ms
Incorrect mass ratio (Pn103) Check the mass ratio (Pn103). Correct the mass ratio (Pn103).
Check to see if the servo gains have
Unbalanced servo gains Execute the advanced autotuning.
been correctly adjusted.
Speed loop gain value (Pn100) too Check the speed loop gain (Pn100). Reduce the speed loop gain
high Factory setting: Kv = 40.0 Hz (Pn100).
Check the position loop gain
Position loop gain value (Pn102) (Pn102). Reduce the position loop gain
too high (Pn102).
Factory setting: Kp = 40.0/s
High Motor Speed
Overshoot on Check the speed loop integral time
Incorrect speed loop integral time constant (Pn101). Correct the speed loop integral time
Starting and
constant (Pn101) constant (Pn101).
Stopping Factory setting: Ti = 20.0 ms
Incorrect mass ratio data (Pn103) Check the mass ratio (Pn103). Correct the mass ratio (Pn103).
Check the force reference wave
The force reference is saturated. Use the mode switch function.
form.
Initial value of force limit:
The force limit (Pn483, Pn484) is Set a appropriate value for Pn483
Pn483 = 30%
set to the initial value. and Pn484 (Force Limit).
Pn484 = 30%
8-30
(cont’d)
The linear scale connection cables
shielded twisted-pair or screened Use the specified linear scale con-
cable specifications of linear scale
connection cables. unshielded twisted-pair cable with a nection cables.
scale: 15 m
15 m

Absolute Linear Noise interference due to damaged Replace the linear scale connection
Scale Position linear scale connection cables. cables and correct the cable layout.
damaged.
Difference Error
(The position Check if the linear scale connection
Excessive noise to the linear scale Correct the cable layout so that no
saved in the host cables are bundled with a high-cur-
connection cables. surge is applied.
controller when rent line or near a high-current line.
the power was FG potential varies because of Ground machines correctly, and
turned OFF is dif- Check if the machines are correctly
influence of machines such as weld- prevent diversion to the FG on the
ferent from the po- grounded.
ers at the servomotor. linear scale side.
sition when the
power was next Check if there is noise interference
SERVOPACK pulse counting error Take measures against noise in the
turned ON.) on the I/O signal line from the serial
due to noise interference serial converter unit wiring.
converter unit.
Reduce vibration from the machine,
Excessive vibration and shock to occurred or linear scale installation
or secure the linear scale installa-
the linear scale is incorrect (mounting surface accu-
tion.
A linear scale fault occurred. − Replace the linear scale.
A SERVOPACK fault occurred.
− Replace the SERVOPACK.
(The pulse count does not change.)
Check the error detection section of Correct the error detection section
the host controller. of the host controller.
Check if the host controller is exe-
Host controller serial data reading Execute a serial data parity check.
cuting data parity checks.
error
Check noise in the cable between Take measures against noise, and
the SERVOPACK and the host con- again execute a serial data parity
troller. check.
Troubleshooting
8-31
8 Troubleshooting
(cont’d)
Check the external power supply Correct the external power supply
(+24 V) voltage for the input signal. (+24 V) voltage.
Check if the overtravel limit switch
Correct the overtravel limit switch.
Forward or reverse run prohibited operates properly.
signal is input. Check if the overtravel limit switch Correct the overtravel limit switch
is wired correctly. wiring.
Check the settings for parameters Correct the settings for parameters
Pn50A and Pn50B. Pn50A and Pn50B.
Check the fluctuation of the exter-
Stabilize the external power supply
nal power supply (+24 V) voltage
(+24 V) voltage.
for the input signal.
Forward or reverse run prohibited Check if the overtravel limit switch
Correct the overtravel limit switch.
signal malfunctioning. operates correctly.
Overtravel (OT)
Check if the overtravel limit switch
Correct the overtravel limit switch
wiring is correct. (check for dam-
wiring.
aged cables or loose screws.)
Incorrect forward or reverse run Check if the P-OT signal is allo- If another signal is allocated in
prohibited signal (P-OT/N-OT) cated in Pn50A.3. Pn50A.3, allocate P-OT.
allocation (parameters Pn50A.3, Check if the N-OT signal is allo- If another signal is allocated in
Pn50B.0) cated in Pn50B.0. Pn50B.0, allocate N-OT.
Check the settings for parameters
Select a servomotor stop method
Pn001.0 and Pn001.1 when the ser-
other than "coast to stop."
Incorrect servomotor stop method vomotor power is OFF.
selection Check the settings for parameters
Select a servomotor stop method
Pn001.0 and Pn001.1 when in force
other than "coast to stop."
control.
Improper limit switch position and Install the limit switch at the
Improper Stop −
dog length appropriate position.
Position by
Overtravel (OT) The overtravel limit switch position
Install the overtravel limit switch at
Signal is too short for the coasting −
the appropriate position.
distance.
8-32
(cont’d)
The linear scale connection cable
Use the specified linear scale con-
linear scale connection cable speci- shielded twisted-pair or screened
fications unshielded twisted-pair cable with a nection cable.
scale: 15 m
15 m

Noise influence due to damaged lin- Replace the linear scale connection
ear scale connection cables. cables and modify the cable layout.
damaged.
Excessive noise to linear scale con- Change the cable layout so that no
cables are bundled with a high-cur-
nection cables. surge is applied.
Position Error rent line or near a high-current line.
(Without Alarm) The FG potential varies because of
Check if the machines are correctly Properly ground the machines linear
influence from machines on the ser-
grounded. scale FG.
vomotor side such as the welder.
Check if the I/O signal line from the
SERVOPACK pulse count error due Take measures against noise in the
serial converter unit is influenced
to noise serial converter unit wiring.
by noise.
Excessive vibration and shock to occurred or linear scale installation Reduce the machine vibration or
the linear scale is incorrect (mounting surface accu- mount the linear scale securely.
The I/O signal cable must be tinned
annealed copper shielded twisted-
Noise interference due to improper pair or screened unshielded twisted- Use input signal cable with the
I/O signal cable specifications specified specifications.
pair cable with a core of 0.12 mm2
min.
Noise interference due to length of The I/O signal cable length must be
Check the I/O signal cable length.
I/O signal cable no more than 3 m.
A linear scale fault occurred. (The
− Replace the linear scale.
pulse count does not change.)
Ambient operating temperature too Measure the servomotor ambient Reduce the ambient operating tem-
high operating temperature. perature to 40°C or less.
Servomotor surface dirty Visually check the surface. Clean dust and oil from the surface.
If overloaded, reduce load or
Servomotor Servomotor overloaded Check the load status with monitor. replace with larger capacity SER-
Overheated VOPACK and servomotor.
Troubleshooting

±10 degrees.
8-33

Linear Motor MECHATROLINK-II Communications Reference Troubleshooting 5.1

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8

8.1 Alarm Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2

8.2 Warning Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-22

8.3 Monitoring Communication Data on Occurrence of an Alarm

8.1 Alarm Displays

8.1.1 List of Alarms

Servomotor Stopping Method

∗2. These alarms occur in SERVOPACKs with safety modules.

8.1.2 Troubleshooting of Alarms

Reduce the load so that the mass

A.7AB: Remove foreign matter or debris

nected.) occurs, the linear scale may be

A SERVOPACK fault occurred. −

A.d00: Reduce the reference acceleration

Turn the power supply OFF and

A SERVOPACK fault occurred. – Replace the SERVOPACK.

A safety option module fault

8.2 Warning Displays

8.2.1 List of Warnings

Data Setting Warning 2

Data Setting Warning 3

Data Setting Warning 4

Data Setting Warning 5

∗1. Use Pn008.2 to activate or not the warning detection.

8.2.2 Troubleshooting of Warnings

The SERVOPACK gain Increase the servo gain by using the

Reduce the reference acceleration of

Turn the power supply OFF and then

When the servomotor

Incorrect wiring or con-

Operation beyond the Reconsider the load conditions and

A SERVOPACK fault The SERVOPACK may be faulty.

A SERVOPACK fault The SERVOPACK may be faulty.

A.94A Refer to 8.3 Monitoring Communica-

A.94B Refer to 8.3 Monitoring Communica-

A.94D Refer to 8.3 Monitoring Communica-

Correct the MECHATROLINK wir-

Take measures against noise. Check

A SERVOPACK fault A fault occurred in the SERVOPACK.

The SERVOPACK fuse Replace the SERVOPACK and con-

A SERVOPACK fault The SERVOPACK may be faulty.

Refer to 8.4 Troubleshooting Malfunc-

8.3 Monitoring Communication Data on Occurrence of an Alarm or

Command Data Monitor at Alarm/Warning Occurrence:Pn890 to Pn89E

Command Data Storage at

8.4 Troubleshooting Malfunction Based on Operation and

Problem Probable Cause Investigative Actions Corrective Actions

I/O signal cable specifications.

Check if the linear scale connection

Check if the linear scale connection

Check if the linear scale connection

Check if the value of Un004 (elec-

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