11.

2 Diagnosing and Troubleshooting Abnormalities

Alarm or warning will be generated if a problem occurs during operation. If this happens, check the
applicable code and take a proper action. If the problem persists, contact our service center.

11.2.1 Servo Motor

[Cause of abnormalities, inspection procedure, and troubleshooting methods]

Sym ptom s Cause Inspection process Rem edies
The P-OT and N-OT inputs are
Refer to section 3.6, "Signals." Turn on the P-OT and N-OT inputs.
off.

Use a resistance tester to measure the

resistance to the motor lead terminal
The motor has defects. Replace the motor.
(resistance between phases: several
The motor ohms).
does not
move. The locking screws are loose. Check the locking screws. Tighten any loose screws.

The external w iring is incorrect or Check the w ires to the motor and the Redo the w iring.
the cables are disconnected. encoder. Replace the cables.
Replace the encoder.
The encoder has defects. Check the output w aves.
(Contact our service center.)
Check the connection of the motor lead
The connection is bad. Fix any bad connections.
terminal.
Motor
rotation is The input voltage is low. Check the input voltage of the drive. Change the pow er source.
unstable.
Remove any foreign substances from the
Overloads occur. Check the condition of the machine.
rotating unit and grease or lubricate it.

The ambient temperature is too Check the temperature around the motor. Change heat transfer structure.
high. 40[℃] or less Install a cooling fan.
The surface of the motor is Check w hether there are any foreign
Clean the surface of the motor.
contaminated. substances on the surface of the motor.
The motor Reduce the load.
overheats. Check the load on the drive.
Overloads occur. Increase the acceleration/deceleration
Check the acceleration/deceleration time.
time.
Use a motor w ith a greater capacity.
The magnetic pow er of the Check the counter voltage and voltage
Replace the motor.
magnets is reduced. w aveforms.
Tighten the coupling screws and
Coupling is bad. measure the concentricity of the Readjust the coupling.
connection.
The device is Check the bearings for vibrations and
making a The bearings are abnormal. sounds.
Contact us.
strange
sound. The parameters are set
incorrectly
Check the parameters. Refer to Chapter 9, "Object Dictionary."
(the inertia, gain, and time
constants).

11-30
11.2.2 Servo Drive

 Servo Alarm
If the drive detects a problem, it will trigger a servo alarm and transition to the servo off state to stop. In this

case, the value of the emergency stop setting (0x2013) is used to stop the drive.

Alarm Code Causes Details What to check

Motor cable
Wiring is incorrect and check short Replace motor cable
error
Encoder cable
Wiring is incorrect and check short Replace encoder cable
error
Motor ID [0x2000], encoder
Parameter cable type[0x2001], encoder form[0x2002] Modifty motor label and parameter
error setting vaule should be same w ith concordantly
applied to motor label.
IPM fault
Check if U/V/W phase
Check motor currentffset(0x2015~0x2017) is 5% or
Replace motor
phase resistor above of the rated current, Replace
Over current drive
Machine part Determine w hether there is a conflict
Check machine part
has problem or binding in the equipment.
Current limit exceeded
If alarm continue after servo on again,
Drive error Replace drive. Because drive may
have problem.

Please check condition of w iring for

Check method to improve noise of
Error by noize FG. Match w ire size of FG w ith wire
w iring, install. size of drive main circuit.

surroundings Check w herther surrounding

Low er surrounding temperature
temperature temperature is over 50 [℃]

Accumulated operate overload

Continuous Change drive and motor capacitiy,
percentage [0x2603] Checking the
Overload alram Please tune gain.
load percentage is under 100%

Adjust regenerarion resistor

Motor cable Check accumulated regenerative setting[0x2009]
IPM temperature
open overload[0x2606]
Use external regenerarion resistor.
Drive setting
Check drive setting status Refer “2. Wiring and Joint
direction
If alarm continue after servo on again,
Drive error Replace drive. Because drive may
have problem.
Motor U/V/W
Check w hether the U/V/W phase
phase current
current offset [0x2015~0x2017] are 5% Rerun adjusting phase current offset
offset
of the rated current or highter.
oversetting
Current offset If alarm occurs continually after
adjusting offset of phase current,
Drive error
please replace new drive because
drive has problem.
In case of Check if load w hich is accumulating Change drive and motor capacitiy,
sequent driving load rate[0x2603]
Continuous overload operating that Please tune gain.
exceed rated is below 100% when it is in constant

11-31
 Alarm Code Causes Details What to check

load speed section and stop

Motor brake Checking w hether the motor brake is

Provide pow er to motor brake
error not holding

Motor ID[0x2000],
Encoder type[0x2001],
Modify the parameter as same as
Check the label of application motor motor label information.
and Encoder form[0x2002] setting
Parameter
value.
setting error

Over load detected standard load rate

Set as proper value
setting [0x200F] Value checking

Machine part
there is no problem for running Check machine part.
has problem
Motor cable
Wiring is incorrect and check short Replace motor cable.
error
Encoder cable
Wiring is incorrect and check short Replace encoer cable.
error

surrounding Check w herther surrounding Low er surrounding temperature of

temerature temperature is over 50 [℃] drive.
Check if displayed value 1 [0x260B] of
Drive temperature 1 drive temperature is much different
Drive error w ith surrounding temperature when it Replace the drive
is normal condition.
Capacity excess
by high
frequency Checking overload rate accumulated Adjust value on 0x2009. Use braking
operationg or
resistor
continue regeneration on 0x2606
regenerative
operating

Parameter Check setting value[0x2009] ~

Set as proper value
Regeneration overload setting error [0x200E]

Main pow er
Check w hether Main pow er (544[Vac])
input voltage Recheck the pow er supply
has problem or not.
error
Checking the temperature of
Drive error regenerative resistance on Servo-off Replace the drive
status
Process the Phase current offset
Parameter Check [0x2015], [0x2015], [0x2015]
control procedure command
setting error Check value offset current

Motor cable
Check w hether cable is disconnected. Replace the motor cable.
error

Motor cable open Check short circuit of U,V,W in Motor

Motor error Replace the motor
(U-V, V-W, W-U)
If specific alarm signal is persistently
occurred, It is highly possible to have
Drive error
fault, so Kindly recommend you to
change the servo drive.

11-32
 Alarm Code Causes Details What to check

Surrounding Check w hether surrounding Low er the surrondng termpertaure of

temperature temperature is over 50[℃] drive

Comparing displayed drive

Drive temperature 2 temperature 2 [0x260C] in normal
Drive error Replace the drive
status and the surrounding
temperature.

Reserved
Encoder temperature

Encoder cable Disconnect, wiring is incorrect and

Replace encoder cable.
error check Short.
Modify the parameter as same as
motor label information.
Encoder communication
Parameter Value of [0x2001], [0x2002] is same If modified value is not applied to
parameter, it is highly possible to have
setting error w ith application motor label. fault,
Encoder cable open So Kindly recommend you to change
the servo motor.
If alarm continue after servo on again,
Encoder error Replace drive. Because drive may
Encoder data have problem.
If alarm continue after servo on again,
Drive error Replace drive. Because drive may
have problem.
Revise it w ith motor label information
Value of [0x2000] is same w ith equally. It is possible to release alarm
Setting Motor ID
w hen power off/on after adjusting
application motor label.
parameter.
Motor setting
If alarm continue after servo on again,
Drive error Replace drive. Because drive may
have problem.

Encoder cable
Wiring is incorrect and check Short. Replace encoder cable.
error
If alarm continue after servo on again,
Encoder error Replace drive. Because drive may
Z Phase open have problem.
If alarm continue after servo on again,
Drive error Replace drive. Because drive may
have problem.

Parameter It w ill be no alarm to set as 1 w hen you

Check setting value [0x2005] use absolute encoder as the
setting error incremental encoder.

Bad connection

of battery No Check status of battery access Connect battery rightly.

Low battery
connected.

When battery
Check w hether voltage is over 3.3v. Replace bettery
voltage is low

Encoder cable Wiring is incorrect and check short

Replace encoder cable.
Sinusoidal ENC error Check shield and FG disconnect

11-33
 Alarm Code Causes Details What to check

amplitude
Parameter Check setting valud of encoder type Check setting encoder type. Check

setting error [0x2001] speed command.(Maximum:250kHz)

Sinusoidal ENC If alarm continue after servo on again,
frequncy
Drive error Replace drive. Because drive may

have problem.

If alarm continue after servo on again,

resolver error Replace drive. Because drive may

have problem.

If alarm continue after servo on again,

Encoder error Replace drive. Because drive may

have problem.

Drive / Motor
Check brand label code of motor and Use motor and drive of same brand
combination
drive. label.
error

Encoder cable
Wiring is incorrect and check Short Replace encoder cable.
error

If alarm continue after servo on again,

Encoder setting error
Encoder error Replace drive. Because drive may

have problem.

If alarm continue after servo on again,

Drive error Replace drive. Because drive may

have problem.

Check the main pow er voltage is over

Recheck the pow er supply.
Main pow er 3phase 219[Vac]
input voltage
error Check [0x2605] value is over 310
[Vdc] w hen main pow er is accordingly Replace the drive.
input
Under voltage
running w hen

pow er voltage is Check w iring of main pow er supply Use 3 phase as supply voltage.

low
Check w hether the main pow er voltage
Recheck the pow er supply.
Main pow er is below 572[Vac]
input voltage Check [0x2605] value is below
error 810[Vdc] w hen main pow er is Replace the drive.
accordingly input.

Over voltage When braking Check operating condition Review the regenerative resistance
consider the operating condition and
resistor is high regenerative resistance. load.

In case of many time for acceleration / Set longer acceleration / deceleration

Setting value of deceleration time

11-34
 Alarm Code Causes Details What to check

acceleration/

deceleration

If alarm continue after servo on again,

Drive error Replace drive. Because drive may
have problem.

Main pow er check voltage betw een phase 380-

input voltage Recheck pow er supply.
error 480[Vac] of L1, L2, L3.

Parameter Check setting value arroding to state Wire or set parameter as input power
of main pow er [0x2006] on (possible 3 phase)
setting error
Main pow er fail
momentary check main pow er source or reduce
Check setting value [0x2007]
pow er failure value of [0x2007]

If alarm continue after servo on again,

Drive error Replace drive. Because drive may
have problem.
Voltage betw een
Voltage betw een phase of C1, C2 is
phase of C1, C2 Recheck pow er supply of drive
w ithin 380-480[Vac].
error

Control pow er fail If alarm continue after servo on again,

Drive error Replace drive. Because drive may
have problem.
Motor Encoder
Wiring is incorrect and check Short. Replace motor cable.
error
Encoder cable
Wiring is incorrect and check Short. Replace encoder cable.
error
Value of [0x2000], [0x2001], [0x2002] Modify the parameter as sams as
is same w ith application motor label. motor label information.
Parameter
Check setting value [0x6091] Set Electronic gear ratio low.
setting error
Over speed limit Check setting value[0x2100] ~ Readjust gain according to operating
[0x211F] condtion.
If alarm continue after servo on again,
Encoder error Replace drive. Because drive may
have problem.
If alarm continue after servo on again,
Drive error Replace drive. Because drive may
have problem.

Check setting value [0x3000], Set up correct parameter according to

[0x3003], [0x3004]. operating method.
Parameter
Check [0x6091] Setting value Set Electronic gear ratio low.
setting error Check setting value on 0x6066 of
Set up correct parameter according to
position error excess time, 0x6065 of
operating method.
POS follow ing position error range
Machine part
Checking it w as forced by drive part Check Machine part has problem
has problem
If alarm continue after servo on again,
Drive error Replace drive. Because drive may
have problem.
Motor cable Disconnect, w iring is incorrect and
Replace motor cable
error check Short.
Excessive SPD Encoder cable Disconnect, w iring is incorrect and
deviation Replace encoder cable
error check Short.

11-35
 Alarm Code Causes Details What to check

Value of [0x2000], [0x2001], [0x2002] Modify the parameter as sams as

Parameter is same w ith application motor label. motor label information.
setting
Check setting value [0x6091] Set Electronic gear ratio low..

Checking it w as forced by drive part

Machine part
operating condition of limit contact Check Machine part.
has problem
point sensor
If alarm continue after servo on again,
Encoder error Replace drive. Because drive may
have problem.
If alarm continue after servo on again,
Drive error Replace drive. Because drive may
have problem.
Restore initial parameter (0x1011). If
Check parameter that parameter
When O/S is you restore it, setting up parameter
setting value w as set as maximum
changed w ould be changed into initial value. So
value of variable form
set up parameter before operating
Parameter checksum If alarm continue after servo on again,
Drive error Replace drive. Because drive may
have problem.
Please dow nload OS or set capacity of
Parameter Contact our service center drive again. If alarm continue after
Factory setting setting error Check [0x1008] DeviceName servo on again, Replace drive.
Because drive may have problem.

11-36
 Servo Warning
If the drive detects an error classified as a servo warning, it will trigger a warning. In this case, the drive will

maintain normal operation condition. After the cause of the warning is eliminated, the warning will be

automatically cleared. In case of a warning, take an appropriate action. You can specify if each warning is

checked with warning mask configuration (0x2014).

Warning
Bit Warning name
code

0 W01 Main pow er phase loss

1 W02 Low voltage of encoder battery

2 W04 Softw are Position Limit

3 - -

4 W10 Operation overload

Abnormal combination of Drive and Motor,
5 W20 abnormal I/O setting
6 W40 Low voltage

7 W80 Emergency signal input

Alarm Code Causes Detail What to check

Main pow er
Check voltage betw een phase 380-
input voltage Recheck pow er supply.
480[Vac] of L1, L2, L3
error

Parameter Check value of main pow er input

Wire or set parameter as input pow er
mode set[0x2006] arroding to state of
on(possible 3 phase)
PWR_FAIL setting error main pow er input.

Momentary Check value of main pow er input Check actual main pow er or increase
mode set[0x2006] arroding to state of value of checking time of loss of main
pow er failure main pow er input. pow er.
If alarm continue after servo on again,
Drive error Replace drive. Because drive may have
problem.

Parameter Alarm w ill be disappeared if you set “1”

Check setting value of absolute
w hen using ABS encoder as incremental
encoder [0x2005]
setting error encoder.

Bad conection of

battery, No Check the status of battery Connect battery rightly.

LOW_BATT
connected.

When battery Check w hether battery voltage is over

Replace battery.
voltage is low. 3.3V
Setting function of software restriction Change value of software position limit
Parameter on location [0x2400], Check value of function[0x2400] or change the set of limit
SW_POS_LMT software restriction on value of maximum postion and minimum
setting error location[0x607D] position of software position limit[0x607D]

In case of Check overload w arning level Change drive and motor capacitiy,
setting[0x2010] and constant speed
OV_LOAD sequent section or accumulated operation Please tune gain.

11-37
Alarm Code Causes Detail What to check
overload rate[0x2603]
operating that Adjust the setting value overload w arning

exceed rated level[0x2010].

load

Motor brake Checking the motor brake is not

Provide supply pow er to motor brake.
error holding
Motor ID[0x2000],
Encoder type[0x2001], Modify the parameter as sams as motor
Parameter label information.
setting Encoder form [0x2002] vaule is same
w ith motor label.
error
Check value of set of overload
Set as proper value.
detecting basic load rate[0x200F]

Machine part
There is no problem for running Check machine part has problem
has problem
Motor cable
Wiring is incorrect and check Short. Replace motor cable
error
Emcoder cable
Wiring is incorrect and check Short. Replace encoder cable
error

Drive / Motor
Check w hether capacity of current of reduce value of torque limit or use the
Combination motor is bigger than capacity of motor w hich capacity is low er than
current of drive or not. capacity of current of drive
error
SETUP Check w hether one signal is assigned
more than 2 in digital input signal
Set up correct parameter according to
IO setting error assignment[0x2200] ~ [0x2208] and
operating method.
digital output signal
assignment[0x2210]~[0x2213].
Check if main pow er has problem or
Recheck the pow er supply.
Main pow er not
input voltage
Check that DC link voltage [0X2605] is
error
betw een 190~405 [Vdc] when main Replace the drive
pow er is supplied correctly.
UD_VTG
Running w hen

pow er voltage is Check w iring status of main pow er Use 3 phase as supply voltage

low
It is state of EMG Wiring or drive
EMG contact parameter(drivecontrol input1[0x211F],
digital input signal1 set[0x2200]~digital Set up correct parameter according to
input operating method.
error
Check sinal 16 setting[0x220F]
EMG
If alarm continue after servo on again,
Drive error Replace drive. Because drive may have
problem.

11-38