Rotational Motor MECHATROLINK III Communications Reference Troubleshooting 3.1 PDF

9
Troubleshooting
9.1 Alarm Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-2

9.1.1 List of Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-2
9.1.2 Troubleshooting of Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-7
9.2 Warning Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-23

9.2.1 List of Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-23
9.2.2 Troubleshooting of Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-25
9.3 Monitoring Communication Data on Occurrence of an Alarm

or Warning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-30
9.4 Troubleshooting Malfunction Based on Operation
and Conditions of the Servomotor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-31
Troubleshooting
9-1
9 Troubleshooting
9.1.1 List of Alarms
9.1 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 9.1.1 List of Alarms.
The causes of alarms and troubleshooting methods are provided in 9.1.2 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 torque 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
The data of the parameter in the SERVOPACK is
A.020 Parameter Checksum Error 1 Gr.1 N/A
incorrect.
A.021 Parameter Format Error 1 Gr.1 N/A
incorrect.
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 Setting The encoder output pulse (Pn212) is outside the set-
A.041 Gr.1 N/A
Error ting range or does not satisfy the setting conditions.
Combination of some parameters exceeds the set-
A.042 Parameter Combination Error Gr.1 N/A
ting range.
Semi-closed/Fully-closed
The settings of the option module and Pn00B.3,
A.044 Loop Control Parameter Gr.1 N/A
Pn002.3 do not match.
Setting Error
A.04A Parameter Setting Error 2 Bank member/bank data setting is incorrect. Gr.1 N/A
The SERVOPACK and the servomotor capacities
A.050 Combination Error Gr.1 Available
do not match each other.
A.051 Unsupported Device Alarm The device unsupported was connected. Gr.1 N/A
The servo ON command (SV_ON) was sent from
Cancelled Servo ON
A.0b0 the host controller after executing a utility function Gr.1 Available
Command Alarm
that turns ON servomotor.
Overcurrent or Heat Sink An overcurrent flowed through the IGBT or the
A.100 Gr.1 N/A
Overheated heat sink of the SERVOPACK was overheated.
Regenerative circuit or regenerative resistor is
A.300 Regeneration Error Gr.1 Available
faulty.
9-2
9.1 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
A.450 Gr.1 N/A
Capacitor Overvoltage is faulty.
The servomotor speed is above the maximum rota-
A.510 Overspeed Gr.1 Available
tional speed.
Overspeed of Encoder The pulse output speed upper limit of the set
Output Pulse Rate encoder output pulse (Pn212) is exceeded.
A.520 Vibration Alarm Incorrect vibration at the motor speed was detected. Gr.1 Available
Vibration was detected while performing tuning-
A.521 Autotuning Alarm Gr.1 Available
less function.
The servomotor was operating for several seconds
A.710 Overload: High Load to several tens of seconds under a torque largely Gr.2 Available
exceeding ratings.
The servomotor was operating continuously under a
A.720 Overload: Low Load Gr.1 Available
torque exceeding ratings.
When the dynamic brake was applied, rotational
A.730
Dynamic Brake Overload energy exceeded the capacity of dynamic brake Gr.1 Available
A.731 resistor.
Overload of Surge The main circuit power was frequently turned ON
Current Limit Resistor and OFF.
The heat sink of the SERVOPACK exceeded
A.7A0 Heat Sink Overheated Gr.2 Available
100°C.
Built-in Fan in SERVOPACK
A.7AB The fan inside the SERVOPACK stopped. Gr.1 Available
Stopped
The power supplies to the encoder all failed and
A.810 Encoder Backup Error Gr.1 N/A
position data was lost.
The checksum results of encoder memory is incor-
A.820 Encoder Checksum Error Gr.1 N/A
rect.
The battery voltage was lower than the specified
Absolute Encoder Battery
A.830 value after the control power supply was turned Gr.1 Available
Error
ON.
A.840 Encoder Data Error Data in the encoder is incorrect. Gr.1 N/A
The encoder was rotating 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 encoder is too high. Gr.1 N/A
A.8A0 External Encoder Error External encoder is faulty. Gr.1 Available
Troubleshooting
External Encoder Error of

A.8A1 Serial converter unit is faulty. Gr.1 Available
Module
A.8A2 External encoder is faulty. Gr.1 Available
Sensor
A.8A3 The position data of external encoder is faulty. Gr.1 Available
Position
A.8A5 External Encoder Overspeed The overspeed from the external encoder occurred. Gr.1 Available 9
A.8A6 External Encoder Overheated The overheat from the external encoder occurred. Gr.1 Available
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
9-3
9 Troubleshooting
(cont’d)
Servo-
Alarm motor Alarm
Alarm Name Meaning
Method
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
A.b6A Communications Gr.1 N/A
communications.
ASIC Error 1
MECHATROLINK
ASIC error occurred in the MECHATROLINK
A.b6b Communications Gr.2 N/A
communications.
ASIC Error 2
"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
Absolute Encoder Clear
The multiturn for the absolute encoder was not
A.C80 Error and Multiturn Limit Gr.1 N/A
properly cleared or set.
Setting Error
Encoder Communications Communications between the SERVOPACK and
A.C90 Gr.1 N/A
Error the encoder is not possible.
Encoder Communications
A.C91 An encoder position data calculation error occurred. Gr.1 N/A
Position Data Error
Encoder Communications An error occurs in the communications timer
A.C92 Gr.1 N/A
Timer Error between the encoder and the SERVOPACK.
A.CA0 Encoder Parameter Error Encoder parameters are faulty. Gr.1 N/A
Contents of communications with encoder are
A.Cb0 Encoder Echoback Error Gr.1 N/A
incorrect.
Different multiturn limits have been set in the
A.CC0 Multiturn Limit Disagreement Gr.1 N/A
encoder and the SERVOPACK.
Feedback Option Module
Reception from the Feedback Option Module is
A.CF1 Communications Error Gr.1 N/A
faulty.
(Reception error)
Timer for communications with the Feedback
A.CF2 Communications Error Gr.1 N/A
Option Module is faulty.
(Timer stop)
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 Alarm
A.d01 ON when the position error is greater than the set Gr.1 Available
at Servo ON
value of Pn526 while the servomotor power is OFF.
When the position errors remain in the error
counter, Pn529 limits the speed if the servomotor
power is turned ON. If Pn529 limits the speed in
Position Error Overflow Alarm
A.d02 such a state, this alarm occurs when position refer- Gr.2 Available
by Speed Limit at Servo ON
ences are input and the number of position errors
exceeds the value set for the excessive position
error alarm level (Pn520).
Motor-load Position Error During fully-closed loop control, the position error
A.d10 Gr.2 Available
Overflow between motor and load is excessive.
9-4
9.1 Alarm Displays
(cont’d)
Servo-
Alarm motor Alarm
Alarm Name Meaning
Method
MECHATROLINK
Synchronization error during MECHATROLINK
A.E02 Internal Synchronization Gr.1 Available
communications with the SERVOPACK.
Error 1
MECHATROLINK
The setting of the MECHATROLINK transmission
A.E40 Transmission Cycle Setting Gr.2 Available
cycle is out of the allowable range.
Error
MECHATROLINK
The setting of the MECHATROLINK communica-
A.E41 Communications Data Size Gr.2 Available
tions data size is incorrect.
Setting Error
MECHATROLINK Station The setting of the MECHATROLINK station
A.E42 Gr.2 N/A
Address Setting Error address is incorrect.
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 dur-
A.E60 Communications Error Gr.2 Available
ing MECHATROLINK communications.
(Reception error)
MECHATROLINK
Transmission Cycle Error The transmission cycle fluctuates during MECHA-
(Synchronization interval TROLINK communications.
error)
MECHATROLINK
Communications error occurs continuously during
A.E62 Communications Error Gr.2 Available
MECHATROLINK communications.
(FCS error)
MECHATROLINK
Synchronization frames are not received continu-
A.E63 Synchronization Frame Not Gr.2 Available
ously during MECHATROLINK communications.
Received Alarm
Safety Option Module
A.E71 Detection of the safety option module failed. Gr.1 N/A
Detection Failure
A.E72 Detection of the Feedback Option Module failed. Gr.1 N/A
Detection Failure
Unsupported Safety Option An unsupported safety option module was con-
A.E74 Gr.1 N/A
Module nected.
Unsupported Feedback An unsupported feedback option module was con-
A.E75 Gr.1 N/A
Option Module nected.
SERVOPACK: Safety
A.E81*1 Module Alarm – – –
DRV Alarm 2 (SERVOPACK

A.EA2 A SERVOPACK DRV alarm 0 occurs. Gr.2 Available
WDC error)
Safety Function Signal Input
A.Eb1 The safety function signal input timing is faulty. Gr.1 N/A
Timing Error
A.Eb SERVOPACK: Safety
– – –
Troubleshooting
*1 Module Alarms
A.EC SERVOPACK: Safety
– – –
*1 Module Alarms
A timeout error occurred when using a MECHA-
A.Ed1 Command Execution Timeout Gr.2 Available
TROLINK command.
Main Circuit Cable Open With the main power supply ON, voltage was low
A.F10 Gr.2 Available
Phase for more than 1 second in phase R, S, or T.
∗1. These alarms occur in SERVOPACKs with safety modules.
9
For details, refer to Σ-V Series User’s Manual, Safety Module (No.: SIEP C720829 06).
9-5
9 Troubleshooting
(cont’d)
Servo-
Alarm motor Alarm
Alarm Name Meaning
Method
FL-1*2 Internal program error occurred in the SERVO- − N/A
System Alarm
PACK
FL-2*2 − N/A
Digital Operator Transmission
CPF00 − N/A
Error 1 Digital operator (JUSP-OP05A-1-E) fails to com-
Digital Operator Transmission municate with the SERVOPACK (e.g., CPU error).
CPF01 − N/A
Error 2
A.− − Not an error Normal operation status − −
∗2. These alarms are not stored in the alarm history and are displayed only in the panel display.
9-6
9.1 Alarm Displays
9.1.2 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
Troubleshooting
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
9
The electronic gear ratio is out of ratio must satisfy:
range: 0.001< (Pn20E/Pn210)
the setting range.
0.001< (Pn20E/Pn210) < 4000. < 4000.
9-7
9 Troubleshooting
(cont’d)
Alarm Number:
(Alarm Description)
The encoder output pulse (Pn212)
A.041:
is out of the setting range and
Encoder Output Pulse Check the parameter Pn212. Set Pn212 to a correct value.
does not satisfy the setting condi-
Setting Error tions.
The speed of program JOG oper-
ation (Fn004) is lower than the
setting range after having Check if the detection conditions*1 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*1 Increase the setting of the program
tion Error changed the setting of the pro- are satisfied. JOG movement speed (Pn533).
gram JOG movement speed
(Pn533).
The moving speed of advanced
autotuning is lower than the set-
ting range after having changed Check if the detection conditions*1 Decrease the setting of the elec-
are satisfied. tronic gear ratio (Pn20E/Pn210).
the electronic gear ratio (Pn20E/
Pn210) or the servomotor.
A.044:
Semi-closed/Fully- The setting of the fully-closed The setting of fully-closed module
closed Loop Control module does not match with that Check the settings of Pn002.3. must be compatible with the setting
Parameter Setting Er- of Pn002.3. of Pn002.3.
ror
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 An encoder fault occurred. Replace the servomotor and see if
Replace the servomotor (encoder).
not correspond.) the alarm occurs again.
A.051: An unsupported serial converter

unit, encoder, or external encoder Check the product specifications, Select the correct combination of
Unsupported Device is connected to the SERVO- and select the correct model. units.
Alarm PACK.
After executing the utility func-
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 detected, an alarm occurs.
-1 Encoder resolution Pn20E
• Pn533 [min ] × 5
≤
6 × 10 Pn210
-1 Encoder resolution Pn20E
• Max Motor Speed [min ] × ≥
About 3.66 × 1012 Pn210
9-8
9.1 Alarm Displays
(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.
Troubleshooting
9-9
9 Troubleshooting
(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-
erative resistor is not
connected. Check the external regenerative Connect the external regenerative
resistor connection and the value of resistor, or set Pn600 to 0 if no
• An external regenerative resis- the Pn600. regenerative resistor is required.
tor is not connected to the
SGDV-470, SGDV-550,
SGDV-590, SGDV-780,
SGDV-210, SGDV-260,
SGDV-280, or SGDV-370
SERVOPACK.
A.300:
Regeneration Error 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.
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.
9-10
9.1 Alarm Displays
(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 torque during opera-
the specified range.
deceleration. tion.
The external regenerative resis- Select a regenerative resistance
Troubleshooting
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 moment of inertia ratio Confirm that the moment of inertia Increase the deceleration time, or
exceeded the allowable value. ratio is 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- 9
PACK may be faulty. Replace the
SERVOPACK.
9-11
9 Troubleshooting
(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 pulse (Pn212).
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 torque waveforms during oper- the speed loop gain (Pn100).
A.520: ation.
Vibration Alarm The moment of inertia ratio
(Pn103) value is greater than the Set the moment of inertia ratio
Check the moment of inertia ratio.
actual value or is greatly (Pn103) to an appropriate value.
changed.
Reduce the load so that the moment
A.521: of inertia ratio falls within the
The servomotor vibrated consid-
Autotuning Alarm allowable value, or raise the load
erably while performing tuning- Check the motor speed waveform.
(Vibration was detected level using the tuning-less levels
less function.
while executing the one- setting (Fn200) or reduce the rigid-
parameter tuning, Easy- ity level.
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.
9-12
9.1 Alarm Displays
(cont’d)
Alarm Number:
(Alarm Description)
Incorrect wiring or contact fault Confirm that the servomotor and
Check the wiring.
of servomotor and encoder. encoder are correctly wired.
Check the servomotor overload Reconsider the load conditions and
Operation beyond the overload
A.710: characteristics and executed run operating conditions. Or, increase
protection characteristics.
A.720: command. the motor capacity.
Overload Excessive load was applied dur-
A.710: High Load ing operation because the servo- Check the executed operation refer-
A.720: Low Load Remove the mechanical problems.
motor was not driven due to ence and motor speed.
mechanical problems.
Take measures to ensure the servo-
The servomotor rotates because
Check the operation status. motor will not rotate because of
of external force.
external force.
A.730: Reconsider the following:
A.731:
• Reduce the motor reference
Dynamic Brake Over-
The rotating energy at a DB stop Check the power consumed by DB speed.
load
exceeds the DB resistance capac- resistance (Un00B) to see how • Reduce the moment of inertia
(An excessive power ity. many times the DB has been used. ratio.
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.
Troubleshooting
Remove foreign matter or debris

A.7AB: from the SERVOPACK. If the
The fan inside the SERVOPACK Check for foreign matter or debris
Built-in Fan in SER- alarm still occurs, the SERVO-
stopped. inside the SERVOPACK.
VOPACK Stopped PACK may be faulty. Replace the
SERVOPACK.
9-13
9 Troubleshooting
(cont’d)
Alarm Number:
(Alarm Description)
Alarm occurred when the power
Check to see if the power was
to the absolute encoder was ini- Set up the encoder (Fn008).
turned ON initially.
tially turned ON.
The encoder cable disconnected, Check to see if the power was Confirm the connection and set up
and connected again. turned ON initially. the encoder (Fn008).
A.810:
Encoder Backup Error The power from both the control
Replace the battery or take similar
power supply (+5 V) from the
(Only when an absolute Check the encoder connector bat- measures to supply power to the
SERVOPACK and the battery
encoder is connected.) tery or the connector contact status. encoder, and set up the encoder
power supply is not being sup-
(Detected on the encoder (Fn008).
plied.
side.)
If the alarm cannot be reset by set-
An absolute encoder fault
− ting up the encoder again, replace
occurred.
the servomotor.
• Absolute encoder
Set up the encoder again using
Fn008. If the alarm still occurs,
the servomotor may be faulty.
A.820: Replace the servomotor.
Encoder Checksum An encoder fault occurred. −
• Absolute encoder that shows val-
Error ues for a single rotation or incre-
(Detected on the encoder mental encoder
side.) The servomotor may be faulty.
Replace the servomotor.
A.830: The battery connection is incor-

Check the battery connection. Reconnect the battery.
rect.
Absolute Encoder Bat-
tery Error The battery voltage is lower than
Measure the battery voltage. Replace the battery.
(The absolute encoder the specified value 2.7 V.
battery voltage is lower The SERVOPACK may be faulty.
than the specified value.) A SERVOPACK fault occurred. −
An encoder malfunctioned. −
occurs, the servomotor may be
A.840: faulty. Replace the servomotor.
Encoder Data Error
(Detected on the encoder Correct the wiring around the
side.) encoder by separating the encoder
Malfunction of encoder because
− cable from the servomotor main cir-
of noise interference, etc.
cuit cable or by checking the
grounding and other wiring.
The servomotor speed is higher Check the motor rotating speed Reduce the servomotor speed to a
than 200 min-1 when the control (Un000) to confirm the servomotor value less than 200 min-1, and turn
A.850: power supply was turned ON. speed when the power is turned ON. ON the control power supply.
Encoder Overspeed Turn the power supply OFF and
(Detected when the con- then ON again. If the alarm still
trol power supply was An encoder fault occurred. −
turned ON.) faulty. Replace the servomotor.
(Detected on the encoder
side.)
9-14
9.1 Alarm Displays
(cont’d)
Alarm Number:
(Alarm Description)
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.
The motor load is greater than the Check the accumulated load ratio The motor load must be within the
A.860: rated load. (Un009) to see the load. specified range.
Encoder Overheated
(Only when an absolute Turn the power supply OFF and
encoder is connected.) then ON again. If the alarm still
An encoder fault occurred. −
(Detected on the encoder occurs, the servomotor may be
side.) faulty. Replace the servomotor.
Before setting the zero point posi-
Setting the zero point position of The servomotor must be stopped
tion, use the fully-closed feedback
A.8A0: external absolute encoder failed while setting the zero point posi-
pulse counter (Un00E) to confirm
External Encoder Er- because the servomotor rotated. tion.
that the servomotor is not rotating.
ror
An external encoder fault
− Replace the external encoder.
occurred.
An external encoder fault
A.8A1: − Replace the external encoder.
occurred.
External Encoder Er-
ror of Module A serial converter unit fault
− Replace the serial converter unit.
occurred.
A.8A2:
External Encoder Er- An external encoder fault
− Replace the external encoder.
ror of Sensor occurred.
(Incremental)
A.8A3: The external absolute encoder may
External Encoder Er- An external absolute encoder be faulty. Refer to the encoder man-
−
ror of Position fault occurred. ufacturer’s instruction manual for
(Absolute) corrective actions.
A.8A5:
The overspeed from the external Check the maximum speed of the Keep the external encoder below its
External Encoder encoder occurred. external encoder. maximum speed.
Overspeed
A.8A6:
The overheat from the external
External Encoder − Replace the external encoder.
encoder occurred.
Overheated
A.b31:
The current detection circuit for then ON again. If the alarm still
Current Detection Er- −
phase U is faulty. occurs, the SERVOPACK may be
ror 1 faulty. Replace the SERVOPACK.
A.b32:
The current detection circuit for then ON again. If the alarm still
Current Detection Er- −
phase V is faulty. occurs, the SERVOPACK may be
ror 2 faulty. Replace the SERVOPACK.
Troubleshooting
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 Er- faulty. Replace the SERVOPACK.
ror 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
Error 1 faulty. Replace the SERVOPACK.
9
9-15
9 Troubleshooting
(cont’d)
Alarm Number:
(Alarm Description)
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. −
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.C10: If the alarm still occurs after turning
Servo Overrun Detect- the power OFF and then ON again,
ed An encoder fault occurred. − even though the servomotor is cor-
(Detected when the rectly wired, the servomotor may be
servomotor power is faulty. Replace the servomotor.
ON.) Turn the power supply OFF and
A.C80: occurs, the servomotor may be
Absolute Encoder faulty. Replace the servomotor.
Clear Error and Multi- Turn the power supply OFF and
turn Limit Setting Error then ON again. If the alarm still
9-16
9.1 Alarm Displays
(cont’d)
Alarm Number:
(Alarm Description)
Contact fault of connector or
Check the connector contact status Re-insert the connector and confirm
incorrect wiring for encoder
for encoder cable. that the encoder is correctly wired.
cable.
Cable disconnection for encoder
Use the cable with the specified rat-
cable or short-circuit. Check the encoder cable.
ing.
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 Communica-
vibration.
tions Error
Correct the wiring around the
encoder by separating the encoder
Malfunction caused by noise
− cable from the servomotor main cir-
interference.
cuit 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 encoder cable and con- Confirm that there is no problem
encoder cable is bent and the nector. with the cable layout.
sheath is damaged.
A.C91:
The encoder cable is bundled
Encoder Communica- with a high-current line or near a Check the cable layout for encoder Confirm that there is no surge volt-
tions Position Data Er- high-current line. cable. age on the cable.
ror
The FG potential varies because
of influence from machines on Check the cable layout for encoder Properly ground the machines to
the servomotor side, such as the cable. separate from the encoder FG.
welder.
Noise interference occurred on
Take countermeasures against noise
the I/O signal line from the −
for the encoder wiring.
encoder.
Excessive vibration and shocks Reduce the machine vibration or
were applied to the encoder. correctly install the servomotor.
A.C92: Turn the power supply OFF and
Encoder Communica- then ON again. If the alarm still
tions Timer Error An encoder fault occurred. −
faulty. Replace the servomotor.
Troubleshooting

A.CA0: faulty. Replace the servomotor.
Encoder Parameter
Error Turn the power supply OFF and
9-17
9 Troubleshooting
(cont’d)
Alarm Number:
(Alarm Description)
The wiring and contact for
Check the wiring. Correct the wiring.
encoder cable are incorrect.
Use tinned annealed copper
Noise interference occurred due shielded twisted-pair or screened
to incorrect cable specifications − unshielded twisted-pair cable with a
of encoder cable.
core of at least 0.12 mm2.
Noise interference occurred
The wiring distance must be 50 m
because the wiring distance for −
max.
the encoder cable is too long.
The FG potential varies because
A.Cb0: of influence from machines on Check the cable layout for encoder Properly ground the machines to
Encoder Echoback Er- the servomotor side, such as the cable. separate from encoder FG.
ror welder.
Excessive vibration and shocks Reduce the machine vibration or
were applied to the encoder. correctly install the servomotor.
faulty. Replace the servomotor.
When using a direct drive (DD)
servomotor, the multiturn limit Correct the setting of Pn205 (0 to
Check the value of the Pn205.
value (Pn205) is different from 65535).
that of the encoder.
The multiturn limit value of the
A.CC0: encoder is different from that of
Check the value of the Pn205 of the Execute Fn013 at the occurrence of
Multiturn Limit Dis- the SERVOPACK. Or, the multi-
SERVOPACK. alarm.
agreement turn limit value of the SERVO-
PACK has been changed.
Wiring of cable between serial
converter unit and SERVOPACK Check the external encoder wiring. Correct the cable wiring.
is incorrect or contact is faulty.
The specified cable is not used
A.CF1: Confirm the external encoder wir-
between serial converter unit and Use the specified cable.
Feedback Option ing specifications.
SERVOPACK.
Module Communica-
tions Error Cable between serial converter
(Reception error) unit and SERVOPACK is too Measure the length of this cable. Use 20-m cable max.
long.
Sheath of cable between serial
converter unit and SERVOPACK Check the cable for damage. Replace the cable.
is broken.
Correct the wiring around serial
Noise interferes with the cable
A.CF2: converter unit, e.g., separating I/O
between serial converter unit and −
signal line from main circuit cable
Feedback Option SERVOPACK.
or grounding.
Module Communica-
tions Error A serial converter unit fault
− Replace the serial converter unit.
(Timer stop) occurred.
A SERVOPACK fault occurred. − Replace the SERVOPACK.
9-18
9.1 Alarm Displays
(cont’d)
Alarm Number:
(Alarm Description)
Confirm that there is no contact
The servomotor U, V, and W wir- Check the servomotor main circuit
fault in the motor wiring or encoder
ings is faulty. cable connection.
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 Over-
MECHATROLINK command, or
flow
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 Over- Correct the excessive position error
position error is greater than the (Un008) while the servomotor
flow Alarm at Servo alarm level at servo ON (Pn526).
set value of Pn526 while the ser- power is OFF.
ON
vomotor power is OFF.
When the position errors remain
in the error counter, Pn529 limits
the speed if the servomotor power
A.d02: is ON. If Pn529 limits the speed Correct the excessive position error
Position Error Over- in such a state, this alarm occurs alarm level (Pn520).
−
flow Alarm by Speed when position references are Or, adjust the speed limit level at
Limit at Servo ON input and the number of position servo ON (Pn529).
errors exceeds the value set for
the excessive position error alarm
level (Pn520).
Install the external encoder in the
Motor rotation direction and Check the servomotor rotation opposite direction, or change the
external encoder installation direction and the external encoder setting of the external encoder
A.d10: direction are opposite. installation direction. usage method (Pn002.3) to reverse
Motor-load Position the direction.
Error Overflow
Mounting of the load (e.g., stage)
Check the external encoder
and external encoder joint instal- Check the mechanical joints.
mechanical connection.
lation are incorrect.
MECHATROLINK transmission Remove the cause of transmission
A.E02: −
cycle fluctuated. cycle fluctuation at host controller.
MECHATROLINK
Internal Synchroniza- Turn the power supply OFF and
Troubleshooting
tion A SERVOPACK fault occurred. −

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
A.E41:
MECHATROLINK
The number of transmission bytes Check the MECHATROLINK com- Reset the setting of the DIP switch 9
set by the DIP switch S3 is incor- munications data size of the host S3 to change the number of trans-
Communications Data rect. controller. mission bytes to the proper value.
Size Setting Error
9-19
9 Troubleshooting
(cont’d)
Alarm Number:
(Alarm Description)
Check the setting for the station
Check the rotary switches, S1 and address of the host controller, and
The station address is out of the S2, to see if the station address is reset the setting of the rotary
allowable setting range. within the allowable range from 03 switches, S1 and S2 to change the
A.E42: to EF. address to the proper value between
MECHATROLINK Sta- 03 and EF.
tion Address Setting Check the setting for the station
Error address of the host controller, and
Two or more stations on the com- Check that two or more stations on
reset the setting of the rotary
munications network have the the communications network have
switches, S1 and S2 to change the
same address. the same address.
address to the proper value between
03 and EF.
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 tion error occurred due to noise −
take measures such as adding ferrite
Communications error interference.
core on the MECHATROLINK
(Reception error) communications cable.
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. −
interval error) faulty. Replace the SERVOPACK.
MECHATROLINK wiring is Check the MECHATROLINK wir- Correct the MECHATROLINK wir-
incorrect. ings. ing.
the MECHATROLINK communi-
A.E62: MECHATROLINK data recep-
tion error occurred due to noise −
MECHATROLINK take measures such as adding ferrite
interference.
Communications error core on the MECHATROLINK
(FCS error) communications cable.
9-20
9.1 Alarm Displays
(cont’d)
Alarm Number:
(Alarm Description)
MECHATROLINK wiring is Check the MECHATROLINK wir- Correct the MECHATROLINK wir-
incorrect. ings. ing.
A.E63: the MECHATROLINK communi-
MECHATROLINK tion error occurred due to noise −
take measures such as adding ferrite
Synchronization interference.
core on the MECHATROLINK
Frame Not Received communications cable.
Alarm
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.
The connection between the Check the connection between the

Correctly connect the Feedback
SERVOPACK and the Feedback SERVOPACK and the Feedback
Option Module.
Option Module is Faulty. Option Module.
A.E72: Execute resetting configuration
Feedback Option The Feedback Option Module error in option modules (Fn014) and
−
Module Detection was disconnected. turn the power supply OFF and then
Failure ON again.
A Feedback Option Module fault Replace the Feedback Option Mod-
−
occurred. ule.
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 Feed- Refer to the catalog of the con-
back Option Module A unsupported feedback option Connect a compatible feedback
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.
Troubleshooting
DRV Alarm 2 Turn the power supply OFF and

(SERVOPACK WDT then ON again. If the alarm still
error) A SERVOPACK fault occurred. −
9-21
9 Troubleshooting
(cont’d)
Alarm Number:
(Alarm Description)
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
command is executed.
A.Ed1: A timeout error occurred when not running.
Command Execution using an MECHATROLINK For fully-closed loop control, check
Timeout command. Execute the SENS_ON command
the status of the external encoder
only when an external encoder is
after an output is made to execute
connected.
the command.
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
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.
9-22
9.2 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 9.2.1 List of
Warnings.
The causes of warnings and troubleshooting methods are provided in 9.2.2 Troubleshooting of Warnings.
9.2.1 List of Warnings

This section provides list of warnings.
Warning
Warning Name Meaning Reset
Number
Position error exceeded the parameter setting
A.900*1 Position Error Overflow
(Pn520×Pn51E/100).
Required
Position Error Overflow When the servomotor power is ON, the position error exceeded
A.901*1 Alarm at Servo ON the parameter setting (Pn526×Pn528/100).
Required
This warning occurs before the overload alarms (A.710 or

A.910*1 Overload A.720) occur. If the warning is ignored and operation contin- Required
ues, an overload alarm may occur.
Abnormal vibration at the motor speed was detected. The
A.911*1 Vibration detection level is the same as A.520. Set whether to output an Required
alarm or warning by the vibration detection switch (Pn310).
This warning occurs before the regenerative overload alarm
A.920*1 Regenerative Overload (A.320) occurs. If the warning is ignored and operation contin- Required
ues, a regenerative overload alarm may occur.
This warning occurs before dynamic brake overload alarm
A.921*1 Dynamic Brake Overload (A.731) occurs. If the warning is ignored and operation contin- Required
ues, a dynamic brake overload alarm may occur.
Absolute Encoder Battery This warning occurs when the voltage of absolute encoder’s
A.930*1 Error battery is lowered.
Required
Data Setting Warning 1 Automatic

A.94A*2 Incorrect command parameter number was set.
(Parameter Number Error) reset *4
A.94B*2 Command input data is out of range.
(Out of Range) reset *4
A.94C*2 Calculation error was detected.
(Calculation Error) reset*4
A.94D*2 Data size does not match.
(Parameter Size) reset*4
Data Setting Warning 5
A.94E*2 (Latch Mode Error)
Latch mode error is detected. Required
Command Warning 1 Command was sent although the conditions for sending a com- Automatic
A.95A*2 (Unsatisfying Command) mand were not satisfied. reset *4
Command Warning 2 Automatic
A.95B*2 (Non-supported Unsupported command was sent.
Command) reset *4
Troubleshooting

A.95D*2 Command, especially latch command, interferes.
(Command Interference) reset *4
A.95E*2 Subcommand and main command interfere.
(Subcommand Disable) reset *4
A.95F*2 Undefined command was sent.
(Undefined Command) reset *4
9
MECHATROLINK Communications error occurred during MECHATROLINK
A.960*2 Communications Warning communications. Required
9-23
9 Troubleshooting
9.2.1 List of Warnings
(cont’d)
Warning
Warning Name Meaning Reset
Number
MECHATROLINK Commu- Communications error occurred during MECHATROLINK
A.962*2 nications Warning communications. Required
(FCS Error)
MECHATROLINK Commu-
*2 nications Warning The synchronization frame was not received during MECHA-
A.963 Required
(Synchronization Frame TROLINK communications.
Not Received)
This warning occurs before undervoltage alarm (A.410) occurs.
A.971*3 Undervoltage If the warning is ignored and operation continues, an undervolt- Required
age alarm may occur.
Command Warning 7 A command that cannot be executed in the current phase was Automatic
A.97A*2 (Phase Error) sent. reset *4
Data Clamp The set command data was clamped to a minimum or maxi- Automatic
A.97B*2 (Out of Range) mum value out of the allowable setting range. reset *4
A.9A0*1 Overtravel Overtravel is detected while the servomotor power is ON. Required
∗1. Use Pn008.2 to activate or not the warning detection.

∗4. If using the commands for the MECHATROLINK-III standard servo profile, the warning will automatically be
cleared after the correct command is received.
If using the commands for the MECHATROLINK-II-compatible profile, send a Clear Warning or Alarm command
(ALM_CLR) to clear the warning.
9-24
9.2.2 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)
The servomotor U, V, Check the servomotor main circuit Confirm that there is no contact fault
and W wirings is faulty. cable connection. in the motor wiring or encoder wiring.
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
tact fault of servomotor Check the wiring.
encoder are correctly wired.
and encoder.
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. torque waveforms during operation. as one-parameter tuning.
A.911: The moment of inertia 9
Vibration ratio (Pn103) value is
Set the moment of inertia ratio
greater than the actual Check the moment of inertia ratio.
(Pn103) to an appropriate value.
value or is greatly
changed.
9-25
9 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 rotates Take measures to ensure the servomo-
because of external Check the operation status. tor will not rotate because of external
force. force.
A.921: Reconsider the following:
Dynamic Brake
The rotating 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 moment of inertia 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.930: The battery connection

Check the battery connection. Reconnect the battery.
Absolute Encod- is incorrect.
er Battery Error
The battery voltage is
(The absolute lower than the specified Measure the battery voltage. Replace the battery.
encoder battery value 2.7 V.
voltage is lower
than the specified
value.)
∗ Only when an −
absolute encoder
is connected.
A.94A Refer to 9.3 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 9.3 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 9.3 Monitoring Communica-
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 Er- command was the cause of the
ror) warning.
A.94D Refer to 9.3 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.
9-26
(cont’d)
Warning Num-
ber: Warning
Name (Warning
Description)
Change the setting value of Pn850 or
A.94E Refer to 9.3 Monitoring Communica- the LT_MOD data for the
Latch mode error is LTMOD_ON command sent by the
detected. host controller to the proper value.
(Latch mode command was the cause of the
(When using the MECHATROLINK-
error) warning.
II-compatible profile.)
A.95A Refer to 9.3 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.
A.95B Refer to 9.3 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 9.3 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 9.3 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 9.3 Monitoring Communica-
Command Warn- tion Data on Occurrence of an Alarm
Undefined command
ing 6 or Warning to determine which Do not use an undefined command.
was sent.
(Undefined Com- command was the cause of the
mand) warning.

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
9-27
9 Troubleshooting
(cont’d)
Warning Num-
ber: Warning
Name (Warning
Description)

MECHATROLINK ing.
Confirm the wiring.
station.
A.962 Take measures against noise. Check

MECHATROLINK the MECHATROLINK communica-
MECHATROLINK
data reception error tions cable and FG wiring and take
Communications Confirm the installation conditions.
occurred due to noise measures such as adding ferrite core
Warning interference. on the MECHATROLINK communi-
(FCS Error) cations cable.

–

MECHATROLINK ing.
Confirm the wiring.
station.
A.963
MECHATROLINK
MECHATROLINK the MECHATROLINK communica-
Communica- data reception error tions cable and FG wiring and take
tions Warning Confirm the installation conditions.
occurred due to noise measures such as adding ferrite core
(Synchronization interference. on the MECHATROLINK communi-
Frame Not cations cable.
Received)

–
• 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: Under-
less.
voltage
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.

−
9-28
(cont’d)
Warning Num-
ber: Warning
Name (Warning
Description)
A.97A
A command that cannot
Command Warn- Send a command after command
be executed in the cur- –
ing 7 sending condition is satisfied.
rent phase was sent.
(Phase Error)
The set command data
A.97B was clamped to a mini-
Set the value of the command data
Data Clamp mum or maximum –
within the allowable range.
(Out Of Range) value out of the allow-
able setting range.
Refer to 9.4 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: Overtrav- momentary overtravel may have been
When the servomotor Check the input signal monitor detected. Take the following precau-
el
power is ON, over- (Un005) to check the status of the tions.
(Overtravel status travel status is detected. overtravel signals.
is detected.) • Do not specify movements that
would cause overtravel from the
host controller.
• Check the wiring of the overtravel
signals.
• Take countermeasures for noise.
Troubleshooting
9-29
9 Troubleshooting
9.3 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 Pn8A6

Response Data Monitor at Alarm/Warning Occurrence: Pn8A8 to Pn8BE
Command Data Storage at

Command Alarm/Warning Occurrence
Byte Order
CMD RSP Example: Pn8A8 = 87 65 43 21
0 Pn890.1 to 0 Pn8A8.1 to 0
1 Pn890.3 to 2 Pn8A8.3 to 2
2 Pn890.5 to 4 Pn8A8.5 to 4
3 Pn890.7 to 6 Pn8A8.7 to 6
4 to 7 Pn892 Pn8AA
8 to 11 Pn894 Pn8AC
12 to 15 Pn896 Pn8AE
16 to 19 Pn898 Pn8B0
20 to 23 Pn89A Pn8B2
24 to 27 Pn89C Pn8B4
28 to 31 Pn89E Pn8B6
32 to 35 Pn8A0 Pn8B8
36 to 39 Pn8A2 Pn8BA
40 to 43 Pn8A4 Pn8BC
44 to 47 Pn8A6 Pn8BE
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-III Standard Servo Pro-
file Commands (No.: SIEP S800000 63)
9-30
9.4 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor
9.4 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 encoder cable is discon- Check the wiring. Correct the wiring.
nected.
Run under no load and check the Reduce load or replace with larger
Overloaded
load status. capacity servomotor.
Encoder type differs from parame- Check the settings for parameter Set parameter Pn002.2 to the
ter setting (Pn002.2). Pn002.2. encoder type being used.
Settings for the input signal selec-
Servomotor Does Check the settings for parameters Correct the settings for parameter
tions (Pn50A, Pn50B and Pn511) is
Not Start 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.
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’s jumper
connector (provided as an acces-
sory) on the CN8.
Servomotor Servomotor wiring is incorrect. Check the wiring. Correct the wiring.
Moves Instanta-
neously, and then Encoder wiring is incorrect. Check the wiring. Correct the wiring.
Stops
Check connections of power line
Servomotor Wiring connection to servomotor is Tighten any loose terminals or con-
(phases U, V, and W) and encoder
Speed Unstable defective. nectors and correct the wiring.
connectors.
Servomotor Ro-
tates Without Ref- A SERVOPACK fault occurred. − Replace the SERVOPACK.
erence Input
Troubleshooting
Check the setting for parameter Correct the setting for parameter
Improper Pn001.0 setting
Pn001.0. Pn001.0.
Check if excessive moment of iner-
Replace the SERVOPACK, and
Dynamic Brake DB resistor disconnected tia, motor overspeed, or DB fre-
reduce the load.
Does Not Operate quently activated occurred.
There is a defective component in
DB drive circuit fault − the DB circuit. Replace the SER-
VOPACK. 9
9-31
9 Troubleshooting
(cont’d)
Reduce the load so that the moment
of inertia ratio becomes within the
The servomotor largely vibrated
allowable value, or increase the
during execution of tuning-less Check the motor speed waveform.
load level or lower the tuning level
function.
for the tuning-less levels setting
(Fn200).
Check if there are any loose mount-
Tighten the mounting screws.
ing screws.
Check if there is misalignment of
Mounting is not secured. Align the couplings.
couplings.
Check if there are unbalanced cou-
Balance the couplings.
plings.
Check for noise and vibration
Bearings are defective. Replace the servomotor.
around the bearings.
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.
The I/O signal cable must be tinned
annealed copper shielded twisted-
Noise interference due to incorrect pair or screened unshielded twisted- Use the specified I/O signal cable.
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
Abnormal Noise I/O signal cable. cable. no more than 3 m.
from Servomotor The encoder cable must be tinned
Noise interference due to incorrect annealed copper shielded twisted-
cable specifications of encoder pair or screened unshielded twisted- Use the specified encoder cable.
cable. pair cable with a core of 0.12 mm2
min.
The encoder cable must be no more
Noise interference due to length of Check the length of the encoder than 50 m.
encoder cable. cable.
Noise interference due to damaged Check if the encoder cable is bent Replace the encoder cable and cor-
encoder cable. and the sheath is damaged. rect the cable layout.
Check if the encoder cable is bun-
Excessive noise to the encoder Correct the cable layout so that no
dled with a high-current line or near
cable. surge is applied.
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 encoder 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
due to noise interference encoder wiring.
encoder.
Check if vibration from the machine
Reduce vibration from the machine,
Excessive vibration and shock to occurred or servomotor installation
or secure the servomotor installa-
the encoder is incorrect (mounting surface accu-
tion.
racy, fixing, alignment, etc.).
An encoder fault occurred. − Replace the servomotor.
9-32
(cont’d)
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 Vi- Check the position loop gain
Position loop gain value (Pn102) Reduce the position loop gain
brates at Fre- (Pn102).
too high. (Pn102).
quency of Approx. Factory setting: Kp = 40.0/s
200 to 400 Hz.
Check the speed loop integral time
Incorrect speed loop integral time Correct the speed loop integral time
constant (Pn101).
constant (Pn101) constant (Pn101).
Factory setting: Ti = 20.0 ms
Incorrect moment of inertia ratio Check the moment of inertia ratio Correct the moment of inertia ratio
(Pn103) (Pn103). (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).
High Motor Speed Check the position loop gain
Position loop gain value (Pn102) Reduce the position loop gain
Overshoot on (Pn102).
too high (Pn102).
Starting and Stop- Factory setting: Kp = 40.0/s
ping
Check the speed loop integral time
Incorrect speed loop integral time Correct the speed loop integral time
constant (Pn101).
constant (Pn101) constant (Pn101).
Factory setting: Ti = 20.0 ms
Incorrect moment of inertia ratio Check the moment of inertia ratio Correct the moment of inertia ratio
data (Pn103) (Pn103). (Pn103).
The encoder cable must be tinned
Noise interference due to incorrect annealed copper shielded twisted-
cable specifications of encoder pair or screened unshielded twisted- Use the specified encoder cable.
cable. pair cable with a core of 0.12 mm2
min.
Noise interference due to damaged Check if the encoder cable is bent Replace the encoder cable and cor-
encoder cable. and the sheath is damaged. rect the cable layout.
Excessive noise to the encoder Correct the cable layout so that no
dled with a high-current line or near
Absolute Encod- cable. surge is applied.
er Position Differ-
FG potential varies because of Ground machines correctly, and
ence Error (The Check if the machines are correctly
influence of machines such as weld- prevent diversion to the FG on the
position saved in grounded.
ers at the servomotor. encoder side.
the host controller
when the power Check if there is noise interference
SERVOPACK pulse counting error Take measures against noise in the
was turned OFF is on the I/O signal line from the
due to noise interference encoder wiring.
different from the encoder.
position when the Check if vibration from the machine
power was next Reduce vibration from the machine,
Excessive vibration and shock to occurred or servomotor installation
turned ON.) or secure the servomotor installa-
the encoder is incorrect (mounting surface accu-
tion.
Troubleshooting

An encoder fault occurred. − Replace the servomotor.
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- Execute a multiturn data parity
Host controller multiturn data read-
cuting data parity checks. check. 9
ing error
Check noise in the cable between Take measures against noise, and
the SERVOPACK and the host con- again execute a multiturn data par-
troller. ity check.
9-33
9 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
other than "coast to stop."
torque control.
Improper limit switch position and Install the limit switch at the
−
Improper Stop Po- dog length appropriate position.
sition by Overtrav- The overtravel limit switch position
el (OT) Signal Install the overtravel limit switch at
is too short for the coasting −
the appropriate position.
distance.
9-34
(cont’d)
The encoder cable must be tinned
Noise interference due to incorrect pair or screened unshielded twisted- Use the specified encoder cable.
encoder cable specifications
min.
Noise influence due to damaged Check if the encoder cable is bent Replace the encoder cable and mod-
encoder cable. and the sheath is damaged. ify the cable layout.
Change the cable layout so that no
Excessive noise to encoder cable. dled with a high-current line or near
surge is applied.
The FG potential varies because of
Check if the machines are correctly Properly ground the machines
influence from machines on the ser-
grounded. encoder FG.
vomotor side such as the welder.
SERVOPACK pulse count error due Check if the I/O signal line from the Take measures against noise in the
Position Error to noise encoder is influenced by noise. encoder wiring.
(Without Alarm)
Check if vibration from the machine
Excessive vibration and shock to occurred or servomotor installation Reduce the machine vibration or
the encoder is incorrect (mounting surface accu- mount the servomotor securely.
Check if a position error occurs at
Unsecured coupling between Secure the coupling between the
the coupling between machine and
machine and servomotor machine and servomotor.
servomotor.
The I/O signal cable must be tinned
Noise interference due to improper pair or screened unshielded twisted- Use input signal cable with the
I/O signal cable specifications specified specifications.
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.
An encoder fault occurred. (The
− Replace the servomotor.
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 Servomotor surface dirty Visually check the surface. Clean dust and oil from the surface.
Overheated
If overloaded, reduce load or
Servomotor overloaded Check the load status with monitor. replace with larger capacity SER-
VOPACK and servomotor.
Troubleshooting
9-35

Rotational Motor MECHATROLINK III Communications Reference Troubleshooting 3.1 PDF

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9

9.1 Alarm Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-2

9.2 Warning Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-23

9.3 Monitoring Communication Data on Occurrence of an Alarm

9.1 Alarm Displays

9.1.1 List of Alarms

Servomotor Stopping Method

External Encoder Error of

DRV Alarm 2 (SERVOPACK

9.1.2 Troubleshooting of Alarms

The SERVOPACK and servomo- Select the proper combination of

A.051: An unsupported serial converter

Check the operating conditions and

Remove foreign matter or debris

A.830: The battery connection is incor-

then ON again. If the alarm still

A.d00: Reduce the reference acceleration

tion A SERVOPACK fault occurred. −

A SERVOPACK fault occurred. – Replace the SERVOPACK.

The connection between the Check the connection between the

DRV Alarm 2 Turn the power supply OFF and

9.2 Warning Displays

9.2.1 List of Warnings

This warning occurs before the overload alarms (A.710 or

Data Setting Warning 1 Automatic

Command Warning 4 Automatic

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

9.2.2 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.930: The battery connection

A.94B Refer to 9.3 Monitoring Communica-

A.94D Refer to 9.3 Monitoring Communica-

Correct the MECHATROLINK wir-

Take measures against noise. Check

A SERVOPACK fault A fault occurred in the SERVOPACK.

Correct the MECHATROLINK wir-

A.962 Take measures against noise. Check

A SERVOPACK fault A fault occurred in the SERVOPACK.

Correct the MECHATROLINK wir-

A SERVOPACK fault A fault occurred in the SERVOPACK.

• For 100 VAC SER-

The SERVOPACK fuse Replace the SERVOPACK and con-

A SERVOPACK fault The SERVOPACK may be faulty.

9.3 Monitoring Communication Data on Occurrence of an Alarm or

Command Data Monitor at Alarm/Warning Occurrence: Pn890 to Pn8A6

Command Data Storage at

9.4 Troubleshooting Malfunction Based on Operation and

Problem Probable Cause Investigative Actions Corrective Actions

racy, fixing, alignment, etc.).

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