10

Troubleshooting

10.1 Alarm Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-2

10.1.1 List of Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-2
10.1.2 Troubleshooting of Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-6

10.2 Warning Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-20

10.2.1 List of Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-20
10.2.2 Troubleshooting of Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-21

10.3 Troubleshooting Malfunction Based on Operation

and Conditions of the Servomotor . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-24

Troubleshooting

10

10-1
 10 Troubleshooting
10.1.1 List of Alarms

10.1 Alarm Displays

The following sections describe troubleshooting in response to alarm displays.

The alarm name, alarm meaning, alarm stopping method, alarm reset capability, and alarm code output are
listed in order of the alarm numbers in 10.1.1 List of Alarms.

The causes of alarms and troubleshooting methods are provided in 10.1.2 Troubleshooting of Alarms.

10.1.1 List 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 Code Output

Alarm motor Alarm
Alarm Name Meaning
Number Stopping Reset ALO1 ALO2 ALO3
Method
Parameter Checksum The data of the parameter in the SERVO-
A.020 Gr.1 N/A
Error 1 PACK is incorrect.
The data of the parameter in the SERVO-
A.021 Parameter Format Error 1 Gr.1 N/A
PACK is incorrect.
The data of the parameter in the SERVO-
A.022 System Checksum Error 1 Gr.1 N/A
PACK is incorrect.
A.030 Main Circuit Detector Error Detection data for main circuit is incorrect. Gr.1 Available
The parameter setting is outside the setting
A.040 Parameter Setting Error 1 Gr.1 N/A
range.
The encoder output pulse (Pn212) is outside
Encoder Output Pulse
A.041 the setting range or does not satisfy the set- Gr.1 N/A
Setting Error
ting conditions. H H H
Parameter Combination Combination of some parameters exceeds
A.042 Gr.1 N/A
Error the setting range.
Semi-closed/Fully-closed
The settings of the option module and
A.044 Loop Control Parameter Gr.1 N/A
Pn00B.3, Pn002.3 do not match.
Setting Error
The SERVOPACK and the servomotor
A.050 Combination Error Gr.1 Available
capacities do not match each other.
A.051 Unsupported Device Alarm The device unsupported was connected. Gr.1 N/A
The servo ON signal (/S-ON) was sent from
Cancelled Servo ON
A.0b0 an external device after executing an utility Gr.1 Available
Command Alarm
function that turns ON the servomotor.
An overcurrent flowed through the IGBT or
Overcurrent or Heat Sink
A.100 the heat sink of the SERVOPACK was over- Gr.1 N/A L H H
Overheated
heated.

10-2
 10.1 Alarm Displays

(cont’d)
Servo- Alarm Code Output
Alarm motor Alarm
Alarm Name Meaning
Number Stopping Reset ALO1 ALO2 ALO3
Method
Regenerative circuit or regenerative resistor
A.300 Regeneration Error Gr.1 Available
is faulty.
Regenerative energy exceeds regenerative
A.320 Regenerative Overload Gr.2 Available L L H
resistor 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.
Main circuit DC voltage is excessively
A.400 Overvoltage Gr.1 Available
high.
A.410 Undervoltage Main circuit DC voltage is excessively low. Gr.2 Available H H L
Main-Circuit The capacitor of the main circuit has deteri-
A.450 Gr.1 N/A
Capacitor Overvoltage orated or is faulty.
The servomotor speed is above the maxi-
A.510 Overspeed Gr.1 Available
mum rotational speed.
The pulse output speed upper limit of the
Overspeed of Encoder
A.511 set encoder output pulse (Pn212) is Gr.1 Available
Output Pulse Rate
exceeded. L H L
Incorrect vibration at the motor speed was
A.520 Vibration Alarm Gr.1 Available
detected.
Vibration was detected while performing
A.521 Autotuning Alarm Gr.1 Available
tuning-less function.
The motor was operating for several sec-
A.710 Overload: High Load onds to several tens of seconds under a Gr.2 Available
torque largely exceeding ratings.
The motor was operating continuously
A.720 Overload: Low Load Gr.1 Available
under a torque exceeding ratings.
When the dynamic brake was applied, rota-
A.730
Dynamic Brake Overload tional energy exceeded the capacity of Gr.1 Available
A.731 L L L
dynamic brake resistor.
Overload of Surge The main circuit power was frequently
A.740 Gr.1 Available
Current Limit Resistor turned ON and OFF.
The heat sink of the SERVOPACK
A.7A0 Heat Sink Overheated Gr.2 Available
exceeded 100°C.
Built-in Fan in
A.7AB The fan inside the SERVOPACK stopped. Gr.1 Available
SERVOPACK Stopped
The power supplies to the encoder all failed
A.810 Encoder Backup Error Gr.1 N/A
and position data was lost.
The checksum results of encoder memory is
A.820 Encoder Checksum Error Gr.1 N/A
incorrect.
The battery voltage was lower than the
Absolute Encoder Battery
A.830 specified value after the control power sup- Gr.1 Available
Error
ply was turned ON.
A.840 Encoder Data Error Data in the encoder is incorrect. Gr.1 N/A
Troubleshooting

The encoder was rotating at high speed H H H

A.850 Encoder Overspeed Gr.1 N/A
when the power was turned ON.
The internal temperature of encoder is too
A.860 Encoder Overheated Gr.1 N/A
high.
A.8A0* External Encoder Error External encoder is faulty. Gr.1 Available
External Encoder Error of
A.8A1* Serial converter unit is faulty. Gr.1 Available
Module 10
External Encoder Error of
A.8A2* External encoder is faulty. Gr.1 Available
Sensor
∗ The alarm that may occur in a SERVOPACK with option module for fully-closed loop control.

10-3
 10 Troubleshooting
10.1.1 List of Alarms

(cont’d)
Servo- Alarm Code Output
Alarm motor Alarm
Alarm Name Meaning
Number Stopping Reset ALO1 ALO2 ALO3
Method
External Encoder Error of The position data of external encoder is
A.8A3* Gr.1 Available
Position faulty.
External Encoder The overspeed from the external encoder
A.8A5* Gr.1 Available
Overspeed occurred.
External Encoder The overheat from the external encoder
A.8A6* Gr.1 Available
Overheated occurred.
Speed Reference A/D The A/D converter for speed reference input
A.b10 Gr.2 Available
Error is faulty.
Speed Reference A/D A/D conversion data of speed reference
A.b11 Gr.2 Available
Data Error input is incorrect.
Reference Torque Input The A/D converter for torque reference
A.b20 Gr.2 Available
Read Error input is faulty.
The current detection circuit for phase U is
A.b31 Current Detection Error 1 Gr.1 N/A
faulty.
H H H
The current detection circuit for phase V is
A.b32 Current Detection Error 2 Gr.1 N/A
faulty.
The detection circuit for the current is
A.b33 Current Detection Error 3 Gr.1 N/A
faulty.
"Internal program error 0" of the SERVO-
A.bF0 System Alarm 0 Gr.1 N/A
PACK occurred.
"Internal program error 1" of the SERVO-
A.bF1 System Alarm 1 Gr.1 N/A
PACK occurred.
"Internal program error 2" of the SERVO-
A.bF2 System Alarm 2 Gr.1 N/A
PACK occurred.
"Internal program error 3" of the SERVO-
A.bF3 System Alarm 3 Gr.1 N/A
PACK occurred.
"Internal program error 4" of the SERVO-
A.bF4 System Alarm 4 Gr.1 N/A
PACK 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
A.C80 Error and Multiturn Limit Gr.1 N/A
not properly cleared or set.
Setting Error
Encoder Communications Communications between the SERVO-
A.C90 Gr.1 N/A
Error PACK and the encoder is not possible.
Encoder Communications An encoder position data calculation error
A.C91 Gr.1 N/A
Position Data Error occurred.
An error occurs in the communications
Encoder Communications
A.C92 timer between the encoder and the SERVO- Gr.1 N/A
Timer Error
PACK.
L H L
A.CA0 Encoder Parameter Error Encoder parameters are faulty. Gr.1 N/A
Contents of communications with encoder
A.Cb0 Encoder Echoback Error Gr.1 N/A
are incorrect.
Multiturn Limit Different multiturn limits have been set in
A.CC0 Gr.1 N/A
Disagreement the encoder and the SERVOPACK.
Feedback Option Module
Reception from the Feedback Option Mod-
A.CF1 Communications Error Gr.1 N/A
ule is faulty.
(Reception error) *
Feedback Option Module
Timer for communications with the Feed-
A.CF2 Communications Error Gr.1 N/A
back Option Module is faulty.
(Timer stop) *
∗ The alarm that may occur in a SERVOPACK with Fully-closed Module.

10-4
 10.1 Alarm Displays

(cont’d)
Servo- Alarm Code Output
Alarm motor Alarm
Alarm Name Meaning
Number Stopping Reset ALO1 ALO2 ALO3
Method
Position error exceeded the value of exces-
A.d00 Position Error Overflow sive position error alarm level (Pn520) Gr.1 Available
when the servo ON signal (/S-ON) is ON.
Position Error Overflow
A.d01 Position error accumulated too much. Gr.1 Available
Alarm at Servo ON
After a position error has been input, Pn529
limits the speed if the /S-ON signal is
turned ON. If Pn529 limits the speed in L L H
Position Error Overflow
such a state, this alarm occurs when refer-
A.d02 Alarm by Speed Limit at Gr.2 Available
ence pulses are input and the number of
Servo ON
position errors exceeds the value set for the
excessive position error alarm level
(Pn520).
During fully-closed loop control, the posi-
Motor-load Position Error
A.d10* tion error between motor and load is exces- Gr.2 Available
Overflow
sive.
Feedback Option Module Detection of the Feedback Option Module
A.E72∗ Detection Failure failed.
Gr.1 N/A
H L L
Safety Function Signal The safety function signal input timing is
A.Eb1 Gr.1 N/A
Input Timing Error faulty.
With the main power supply ON, voltage
Main Circuit Cable Open
A.F10 was low for more than 1 second in phase R, Gr.2 Available H L H
Phase
S, or T.
Digital Operator
CPF00 Digital operator (JUSP-OP05A) fails to − N/A
Transmission Error 1
communicate with the SERVOPACK (e.g., Undefined
Digital Operator CPU error).
CPF01 − N/A
Transmission Error 2
A.− − Not an error Normal operation status − − H H H
∗ The alarm that may occur in a SERVOPACK with Fully-closed Module.

Troubleshooting

10

10-5
 10 Troubleshooting
10.1.2 Troubleshooting of Alarms

10.1.2 Troubleshooting of Alarms

If an error occurs in servo drives, an alarm display such as A. and CPF will appear on the panel
operator.

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
(Alarm Description)
The power supply voltage sud-
denly dropped.
The power supply went OFF
while changing a parameter set-
ting.
The number of times that parame- Check to see if the parameters were Repair or replace the SERVO-
ters were written exceeded the
A.020: limit.
Parameter Checksum
Error 1
(The parameter data in Malfunction caused by noise
the SERVOPACK is from the AC power supply or
incorrect.) grounding line, static electricity
noise, etc.
Gas, water drops, or cutting oil
entered the SERVOPACK and
caused failure of the internal
components.
A SERVOPACK fault occurred.
A.021: The software version of SERVO-
Parameter Format PACK that caused the alarm is
Error 1 older than that of the written
(The parameter data in parameter.
the SERVOPACK is
incorrect.)
A SERVOPACK fault occurred.
The power supply voltage sud-
A.022: denly dropped.
System Checksum The power supply went OFF
Error 1 while setting an utility function.
(The parameter data in
the SERVOPACK is
incorrect.) A SERVOPACK fault occurred.
A.030:
Main Circuit Detector A SERVOPACK fault occurred.
Error
The SERVOPACK and servomo-
tor capacities do not match each
other.
A.040:
Parameter Setting
A SERVOPACK fault occurred.
Error 1
(The parameter setting The parameter setting is out of
was out of the setting the setting range.
range.)
The electronic gear ratio is out of ratio must satisfy:
the setting range.
Investigative Actions Corrective Actions
Set the power supply voltage within
Measure the power supply voltage. the specified range, and set Fn005
to initialize the parameter.
Check the circumstances when the Set Fn005 to initialize the parameter
power supply went OFF. and then set the parameter again.
The SERVOPACK may be faulty.
frequently changed through the host PACK.
controller. Reconsider the method of writing
parameters.
Turn the power supply ON and OFF
several times. If the alarm still Take countermeasures against
occurs, there may be noise interfer- noise.
ence.
The SERVOPACK may be faulty.
Check the installation conditions.
Replace the SERVOPACK.
Turn the power supply ON and OFF
several times. If the alarm still The SERVOPACK may be faulty.
occurs, the SERVOPACK may be Replace the SERVOPACK.
faulty.
Write the parameter of another
Check Fn012 to see if the set soft-
SERVOPACK of the same model
ware version agrees with that of the
with the same software version.
SERVOPACK. If not, an alarm may
Then turn the power OFF and then
occur.
ON again.
The SERVOPACK may be faulty.
−
Replace the SERVOPACK.
The SERVOPACK may be faulty.
Measure the power supply voltage.
Replace the SERVOPACK.
Check the circumstances when the The SERVOPACK may be faulty.
power supply went OFF. Replace the SERVOPACK.
Turn the power supply ON and OFF
several times. If the alarm still The SERVOPACK may be faulty.
occurs, the SERVOPACK may be Replace the SERVOPACK.
faulty.
The SERVOPACK may be faulty.
−
Replace the SERVOPACK.
Select the proper combination of
Check the combination of SERVO-
SERVOPACK and servomotor
PACK and servomotor capacities.
capacities.
The SERVOPACK may be faulty.
−
Replace the SERVOPACK.
Check the setting ranges of the Set the parameter to a value within
parameters that have been changed. the setting range.
Check the electronic gear ratio. The Set the electronic gear ratio in the
range: 0.001< (Pn20E/Pn210)
0.001< (Pn20E/Pn210) < 4000. < 4000.

10-6
 10.1 Alarm Displays

(cont’d)
Alarm Number:
Alarm Name Cause Investigative Actions Corrective Actions
(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 that the detection condi- Decrease the setting of the elec-
changed the electronic gear ratio tions*1 are satisfied. tronic gear ratio (Pn20E/Pn210).
(Pn20E/Pn210) or the servomo-
tor.
The speed of program JOG oper-
A.042: ation (Fn004) is lower than the
Parameter setting range after having Check that the detection condi- Increase the setting of the program
Combination Error changed the setting of the pro- tions*1 are satisfied. JOG movement speed (Pn533).
gram JOG movement speed
(Pn533).
The moving speed of advanced
autotuning is lower than the set- Check that the detection condi- Decrease the setting of the elec-
ting range after having changed
the electronic gear ratio (Pn20E/ tions*1 are satisfied. tronic gear ratio (Pn20E/Pn210).
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 of Pn002.3. of Pn002.3.
Error
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 SERVOPACK and servomotor
1/4 ≤ (Servomotor capacity)/(SER-
other. capacities.
Combination Error VOPACK capacity) ≤ 4.
(The SERVOPACK and Replace the servomotor and see if
servomotor capacities do An encoder fault occurred. the alarm occurs again.
Replace the servomotor (encoder).
not correspond.)
The SERVOPACK may be faulty.
A SERVOPACK fault occurred. −
Replace the SERVOPACK.

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 signal (/S- − ply OFF and then ON again or exe-
Command Alarm ON) was sent from an external cute a software reset.
device.
(encoder resolution) Pn20E
∗1. Pn533 [min-1] × 2 5
≤
6 × 10 Pn210
Troubleshooting

10

10-7
 10 Troubleshooting
10.1.2 Troubleshooting of Alarms
Alarm Number:
Alarm Name Cause
(Alarm Description)
Incorrect wiring or contact fault
Check the wiring. Refer to 3.1
of main circuit cable or servomo-
Main Circuit Wiring.
tor main circuit cable.
Short-circuit or ground fault of
main circuit cable or servomotor
main circuit cable.
Short-circuit or ground fault
inside the servomotor.
Short-circuit or ground fault
inside the SERVOPACK.
A.100: Incorrect wiring or contact fault
of the regenerative resistor.
Overcurrent or Heat
Sink Overheated
The dynamic brake (DB: Emer-
(An overcurrent flowed
gency stop executed from the
through the IGBT or
SERVOPACK) was frequently
heat sink of SERVO-
activated, or the DB overload
PACK overheated.)
alarm occurred.
The generated regenerative resis-
Check the regenerative load ratio
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.
The SERVOPACK regenerative
resistance is too small.
A heavy load was applied while
the servomotor was stopped or
running at a low speed.
Malfunction caused by noise
interference.
A SERVOPACK fault occurred.
10-8
(cont’d)
Investigative Actions Corrective Actions
Correct the wiring.
Check for short-circuits across the
servomotor terminal phases U, V,
and W, or between the grounding The cable may be short-circuited.
and servomotor terminal phases U, Replace the cable.
V, or W. Refer to 3.1 Main Circuit
Wiring.
Check for short-circuits across the
servomotor terminal phases U, V,
and W, or between the grounding The servomotor may be faulty.
and servomotor terminal phases U, Replace the servomotor.
V, or W. Refer to 3.1 Main Circuit
Wiring.
Check for short-circuits across the
servomotor connection terminals U,
V, and W on the SERVOPACK, or The SERVOPACK may be faulty.
between the grounding and terminal Replace the SERVOPACK.
U, V, or W. Refer to 3.1 Main Cir-
cuit Wiring.
Check the wiring. Refer to 3.6 Con-
Correct the wiring.
necting Regenerative Resistors.
Check the power consumed by DB
resistance (Un00B) to see how Change the SERVOPACK model,
many times the DB has been used. operating conditions, or the mecha-
Or, check the alarm history display nism so that the DB does not need
Fn000 to see if the DB overload to be used so frequently.
alarm A.730 or A.731 was reported.
Check the operating condition
Change the regenerative resistance
Check the regenerative load ratio
value to a value larger than the
(Un00A) to see how many times the
SERVOPACK minimum allowable
regenerative resistor has been used.
resistance value.
Check to see if the operating condi- Reduce the load applied to the ser-
tions are outside servo drive specifi- vomotor or increase the operating
cations. speed.
Take countermeasures for noise,
Improve the wiring or installation
such as correct wiring of the FG.
environment, such as by reducing
Use an FG wire size equivalent to
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.
 10.1 Alarm Displays

Alarm Number:
Alarm Name Cause
(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.
• An external regenerative resis- the Pn600.
tor is not connected to the
SGDV-470, SGDV-550,
SGDV-590, SGDV-780,
SGDV-210, SGDV-260,
SGDV-280, or SGDV-370
A.300: SERVOPACK.
Regeneration Error
The jumper between the power
supply terminals B2 and B3 is
removed.
The external regenerative resis-
tor is incorrectly wired, or is
removed or disconnected.
A SERVOPACK fault occurred.
The power supply voltage
exceeds the specified limit.
Insufficient external regenerative
resistance, regenerative resistor
capacity, or SERVOPACK capac-
ity.
Or, regenerative power has been
continuously flowing back.
Regenerative power continu-
A.320:
ously flowed back because nega- Check the load applied to the servo-
Regenerative tive load was continuously motor during operation.
Overload 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 external regenerative resis-
tance is too high.
A SERVOPACK fault occurred.
The regenerative resistor discon-
nected when the SERVOPACK
power supply voltage was high.
(cont’d)
Investigative Actions Corrective Actions
Check the external regenerative Connect the external regenerative
resistor connection and the value of resistor, or set Pn600 to 0 if no
regenerative resistor is required.
Confirm that a jumper is mounted
between the power supply terminals Correctly mount a jumper.
B2 and B3.
Check the external regenerative Correctly connect the external
resistor connection. regenerative resistor.
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.
Set the power supply voltage within
Measure the power supply voltage.
the specified range.
Change the regenerative resistance,
Check the operating condition or regenerative resistor capacity, or
the capacity using the capacity SERVOPACK capacity. Reconsider
selection Software SigmaJunma- the operating conditions using the
Size+, etc. capacity selection software Sigma-
JunmaSize+, etc.
Reconsider the system including
servo, machine, and operating con-
ditions.
the Pn600.
Change the regenerative resistance
to a correct value or use an external
Check the regenerative resistance.
regenerative resistor of appropriate
capacity.
The SERVOPACK may be faulty.
−
Replace the SERVOPACK.
When using a regenerative resistor
built in the SERVOPACK:
Measure the resistance of the regen- Replace the SERVOPACK.
erative resistor using a measuring When using an external regenera-
instrument. tive resistor:
Troubleshooting

Replace the external regenerative

A.330: resistor.
Main Circuit Power In the AC power input mode, DC Check the power supply to see if it Correct the settings to match the
Supply Wiring Error power was supplied. is a DC power supply. actual power supply specifications.
(Detected when the
In the DC power input mode, AC Check the power supply to see if it Correct the settings to match the
power to the main circuit power was supplied. is an AC power supply. actual power supply specifications.
is turned ON.)
Regenerative resistor capacity
Check if regenerative resistor is
(Pn600) is not set to 0 even
connected and check the regenera- Set Pn600 to 0. 10
though the regenerative resistor is
tive resistor capacity.
disconnected.
The SERVOPACK may be faulty.
A SERVOPACK fault occurred. −
Replace the SERVOPACK.

10-9
 10 Troubleshooting
10.1.2 Troubleshooting of Alarms

(cont’d)
Alarm Number:
Alarm Name Cause Investigative Actions Corrective Actions
(Alarm Description)
• For 100-VAC SERVOPACKs:
The AC power supply voltage
exceeded 145 V.
• For 200-VAC SERVOPACKs:
The AC power supply voltage
exceeded 290 V.
• For 400-VAC SERVOPACKs:
The AC power supply voltage Set AC/DC power supply voltage
Measure the power supply voltage.
exceeded 580 V. within the specified range.
• For 200-VAC SERVOPACKs:
with DC power supply input:
The DC power supply voltage
exceeded 410 V.
• For 400-VAC SERVOPACKs:
The DC power supply voltage
exceeded 820 V.
Improve the power supply condi-
tions by installing a surge absorber,
The power supply is unstable, or
etc. Then, turn the power supply
was influenced by a lightning Measure the power supply voltage.
OFF and ON again. If the alarm still
surge.
occurs, the SERVOPACK may be
faulty. Replace the SERVOPACK.
A.400: Acceleration/deceleration was
Overvoltage executed under the following
(Detected in the SER- conditions.
VOPACK main circuit • The AC power supply voltage
power supply section.) of 100-VAC SERVOPACK
was in the range between 115
V and 135 V. Check the power supply voltage and
Set AC power supply voltage within
• The AC power supply voltage the speed and torque during opera-
the specified range.
of 200-VAC SERVOPACK tion.
was in the range between 230
V and 270 V.
• The AC power supply voltage
of 400-VAC SERVOPACK
was in the range between 480
V and 560 V.
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 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
A SERVOPACK fault occurred. −
alarm still occurs, the SERVO-
PACK may be faulty. Replace the
SERVOPACK.

10-10
 10.1 Alarm Displays

(cont’d)
Alarm Number:
Alarm Name Cause Investigative Actions Corrective Actions
(Alarm Description)
• For 100-VAC SERVOPACKs:
The AC power supply voltage
is 49 V or less.
• For 200-VAC SERVOPACKs:
Set the power supply voltage within
The AC power supply voltage Measure the power supply voltage.
the specified range.
is 120 V or less.
• For 400-VAC SERVOPACKs:
The AC power supply voltage
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.
The SERVOPACK may be faulty.
A SERVOPACK fault occurred. −
Replace the SERVOPACK.
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 servomotor wiring.
rectly wired.
rect.
A.510: A reference value exceeding the
Reduce the reference value or adjust
Overspeed overspeed detection level was Check the input value.
the gain.
(The servomotor rota- input.
tional speed exceeds the Reduce the speed reference input
maximum.) The motor speed exceeded the Check the servomotor speed wave-
gain, adjust the servo gain, or recon-
maximum. form.
sider the operating conditions.
The SERVOPACK may be faulty.
A SERVOPACK fault occurred. −
Replace the SERVOPACK.
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 servomotor speed.
because the servomotor speed put setting and servomotor speed.
was too high.
Check for abnormal noise from the
Abnormal vibration was detected servomotor, and check the speed Reduce the servomotor speed or
at the servomotor speed. and torque waveforms during oper- reduce 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.
Troubleshooting

Reduce the load so that the moment

A.521: of inertia ratio falls within the
The servomotor vibrated consid-
Autotuning Alarm Check the servomotor speed wave- allowable value, or raise the tuning
erably while performing tuning-
(Vibration was detected form. level using the tuning-less levels
less function (factory setting).
while executing the setting (Fn200) or reduce the load
advanced autotuning, level.
one-parameter tuning, The servomotor vibrated consid-
EasyFFT, or tuning-less erably during advanced autotun- Check the servomotor speed wave-
Check the operation procedure of 10
function.) corresponding function and take a
ing, one-parameter tuning, or form.
corrective action.
EasyFFT.

10-11
 10 Troubleshooting
10.1.2 Troubleshooting of Alarms

Alarm Number:
Alarm Name Cause
(Alarm Description)
Incorrect wiring or contact fault
of servomotor and encoder.
Operation beyond the overload
A.710:
protection characteristics.
A.720:
Overload Excessive load was applied dur-
A.710: High Load ing operation because the servo-
A.720: Low Load
motor was not driven due to
mechanical problems.
A SERVOPACK fault occurred.
The servomotor rotates because
of external force.
A.730:
A.731:
Dynamic Brake
The rotating energy at a DB stop Check the power consumed by DB
Overload
exceeds the DB resistance capac- resistance (Un00B) to see how
(An excessive power ity. many times the DB has been used.
consumption of dynamic
brake was detected.)
A SERVOPACK fault occurred.
The inrush current limit resistor
A.740: operation frequency at the main
Overload of Surge
circuit power supply ON/OFF
Current Limit Resistor
operation exceeds the allowable
(The main circuit power range.
is turned ON/OFF too
frequently.)
A SERVOPACK fault occurred.
The surrounding air temperature
is too high.
The overload alarm has been
reset by turning OFF the power
too many times.
A.7A0:
Heat Sink Overheated Excessive load or operation
(Detected when the heat beyond the regenerative energy
sink temperature processing capacity.
exceeds 100°C.)
Incorrect SERVOPACK installa-
tion orientation or/and insuffi-
cient space around the
SERVOPACK.
A SERVOPACK fault occurred.
Investigative Actions
Check the wiring.
Check the servomotor overload
characteristics and executed run
command.
Check the executed operation refer-
Remove the mechanical problems.
ence and servomotor speed.
−
Check the operation status.
−
−
−
Decrease the surrounding air tem-
Check the surrounding air tempera-
perature by improving the SERVO-
ture using a thermostat.
PACK installation conditions.
Check the alarm history display
(Fn000) to see if the overload alarm
was reported.
Check the accumulated load ratio
(Un009) to see the load during oper-
ation, and the regenerative load
ratio (Un00A) to see the regenera-
tive energy processing capacity.
Check the SERVOPACK installa-
tion conditions.
−
(cont’d)
Corrective Actions
Confirm that the servomotor and
encoder are correctly wired.
Reconsider the load conditions and
operating conditions. Or, increase
the servomotor capacity.
The SERVOPACK may be faulty.
Replace the SERVOPACK.
Take measures to ensure the servo-
motor will not rotate because of
external force.
Reconsider the following:
• Reduce the servomotor reference
speed.
• Reduce the moment of inertia
ratio.
• Reduce the number of times of
the DB stop operation.
The SERVOPACK may be faulty.
Replace the SERVOPACK.
Reduce the frequency of turning the
main circuit power supply ON/OFF.
The SERVOPACK may be faulty.
Replace the SERVOPACK.
Change the method for resetting the
alarm.
Reconsider the load and operating
conditions.
Install the SERVOPACK correctly
as specified.
The SERVOPACK may be faulty.
Replace the SERVOPACK.

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.
PACK may be faulty. Replace the
Stopped
SERVOPACK.

10-12
 10.1 Alarm Displays

Alarm Number:
Alarm Name Cause
(Alarm Description)
Alarm occurred when the power
to the absolute encoder was ini-
tially turned ON.
The encoder cable disconnected,
and connected again.
A.810:
Encoder Backup Error The power from both the control
power supply (+5 V) from the
(Only when an absolute
SERVOPACK and the battery
encoder is connected.)
power supply is not being sup-
(Detected on the encoder
plied.
side.)
An absolute encoder fault
occurred.
A SERVOPACK fault occurred.
A.820:
Encoder Checksum An encoder fault occurred.
Error
(Detected on the encoder
side.)
A SERVOPACK fault occurred.
Investigative Actions
Check to see if the power was
turned ON initially.
Check to see if the power was
turned ON initially.
Check the encoder connector bat-
tery or the connector contact status. encoder, and set up the encoder
− ting up the encoder again, replace
−
−
−
(cont’d)
Corrective Actions
Set up the encoder (Fn008).
Confirm the connection and set up
the encoder (Fn008).
Replace the battery or take similar
measures to supply power to the
(Fn008).
If the alarm cannot be reset by set-
the servomotor.
The SERVOPACK may be faulty.
Replace the SERVOPACK.
Set up the encoder again using
Fn008. If the alarm still occurs, the
servomotor may be faulty. Replace
the servomotor.
The SERVOPACK may be faulty.
Replace the SERVOPACK.

A.830: The battery connection is incor-

Check the battery connection. Reconnect the battery.
rect.
Absolute Encoder
Battery 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. −
Replace the SERVOPACK.
Turn the power supply OFF and
then ON again. If the alarm still
The 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 was running at
Check the motor rotating speed Reduce the servomotor speed to a
200 min-1 or higher when the (Un000) to confirm the servomotor value less than 200 min-1, and turn
control power supply was turned speed when the power is turned ON. ON the control power supply.
A.850: ON.
Encoder Overspeed
(Detected when the con- Turn the power supply OFF and
trol power supply was then ON again. If the alarm still
An encoder fault occurred. −
turned ON.) occurs, the servomotor may be
faulty. Replace the servomotor.
(Detected on the encoder
side.) Turn the power supply OFF and
then ON again. If the alarm still
A SERVOPACK fault occurred. −
occurs, the SERVOPACK may be
faulty. Replace the SERVOPACK.
Troubleshooting

10

10-13
 10 Troubleshooting
10.1.2 Troubleshooting of Alarms

(cont’d)
Alarm Number:
Alarm Name Cause Investigative Actions Corrective Actions
(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 servomotor load is greater Check the accumulated load ratio The servomotor load must be within
A.860: than the rated load. (Un009) to see the load. the 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.
Turn the power supply OFF and
then ON again. If the alarm still
A SERVOPACK fault occurred. −
occurs, the SERVOPACK may be
faulty. Replace the SERVOPACK.
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 *2: external absolute encoder failed while setting the zero point posi-
pulse counter (Un00E) to confirm
External Encoder because the servomotor rotated. tion.
that the servomotor is not rotating.
Error
An external encoder fault
− Replace the external encoder.
occurred.
An external encoder fault
A.8A1*2: − Replace the external encoder.
occurred.
External Encoder
Error of Module A serial converter unit fault
− Replace the serial converter unit.
occurred.
A.8A2*2:
External Encoder An external encoder fault
− Replace the external encoder.
Error of Sensor occurred.
(Incremental)
A.8A3*2: The external absolute encoder may
External Encoder An external absolute encoder be faulty. Refer to the encoder man-
−
Error of Position fault occurred. ufacturer’s instruction manual for
(Absolute) corrective actions.

A.8A5*2: 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*2: The overheat from the external Repair or replace the external
External Encoder −
encoder occurred. encoder.
Overheated
A malfunction occurred in the Clear and reset the alarm and restart
A.b10: −
speed reference input section. the operation.
Speed Reference A/D
Error Turn the power supply OFF and
(Detected when the then ON again. If the alarm still
A SERVOPACK fault occurred. −
servo is ON.) occurs, the SERVOPACK may be
faulty. Replace the SERVOPACK.
A malfunction occurred in the Clear and reset the alarm and restart
−
speed reference input section. the operation.
A.b11:
Speed Reference A/D Turn the power supply OFF and
Data Error then ON again. If the alarm still
A SERVOPACK fault occurred. −
occurs, the SERVOPACK may be
faulty. Replace the SERVOPACK.
A malfunction occurred in the
Clear and reset the alarm and restart
A.b20: reading section of the torque ref- −
the operation.
Reference Torque erence input.
Input Read Error Turn the power supply OFF and
(Detected when the then ON again. If the alarm still
servo is ON.) A SERVOPACK fault occurred. −
occurs, the SERVOPACK may be
faulty. Replace the SERVOPACK.
∗2. The alarm that may occur in a SERVOPACK with Fully-closed Module.

10-14
 10.1 Alarm Displays

(cont’d)
Alarm Number:
Alarm Name Cause Investigative Actions Corrective Actions
(Alarm Description)
Turn the power supply OFF and
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.
Turn the power supply OFF and
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
Error 2 faulty. Replace the SERVOPACK.
Turn the power supply OFF and
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.
Turn the power supply OFF and
A.bF0: then ON again. If the alarm still
A SERVOPACK fault occurred. −
System Alarm 0 occurs, the SERVOPACK may be
faulty. Replace the SERVOPACK.
Turn the power supply OFF and
A.bF1: then ON again. If the alarm still
A SERVOPACK fault occurred. −
System Alarm 1 occurs, the SERVOPACK may be
faulty. Replace the SERVOPACK.
Turn the power supply OFF and
A.bF2: then ON again. If the alarm still
A SERVOPACK fault occurred. −
System Alarm 2 occurs, the SERVOPACK may be
faulty. Replace the SERVOPACK.
Turn the power supply OFF and
A.bF3: A SERVOPACK fault occurred. −
then ON again. If the alarm still
System Alarm 3 occurs, the SERVOPACK may be
faulty. Replace the SERVOPACK.
Turn the power supply OFF and
A.bF4: then ON again. If the alarm still
A SERVOPACK fault occurred. −
System Alarm 4 occurs, the SERVOPACK may be
faulty. Replace the SERVOPACK.
The order of phases U, V, and W
Confirm that the servomotor is cor-
in the servomotor wiring is incor- Check the servomotor wiring.
rectly wired.
rect.
A.C10: If the alarm still occurs after turning
Servo Overrun the power OFF and then ON again,
Detected 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
then ON again. If the alarm still
A SERVOPACK fault occurred. −
occurs, the SERVOPACK may be
faulty. Replace the SERVOPACK.
Turn the power supply OFF and
then ON again. If the alarm still
Troubleshooting

An encoder fault occurred. −

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
A SERVOPACK fault occurred. −
occurs, the SERVOPACK may be
faulty. Replace the SERVOPACK.

10

10-15
 10 Troubleshooting
10.1.2 Troubleshooting of Alarms
Alarm Number:
Alarm Name Cause
(Alarm Description)
Contact fault of encoder connec-
tor or incorrect encoder wiring.
Encoder cable disconnection or
short-circuit.
Or, incorrect cable impedance.
Corrosion caused by improper
temperature, humidity, or gas,
short-circuit caused by intrusion
Check the operating environment.
A.C90: of water drops or cutting oil, or
connector contact fault caused by
Encoder
vibration.
Communications Error
Malfunction caused by noise
interference.
A SERVOPACK fault occurred.
The noise interference occurred
on the I/O signal line because the Check the encoder cable and con-
encoder cable is bent and the
sheath is damaged.
A.C91:
The encoder cable is bundled
Encoder
with a high-current line or near a
Communications
high-current line.
Position Data Error
The FG potential varies because
of influence from machines on
the servomotor side, such as the
welder.
Noise interference occurred on
the I/O signal line from the
encoder.
Excessive vibration and shocks
were applied to the encoder.
A.C92:
Encoder
Communications
An encoder fault occurred.
Timer Error
A SERVOPACK fault occurred.
An encoder fault occurred.
A.CA0:
Encoder Parameter
Error
A SERVOPACK fault occurred.
10-16
(cont’d)
Investigative Actions Corrective Actions
Re-insert the encoder connector and
Check the encoder connector con-
confirm that the encoder is correctly
tact status.
wired.
Use the encoder cable with the
Check the encoder cable.
specified rating.
Improve the operating environmen-
tal conditions, and replace the cable.
If the alarm still occurs, replace the
SERVOPACK.
Correct the wiring around the
encoder to avoid noise interference
− (Separate the encoder cable from
the servomotor main circuit cable,
improve grounding, etc.)
Connect the servomotor to another
SERVOPACK, and turn ON the
− control power. If no alarm occurs,
the SERVOPACK may be faulty.
Replace the SERVOPACK.
Confirm that there is no problem
nector. with the encoder cable layout.
Confirm that there is no surge volt-
Check the encoder cable layout.
age on the encoder cable.
Properly ground the machines to
Check the encoder cable layout.
separate from the encoder FG.
Take countermeasures against noise
−
for the encoder wiring.
Reduce the machine vibration or
Check the operating environment.
correctly install the servomotor.
Turn the power supply OFF and
then ON again. If the alarm still
−
occurs, the servomotor may be
faulty. Replace the servomotor.
Turn the power supply OFF and
then ON again. If the alarm still
−
occurs, the SERVOPACK may be
faulty. Replace the SERVOPACK.
Turn the power supply OFF and
then ON again. If the alarm still
−
occurs, the servomotor may be
faulty. Replace the servomotor.
Turn the power supply OFF and
then ON again. If the alarm still
−
occurs, the SERVOPACK may be
faulty. Replace the SERVOPACK.

Alarm Number:
Alarm Name Cause
(Alarm Description)
The encoder wiring and contact
are incorrect.
Noise interference occurred due
to incorrect encoder cable specifi- −
cations.
Noise interference occurred
because the wiring distance for
the encoder cable is too long.
The FG potential varies because
A.Cb0: of influence from machines on
Encoder Echoback
the servomotor side, such as the
Error welder.
Excessive vibration and shocks
were applied to the encoder.
An encoder fault occurred.
A SERVOPACK fault occurred.
When using a direct drive (DD)
servomotor, the multiturn limit
value (Pn205) is different from
that of the encoder.
The multiturn limit value of the
A.CC0: encoder is different from that of
Multiturn Limit the SERVOPACK. Or, the multi-
Disagreement turn limit value of the SERVO-
PACK has been changed.
A SERVOPACK fault occurred.
Wiring of cable between serial
converter unit and SERVOPACK Check the external encoder wiring.
is incorrect or contact is faulty.
The specified cable is not used
A.CF1*2:
between serial converter unit and
Feedback Option
SERVOPACK.
Module
Communications Error Cable between serial converter
unit and SERVOPACK is too
(Reception error)
long.
Sheath of cable between serial
converter unit and SERVOPACK Check the cable for damage.
is broken.
Noise interferes with the cable
A.CF2∗2: between serial converter unit and −
Feedback Option SERVOPACK.
Module
Communications Error A serial converter unit fault
(Timer stop) occurred.
A SERVOPACK fault occurred.
∗2. The alarm that may occur in a SERVOPACK with Fully-closed Module.
Investigative Actions
Check the encoder wiring.
−
Check the encoder cable layout.
Check the operating environment.
−
−
Check the value of the Pn205.
Check the value of the Pn205 of the Execute Fn013 at the occurrence of
SERVOPACK.
−
Confirm the external encoder wir-
ing specifications.
Measure the length of this cable.
− Replace the serial converter unit.
− Replace the SERVOPACK.
10.1 Alarm Displays
(cont’d)
Corrective Actions
Correct the encoder wiring.
Use tinned annealed copper
shielded twisted-pair or screened
unshielded twisted-pair cable with a
core of at least 0.12 mm2.
The wiring distance must be 50 m
max.
Properly ground the machines to
separate from encoder FG.
Reduce the machine vibration or
correctly install the servomotor.
Turn the power supply OFF and
then ON again. If the alarm still
occurs, the servomotor may be
faulty. Replace the servomotor.
Turn the power supply OFF and
then ON again. If the alarm still
occurs, the SERVOPACK may be
faulty. Replace the SERVOPACK.
Correct the setting of Pn205 (0 to
65535).
alarm.
Turn the power supply OFF and
then ON again. If the alarm still
occurs, the SERVOPACK may be
faulty. Replace the SERVOPACK.
Correct the cable wiring.
Use the specified cable.
Use 20-m cable max.
Replace the cable.
Troubleshooting
Correct the wiring around serial
converter unit, e.g., separating I/O
signal line from main circuit cable
or grounding.
10
10-17
 10 Troubleshooting
10.1.2 Troubleshooting of Alarms
Alarm Number:
Alarm Name Cause
(Alarm Description)
The servomotor U, V, and W wir- Check the servomotor main circuit
ings is faulty. cable connection.
The frequency of the position ref-
erence pulse is too high.
A.d00:
Position Error
Overflow
The position reference accelera-
(Position error exceeded tion is too fast.
the value set in the
excessive position error
alarm level (Pn520).) Setting of the excessive position
error alarm level (Pn520) is low
against the operating condition.
A SERVOPACK fault occurred.
A.d01: This alarm occurs if the servo ON
Position Error signal (/S-ON) is turned ON
Overflow Alarm at when the position error is greater
Servo ON than the set value of Pn526.
When pulses remain in the error
counter, Pn529 limits the speed if
the /S-ON signal is turned ON. If
A.d02:
Pn529 limits the speed in such a
Position Error state, this alarm occurs when ref-
Overflow Alarm by
erence pulses are input and the
Speed Limit at Servo
number of position errors exceeds
ON
the value set for the excessive
position error alarm level
(Pn520).
Motor rotation direction and
external encoder installation
A.d10*2: direction are opposite.
Motor-load Position
Error Overflow
Mounting of the load (e.g., stage)
and external encoder joint instal-
lation are incorrect.
The connection between the
SERVOPACK and the Feedback
Option Module is Faulty.
A.E72*2:
Feedback Option The Feedback Option Module
Module Detection was disconnected.
Failure
A Feedback Option Module fault
−
occurred.
A SERVOPACK fault occurred.
∗2. The alarm that may occur in a SERVOPACK with Fully-closed Module.
10-18
Investigative Actions
Reduce the reference pulse fre-
quency, and operate the SERVO-
PACK.
Reduce the reference acceleration,
and operate the SERVOPACK.
Check the alarm level (Pn520) to
see if it is set to an appropriate
value.
−
Check the position error amount
(Un008) while the /S-ON signal is
OFF.
−
Check the servomotor rotation
direction and the external encoder
installation direction.
Check the external encoder
mechanical connection.
Check the connection between the
SERVOPACK and the Feedback
Option Module.
−
− Replace the SERVOPACK.
(cont’d)
Corrective Actions
Confirm that there is no contact
fault in the motor wiring or encoder
wiring.
Reduce the position reference pulse
frequency or acceleration of posi-
tion reference. Or, reconsider the
electronic gear ratio.
Apply the smoothing function, such
as using position reference accelera-
tion/deceleration time constant
(Pn216).
Set the Pn520 to proper value.
Turn the power supply OFF and
then ON again. If the alarm still
occurs, the SERVOPACK may be
faulty. Replace the SERVOPACK.
Set position error to be cleared
while the /S-ON signal is OFF.
Or, correct the excessive position
error alarm level at servo ON
(Pn526).
Set position error to be cleared
while the /S-ON signal is OFF.
Or, correct the excessive position
error alarm level (Pn520).
Or, adjust the speed limit level at
servo ON (Pn529).
Install the external encoder in the
opposite direction, or change the
setting of the external encoder
usage method (Pn002.3) to reverse
the direction.
Check the mechanical joints.
Correctly connect the Feedback
Option Module.
Execute resetting configuration
error in option modules (Fn014) and
turn the power supply OFF and then
ON again.
Replace the Feedback Option Mod-
ule.
 10.1 Alarm Displays

(cont’d)
Alarm Number:
Alarm Name Cause Investigative Actions Corrective Actions
(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.
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
A SERVOPACK fault occurred. −
occurs, the SERVOPACK may be
faulty. Replace the SERVOPACK.
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
then ON again. If the alarm still
A SERVOPACK fault occurred. −
occurs, the SERVOPACK may be
faulty. Replace the SERVOPACK.

Troubleshooting

10

10-19
 10 Troubleshooting
10.2.1 List of Warnings

10.2 Warning Displays

The following sections describe troubleshooting in response to warning displays.

The warning name, warning meaning, and warning code output are listed in order of the warning numbers in
10.2.1 List of Warnings.

The causes of warnings and troubleshooting methods are provided in 10.2.2 Troubleshooting of Warnings.

10.2.1 List of Warnings

This section provides list of warnings.

Warning Warning Code Output

Warning Name Meaning
Number ALO1 ALO2 ALO3
Position error exceeded the parameter setting
A.900 Position Error Overflow H H H
(Pn520×Pn51E/100).
Position Error Overflow When the servo ON signal (/S-ON) is ON, the position error
A.901 H H H
Alarm at Servo ON exceeded the parameter setting (Pn526×Pn528/100).
This warning occurs before the overload alarms (A.710 or
A.910 Overload A.720) occur. If the warning is ignored and operation contin- L H H
ues, an overload alarm may occur.
Abnormal vibration at the motor speed was detected. The
A.911 Vibration detection level is the same as A.520. Set whether to output an L H H
alarm or warning by the vibration detection switch (Pn310).
This warning occurs before the regenerative overload alarm
A.920 Regenerative Overload (A.320) occurs. If the warning is ignored and operation contin- H L H
ues, a regenerative overload alarm may occur.
This warning occurs before dynamic brake overload alarm
Dynamic Brake
A.921 (A.731) occurs. If the warning is ignored and operation contin- H L H
Overload
ues, a dynamic brake overload alarm may occur.
Absolute Encoder This warning occurs when the voltage of absolute encoder’s
A.930 L L H
Battery Error battery is lowered.
Change of Parameters
A.941 Parameters that require the restart have been changed. H H L
Requires Restart
This warning occurs before undervoltage alarm (A.410) occurs.
A.971 Undervoltage If the warning is ignored and operation continues, an undervolt- L L L
age alarm may occur.
A.9A0 Overtravel Overtravel is detected while the servomotor power is ON. H L L

Note 1. Warning code is not output without setting Pn001.3 =1 (outputs both alarm codes and warning codes).
2. If Pn008.2 = 1 (does not detect warning) is selected, no warnings will be detected except for an undervoltage
warning (A.971).

10-20
 10.2 Warning Displays

10.2.2 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
Number:
Warning Name Cause Investigative Actions Corrective Actions
(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 position reference pulse

The frequency of the
Reduce the reference pulse frequency, frequency or acceleration of position
position reference pulse
and operate the SERVOPACK. reference. Or, reconsider the elec-
is too high.
tronic gear ratio.
A.900: Apply the smoothing function, such as
Position Error The position reference Reduce the reference acceleration, and using the position reference accelera-
Overflow acceleration is too fast. operate the SERVOPACK. tion/deceleration time constant
(Pn216).
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 /S-ON signal

was OFF, the servomo-
Set Pn200.2 to 0 to clear the number
tor moved without
A.901: of position error when the /S-ON sig-
cleaning the counter for
Position Error nal is OFF. Or set an appropriate value
position error. The num- −
Overflow Alarm for the excessive position error warn-
ber of position error
at Servo ON ing level at servo ON (Pn528) when
exceeded the maximum
the /S-ON signal is ON.
number of pulses
allowed.

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 Check the servomotor overload char- Reconsider the load conditions and
overload protection acteristics and executed run com- operating conditions. Or, increase the
A.910: characteristics. mand. servomotor capacity.
Overload
(Warning before Excessive load was
Troubleshooting

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 servomotor speed.
due to mechanical prob-
lems.

A SERVOPACK fault The SERVOPACK may be faulty.

−
occurred. Replace the SERVOPACK.
10

10-21
 10 Troubleshooting
10.2.2 Troubleshooting of Warnings

(cont’d)
Warning
Number:
Warning Name Cause Investigative Actions Corrective Actions
(Warning
Description)
Reduce the servomotor speed or
Abnormal vibration was Check for abnormal noise from the
reduce the servo gain by using the
detected at the servomo- servomotor, and check the speed and
function such as one-parameter tun-
tor speed. torque waveforms during operation.
ing.
A.911:
Vibration The moment of inertia
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.
The power supply volt-
Set the power supply voltage within
age exceeds the speci- Measure the power supply voltage.
the specified range.
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
Check the load to the servomotor dur-
back because negative servo, 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 • Reduce the servomotor reference
Overload The rotating energy at a Check the power consumed by DB speed.
DB stop exceeds the DB resistance (Un00B) to see how many
(Warning before • Reduce the moment of inertia ratio.
resistance capacity. times the DB has been used.
the alarm A.731 • Reduce the number of times of the
occurs) DB stop operation.

A SERVOPACK fault The SERVOPACK may be faulty.

−
occurred. Replace the SERVOPACK.

A.930: The battery connection

Check the battery connection. Reconnect the battery.
Absolute is incorrect.
Encoder Battery
The battery voltage is
Error
lower than the specified Measure the battery voltage. Replace the battery.
(The absolute value 2.7 V.
encoder battery
voltage is lower
than the specified
value.) A SERVOPACK fault The SERVOPACK may be faulty.
−
∗ Only when an occurred. Replace the SERVOPACK.
absolute encoder
is connected.
A.941:
Parameters that require
Change of
the restart have been − Turn OFF the power and ON again.
Parameters
changed.
Requires Restart

10-22
 10.2 Warning Displays

(cont’d)
Warning
Number:
Warning Name Cause Investigative Actions Corrective Actions
(Warning
Description)
• For 100 VAC SER-
VOPACKs:
The AC power supply
voltage is 60 V or
less.
• For 200-VAC SER-
VOPACKs:
Set the power supply voltage within
The AC power supply Measure the power supply voltage.
the specified range.
voltage is 140 V or
less.
• For 400-VAC SER-
VOPACKs:
The AC power supply
A.971: voltage is 280 V or
Undervoltage less.
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.

A SERVOPACK fault The SERVOPACK may be faulty.

−
occurred. Replace the SERVOPACK.

Refer to 10.3 Troubleshooting Mal-

function Based on Operation and
Conditions 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
Overtravel detected. Do the following.
power is ON, over- (Un005) to check the status of the
(Overtravel status • Do not specify movements that
travel status is detected. overtravel signals.
is detected.) would cause overtravel from the
host controller.
• Check the wiring of the overtravel
signals.
• Take countermeasures for noise.
Troubleshooting

10

10-23
 10 Troubleshooting
10.3 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
The control power supply is not
ON.
The main circuit power supply is
not ON.
Wiring of I/O signal connector CN1 Check if the connector CN1 is prop- Correct the connector CN1 connec-
faulty or disconnected.
Servomotor or encoder wiring dis-
connected.
Overloaded
Speed/position references not input
Settings for the input signal selec-
tions (Pn50A to Pn50D) is incor-
rect.
Encoder type differs from parame-
ter setting (Pn002.2).
Servo ON signal (/S-ON) stays
OFF.
/P-CON input function setting is
incorrect.
Servomotor Does
Not Start
SEN input is OFF.
Reference pulse mode selection is
incorrect.
Speed control: Speed reference
input is incorrect.
Torque control: Torque reference
input is incorrect.
Position control: Reference pulse
input is incorrect.
Position error clear (/CLR) input
has not been turned OFF.
The forward run prohibited (P-OT)
and reverse run prohibited (N-OT)
input signals are turned OFF.
The safety input signal (/HWBB1 or Check the /HWBB1 or /HWBB2
/HWBB2) remains OFF.
A SERVOPACK fault occurred.
Servomotor Servomotor wiring is incorrect.
Moves
Instantaneously, Encoder wiring is incorrect.
and then Stops
10-24
Investigative Actions
Check voltage between control
power terminals.
Check the voltage between main
circuit power terminals.
erly inserted and connected. tion.
Check the wiring.
Run under no load and check the
load status.
Check the allocation status of the
input signals.
Check the settings for parameters
Pn50A to Pn50D.
Check the settings for parameter
Pn002.2.
Check the settings for parameters
Pn50A.0 and Pn50A.1.
Check the settings for parameter
Pn000.1.
Check the ON/OFF status of the
SEN input.
Check the Pn200.0 setting and the
reference pulse form.
Check V-REF and SG to confirm if
the control method and the input are
agreed.
Check V-REF and SG to confirm if
the control method and the input are
agreed.
Check Pn200.0 reference pulse
form and sign + pulse signal.
Check /CLR input signals (CN1-14
Turn /CLR input signals OFF.
and -15).
Check P-OT or N-OT input signal.
input signal.
− Replace the SERVOPACK.
Check the servomotor wiring.
Check the encoder wiring.
Corrective Actions
Correct the wiring.
Correct the wiring.
Correct the wiring.
Reduce load or replace with larger
capacity servomotor.
Allocate input signals so that the
speed/position reference is input
correctly.
Correct the settings for parameter
Pn50A to Pn50D.
Set parameter Pn002.2 to the
encoder type being used.
Set the parameters Pn50A.0 and
Pn50A.1 to turn the /S-ON signal
ON.
Set parameters to match the applica-
tion.
If using an absolute encoder, turn
the SEN input signal ON.
Match the Pn200.0 setting and the
reference pulse form.
Correct the control method selec-
tion parameter, and the input signal.
Correct the control method selec-
tion parameter, and the input signal.
Correct the control method selec-
tion parameter, and the input signal.
Turn P-OT or N-OT input signal
ON.
Set the /HWBB1 or /HWBB2 input
signal to ON.
When not using the safety function,
mount the safety function jumper
connector (provided as an acces-
sory) on the CN8.
Correct the wiring.
Correct the wiring.
 10.3 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor
Problem Probable Cause
Check connections of power line
Servomotor Wiring connection to servomotor is
(phases U, V, and W) and encoder
Speed Unstable defective.
connectors.
Speed control: Speed reference
input is incorrect.
Torque control: Torque reference
Servomotor input is incorrect.
Rotates Without
Reference Input
Speed reference offset is incorrect.
Position control: Reference pulse
input is incorrect.
A SERVOPACK fault occurred.
Improper Pn001.0 setting
Dynamic Brake DB resistor disconnected
Does Not Operate
DB drive circuit fault
The servomotor largely vibrated
during execution of tuning-less
function.
Mounting is not secured.
Bearings are defective.
Vibration source at the driven
machine.
Abnormal Noise
from Servomotor
Noise interference due to incorrect
I/O signal cable specifications.
Noise interference due to length of
I/O signal cable.
Noise interference due to incorrect
encoder cable specifications.
Noise interference due to length of
encoder cable.
Noise interference due to damaged
encoder cable.
Excessive noise to the encoder
cable.
(cont’d)
Investigative Actions Corrective Actions
Tighten any loose terminals or con-
nectors and correct the wiring.
Check V-REF and SG to confirm if
Correct the control method selec-
the control method and the input are
tion parameter, and the input signal.
agreed.
Check V-REF and SG to confirm if
Correct the control method selec-
the control method and the input are
tion parameter, and the input signal.
agreed.
The SERVOPACK offset is
Adjust the SERVOPACK offset.
adjusted incorrectly.
Check the reference pulse form Correct the control method selec-
(Pn200.0) and sign + pulse signal. tion parameter, and the input signal.
− Replace the SERVOPACK.
Check the setting for parameter Correct the setting for parameter
Pn001.0. Pn001.0.
Check if excessive moment of iner-
Replace the SERVOPACK, and
tia, motor overspeed, or DB fre-
reduce the load.
quently activated occurred.
There is a defective component in
− the DB circuit. Replace the SER-
VOPACK.
Reduce the load so that the moment
of inertia ratio becomes within the
Check the servomotor speed wave- allowable value, or increase the
form. load level or lower the tuning level
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
Align the couplings.
couplings.
Check if there are unbalanced cou-
Balance the couplings.
plings.
Check for noise and vibration
Replace the servomotor.
around the bearings.
Check for any foreign matter, dam-
age, or deformations on the machin- Contact the machine manufacturer.
ery's movable parts.
The I/O signal cable must be tinned
annealed copper shielded twisted-
pair or screened unshielded twisted- Use the specified I/O signal cable.
pair cable with a core of 0.12 mm2
min.
Check the length of the I/O signal The I/O signal cable length must be
cable. no more than 3 m.
The encoder cable must be tinned
Troubleshooting
annealed copper shielded twisted-
pair or screened unshielded twisted- Use the specified encoder cable.
pair cable with a core of 0.12 mm2
min.
Check the length of the encoder The encoder cable must be no more
cable. than 50 m.
Check if the encoder cable is bent Replace the encoder cable and mod- 10
and the sheath is damaged. ify the encoder cable layout.
Check if the encoder cable is bun-
Correct the encoder cable layout so
dled with a high-current line or near
that no surge is applied.
a high-current line.
10-25
 10 Troubleshooting

(cont’d)
Problem Probable Cause Investigative Actions Corrective Actions
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
Abnormal Noise on the I/O signal line from the
due to noise interference encoder wiring.
from Servomotor encoder.
(cont’d) 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.
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 Check the position loop gain
Vibrates at 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 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 Factory setting: Kp = 40.0/s
Stopping
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).

10-26
 10.3 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor

(cont’d)
Problem Probable Cause Investigative Actions Corrective Actions
The encoder cable must be tinned
annealed copper shielded twisted-
Noise interference due to improper pair or screened unshielded twisted- Use the specified encoder cable.
encoder cable specifications
pair cable with a core of 0.12 mm2
min.
Noise interference due to length of The encoder cable length must be
Check the encoder cable length.
encoder cable. no more than 50 m.
Noise interference due to damaged Check if the encoder cable is bent or Replace the encoder cable and cor-
encoder cable if its sheath is damaged. rect the encoder cable layout.
Check if the encoder cable is bun-
Excessive noise interference at the Change the encoder cable layout so
dled with a high-current line or near
encoder cable that no surge is applied.
Absolute Encoder high-current line.
Position FG potential varies because of Ground machines correctly, and
Difference Error Check if the machines are correctly
influence of machines such as weld- prevent diversion to the FG on the
(The position grounded.
ers at the servomotor. encoder side.
saved in the host
controller when Check if there is noise interference
SERVOPACK pulse counting error Take measures against noise in the
the power was on the I/O signal line from the
due to noise interference encoder wiring.
turned OFF is encoder.
different from the Check if vibration from the machine
position when the Reduce vibration from the machine,
Excessive vibration and shock to occurred or servomotor installation
power was next or secure the servomotor installa-
the encoder is incorrect (mounting surface accu-
turned ON.) tion.
racy, fixing, alignment, etc.).
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.
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.
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.
Troubleshooting

aged cables or loose screws.)

Incorrect forward or reverse run
prohibited signal (P-OT/N-OT)
allocation (parameters Pn50A.3,
Pn50B.0)
Incorrect servomotor stop method
selection
Check if the P-OT signal is allo- If another signal is allocated in
cated in Pn50A.3. Pn50A.3, allocate P-OT.
Check if the N-OT signal is allo- If another signal is allocated in
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-
vomotor power is OFF.
other than "coast to stop." 10
Check the settings for parameters
Select a servomotor stop method
Pn001.0 and Pn001.1 when in
other than "coast to stop."
torque control.

10-27
 10 Troubleshooting
Problem Probable Cause
Improper limit switch position and
Improper Stop
dog length
Position by
Overtravel (OT) The overtravel limit switch position
Signal is too short for the coasting
distance.
Noise interference due to incorrect
encoder cable specifications
Noise interference due to length of
encoder cable.
Noise influence due to damaged
encoder cable.
Excessive noise to encoder cable.
The FG potential varies because of
Check if the machines are correctly Properly ground the machines
influence from machines on the ser-
grounded.
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
to noise encoder is influenced by noise.
Excessive vibration and shock to
Position Error the encoder
(Without Alarm)
Unsecured coupling between
machine and servomotor
Noise interference due to improper
I/O signal cable specifications
If the reference pulse input multipli-
cation switching function is being
used, noise may be causing the I/O
signals (/PSEL and /PSELA) used
for this function to be falsely
detected.
Noise interference due to length of
I/O signal cable
An encoder fault occurred. (The
pulse count does not change.)
A SERVOPACK fault occurred.
Ambient operating temperature too
high
Servomotor Servomotor surface dirty
Overheated
Servomotor overloaded
10-28
(cont’d)
Investigative Actions Corrective Actions
Install the limit switch at the
−
appropriate position.
Install the overtravel limit switch at
−
the appropriate position.
The encoder cable must be tinned
annealed copper shielded twisted-
pair or screened unshielded twisted- Use the specified encoder cable.
pair cable with a core of 0.12 mm2
min.
Check the length of the encoder The encoder cable must be no more
cable. than 50 m.
Check if the encoder cable is bent Replace the encoder cable and mod-
and its sheath is damaged. ify the encoder cable layout.
Check if the encoder cable is bun-
Change the encoder cable layout so
dled with a high-current line or near
that no surge is applied.
a high-current line.
encoder FG.
encoder wiring.
Check if vibration from the machine
occurred or servomotor installation Reduce the machine vibration or
is incorrect (mounting surface accu- mount the servomotor securely.
racy, fixing, alignment, etc.).
Check if a position error occurs at
Secure the coupling between the
the coupling between machine and
machine and servomotor.
servomotor.
The I/O signal cable must be tinned
annealed copper shielded twisted-
pair or screened unshielded twisted- Use input signal cable with the
specified specifications.
pair cable with a core of 0.12 mm2
min.
The I/O signal cable must be tinned
annealed copper shielded twisted-
pair or screened unshielded twisted- Use input signal cable with the
specified specifications.
pair cable with a core of 0.12 mm2
min.
The I/O signal cable length must be
Check the I/O signal cable length.
no more than 3 m.
− Replace the servomotor.
− Replace the SERVOPACK.
Measure the servomotor ambient Reduce the ambient operating tem-
operating temperature. perature to 40°C or less.
Visually check the surface. Clean dust and oil from the surface.
If overloaded, reduce load or
Check the load status with monitor. replace with larger capacity SER-
VOPACK and servomotor.