YASKAWA SGDV-R70F User manual

Manuals about Yaskawa Servo Drives
Fuse Sizing Chart - Yaskawa
Drive Error List - Yaskawa
Sigma-5 Series User Manual
Brake Wiring for Yaskawa
X15-02-09 Drive Interface Board Diagram for Yaskawa
X15-02-10 Yaskawa Analog Drive Interface Board Diagram
Sigma5 User Manual EtherCAT Network Module
Yaskawa Sigma 7 Ethercat RapidPath Absolute Encoders Homing
Yaskawa Analog Monitor Output
Yaskawa Drive Resolution
Yaskawa Absolute Encoders with Apollo III
Yaskawa Auto Tuning
Updating Yaskawa Parameters
Updating EtherCAT Firmware on Yaskawa Drive
Yaskawa Fully Closed Loop Control
Drives (Servo) -
Yaskawa

SERVOPACK
Model
SGDV-
Rated Input
Current (A)
Recommended
Fuse Size
(A)
R70F
1.5
2
R90F
2.5
4
2R1F
5
6
2R8F
10
10
R70A
1
2
R90A
1
2
1R6A
2
4
2R8A
3
4
3R8A
3
4
5R5A
6
8
7R6A
6
8
120A
7.5
8
180A
10
10
200A
15
16
330A
25
25
470A
29
32
550A
37
Breaker
590A
54
Breaker
780A
73
Breaker
1R9D
1.4
2
3R5D
2.9
4
5R4D
4.3
6
8R4D
5.8
6
120D
8.6
10
170D
14.5
16
210D
17.4
25
260D
21.7
25
280D
31.8
32
370D
43.4
Breaker
Fuse Sizing Chart - Yaskawa

Display
Name
Cause
Investigative Actions
Corrective Actions
A.020
Parameter
Checksum
Error 1
(The
parameter
data in the
SERVOPACK
is
incorrect.)
The power supply voltage
suddenly dropped.
Measure the power
supply voltage.
Set the power supply voltage within
the specified range, and set Fn005
to initialize the parameter.
The power supply went OFF
while changing a parameter
setting.
Check the
circumstances when
the power supply went
OFF.
Set Fn005 to initialize the
parameter and then set the
parameter again.
The number of times that
parameters were written
exceeded the limit.
Check to see if the
parameters were
frequently changed
through the host
controller.
The SERVOPACK may be faulty.
Repair or replace the SERVOPACK.
Reconsider the method of writing
parameters.
Malfunction caused by noise
from the AC power supply or
grounding line, static
electricity noise, etc.
Turn the power supply
ON and OFF several
times. If the alarm still
occurs, there may be
noise interference.
Take countermeasures against
noise.
Gas, water drops, or cutting
oil entered the SERVOPACK
and caused failure of the
internal components.
Check the installation
conditions.
The SERVOPACK may be faulty.
Replace the SERVOPACK.
A SERVOPACK fault
occurred.
Turn the power supply
ON and OFF several
times. If the alarm still
occurs, the
SERVOPACK may be
faulty.
The SERVOPACK may be faulty.
Replace the SERVOPACK.
A.021
Parameter
Format
Error 1
(The
parameter
data in the
SERVOPACK
is
incorrect.)
The software version of
SERVOPACK that caused the
alarm is older than that of
the written parameter.
Check Fn012 to see if
the set software
version agrees with
that of the
SERVOPACK. If not, an
alarm may occur.
Write the parameter of another
SERVOPACK of the same model with
the same software version. Then
turn the power OFF and then ON
again.
A SERVOPACK fault
occurred.
--
The SERVOPACK may be faulty.
Replace the SERVOPACK.
A.022
System
Checksum
Error 1
(The
parameter
data in the
SERVOPACK
is
incorrect.)
The power supply voltage
suddenly dropped.
Measure the power
supply voltage.
The SERVOPACK may be faulty.
Replace the SERVOPACK.
The power supply went OFF
while setting an utility
function.
Check the
circumstances when
the power supply went
OFF.
The SERVOPACK may be faulty.
Replace the SERVOPACK.
A SERVOPACK fault
occurred.
Turn the power supply
ON and OFF several
times. If the alarm still
occurs, the
SERVOPACK may be
faulty.
The SERVOPACK may be faulty.
Replace the SERVOPACK.
A.030
Main
Circuit
Detector
Error
A SERVOPACK fault
occurred.
--
The SERVOPACK may be faulty.
Replace the SERVOPACK.
A.040
Parameter
Setting
Error 1
(The
parameter
setting
The SERVOPACK and
servomotor capacities do
not match each other.
Check the combination
of SERVOPACK and
servomotor capacities.
Select the proper combination of
SERVOPACK and servomotor
capacities.
A SERVOPACK fault
occurred.
--
The SERVOPACK may be faulty.
Replace the SERVOPACK.
The parameter setting is out
of the setting range.
Check the setting
ranges of the
parameters that have
Set the parameter to a value within
the setting range.
Drive Error List - Yaskawa

setting
was out of
the setting
range.)
of the setting range.
parameters that have
been changed.
the setting range.
The electronic gear ratio is
out of the setting range.
Check the electronic
gear ratio. The ratio
must satisfy: 0.001<
(Pn20E/Pn210) < 4000.
Set the electronic gear ratio in the
range: 0.001< (Pn20E/Pn210) <
4000.
A.041
Encoder
Output
Pulse
Setting
Error
The encoder output pulse
(Pn212) is out of the setting
range and does not satisfy
the setting conditions.
Check the parameter
Pn212.
Set Pn212 to a correct value.
A.042
Parameter
Combination
Error
The speed of program JOG
operation (Fn004) is lower
than the setting range after
having changed the
electronic gear ratio
(Pn20E/Pn210) or the
servomotor.
Check that the
detection conditions
are satisfied.
Decrease the setting of the
electronic gear ratio (Pn20E/Pn210).
The speed of program JOG
operation (Fn004) is lower
than the setting range after
having changed the setting
of the program JOG
movement speed (Pn533).
Check that the
detection conditions
are satisfied.
Increase the setting of the program
JOG movement speed (Pn533).
The moving speed of
advanced autotuning is
lower than the setting range
after having changed the
electronic gear ratio
(Pn20E/Pn210) or the
servomotor.
Check that the
detection conditions
are satisfied.
Decrease the setting of the
electronic gear ratio (Pn20E/Pn210).
A.044
Semi-
closed/Fullyclosed
Loop
Control
Parameter
Setting
Error
The setting of the fully-
closed module does not
match with that of Pn002.3.
Check the settings of
Pn002.3.
The setting of fully-closed module
must be compatible with the setting
of Pn002.3.
A.050
Combination
Error
(The
SERVOPACK
and
servomotor
capacities
do not
correspond.)
The SERVOPACK and
servomotor capacities do
not match each other.
Check the capacities to
see if they satisfy the
following condition: 1/4
<= (Servomotor
capacity)/(SERVOPACK
capacity) <= 4.
Select the proper combination of
SERVOPACK and servomotor
capacities.
An encoder fault occurred.
Replace the
servomotor and see if
the alarm occurs again.
Replace the servomotor (encoder).
A SERVOPACK fault
occurred.
--
The SERVOPACK may be faulty.
Replace the SERVOPACK.
A.051
Unsupported
Device
Alarm
An unsupported serial
converter unit, encoder, or
external encoder is
connected to the
SERVOPACK.
Check the product
specifications, and
select the correct
model.
Select the correct combination of
units.
A.0b0
Cancelled
Servo ON
Command
Alarm
After executing the utility
function to turn ON the
power to the motor, the
servo ON signal (/SON) was
sent from an external
device.
--
Turn the SERVOPACK power supply
OFF and then ON again or execute a
software reset.
Overcurrent
or Heat
Sink
Overheated
Incorrect wiring or contact
fault of main circuit cable or
servomotor main circuit
cable.
Check the wiring.
Correct the wiring.
Short-circuit or ground fault
Check for short-circuits
across the servomotor

A.100
Overheated
(An
overcurrent
flowed
through
the IGBT
or heat
sink of
SERVOPACK
overheated.)
Short-circuit or ground fault
of main circuit cable or
servomotor main circuit
cable.
across the servomotor
terminal phases U, V,
and W, or between the
grounding and
servomotor terminal
phases U, V, or W.
The cable may be short-circuited.
Replace the cable.
Short-circuit or ground fault
inside the servomotor.
Check for short-circuits
across the servomotor
terminal phases U, V,
and W, or between the
grounding and
servomotor terminal
phases U, V, or W.
The servomotor may be faulty.
Replace the servomotor.
A.100
(cont.)
Overcurrent
or Heat
Sink
Overheated
(An
overcurrent
flowed
through
the IGBT
or heat
sink of
SERVOPACK
overheated.)
Short-circuit or ground fault
inside the SERVOPACK.
Check for short-circuits
across the servomotor
connection terminals
U, V, and W on the
SERVOPACK, or
between the grounding
and terminal U, V, or
W.
The SERVOPACK may be faulty.
Replace the SERVOPACK.
Incorrect wiring or contact
fault of the regenerative
resistor.
Check the wiring.
Correct the wiring.
The dynamic brake (DB:
Emergency stop executed
from the SERVOPACK) was
frequently activated, or the
DB overload alarm
occurred.
Check the power
consumed by DB
resistance (Un00B) to
see how many times
the DB has been used.
Or, check the alarm
history display Fn000
to see if the DB
overload alarm A.730
or A.731 was reported.
Change the SERVOPACK model,
operating conditions, or the
mechanism so that the DB does not
need to be used so frequently.
The generated regenerative
resistor value exceeded the
SERVOPACK regenerative
energy processing capacity.
Check the regenerative
load ratio (Un00A) to
see how many times
the regenerative
resistor has been used.
Check the operating condition
including overload, and reconsider
the regenerative resistor value.
The SERVOPACK
regenerative resistance is
too small.
Check the regenerative
load ratio (Un00A) to
see how many times
the regenerative
resistor has been used.
Change the regenerative resistance
value to a value larger than the
SERVOPACK minimum allowable
resistance value.
A heavy load was applied
while the servomotor was
stopped or running at a low
speed.
Check to see if the
operating conditions
are outside servo drive
specifications.
Reduce the load applied to the
servomotor or increase the
operating speed.
Malfunction caused by noise
interference.
Improve the wiring or
installation
environment, such as
by reducing noise, and
check to see if the
alarm recurs.
Take countermeasures for noise,
such as correct wiring of the FG.
Use an FG wire size equivalent to
the SERVOPACK main circuit wire
size.
A SERVOPACK fault
occurred.
--
Turn the power supply OFF and then
ON again. If the alarm still occurs,
the SERVOPACK may be faulty.
Replace the SERVOPACK.
- Regenerative resistor
capacity (Pn600) is set to a
value other than 0 for a
SGDV-R70, -R90, -1R6, -2R1,
or -2R8 SERVOPACK, and an
external regenerative
resistor is not connected.
- An external regenerative
resistor is not connected to
Check the external
regenerative resistor
connection and the
value of the Pn600.
Connect the external regenerative
resistor, or set Pn600 to 0 if no
regenerative resistor is required.

A.300
Regeneration
Error
resistor is not connected to
the SGDV-470, SGDV-550,
SGDV-590, SGDV-780,
SGDV-210, SGDV-260,
SGDV-280, or SGDV-370
SERVOPACK.
value of the Pn600.
regenerative resistor is required.
The jumper between the
power supply terminals B2
and B3 is removed.
Confirm that a jumper
is mounted between
the power supply
terminals B2 and B3.
Correctly mount a jumper.
The external regenerative
resistor is incorrectly wired,
or is removed or
disconnected.
Check the external
regenerative resistor
connection.
Correctly connect the external
regenerative resistor.
A SERVOPACK fault
occurred.
--
While the main circuit power supply
is OFF, turn the control power
supply OFF and then ON again. If
the alarm still occurs, the
SERVOPACK may be faulty. Replace
the SERVOPACK.
A.320
Regenerative
Overload
The power supply voltage
exceeds the specified limit.
Measure the power
supply voltage.
Set the power supply voltage within
the specified range.
Insufficient external
regenerative resistance,
regenerative resistor
capacity, or SERVOPACK
capacity. Or, regenerative
power has been
continuously flowing back.
Check the operating
condition or the
capacity using the
capacity selection
Software SigmaJunma-
Size+, etc.
Change the regenerative resistance,
regenerative resistor capacity, or
SERVOPACK capacity. Reconsider
the operating conditions using the
capacity selection software Sigma-
JunmaSize+, etc.
Regenerative power
continuously flowed back
because negative load was
continuously applied.
Check the load applied
to the servomotor
during operation.
Reconsider the system including
servo, machine, and operating
conditions.
The setting of parameter
Pn600 is smaller than the
external regenerative
resistor's capacity.
Check the external
regenerative resistor
connection and the
value of the Pn600.
Set the Pn600 to a correct value.
The external regenerative
resistance is too high.
Check the regenerative
resistance.
Change the regenerative resistance
to a correct value or use an external
regenerative resistor of appropriate
capacity.
A SERVOPACK fault
occurred.
--
The SERVOPACK may be faulty.
Replace the SERVOPACK.
A.330
Main
Circuit
Power
Supply
Wiring
Error
(Detected
when the
power to
the main
circuit is
turned
ON.)
The regenerative resistor
disconnected when the
SERVOPACK power supply
voltage was high.
Measure the resistance
of the regenerative
resistor using a
measuring instrument.
When using a regenerative resistor
built in the SERVOPACK: Replace
the SERVOPACK. When using an
external regenerative resistor:
Replace the external regenerative
resistor.
In the AC power input mode,
DC power was supplied.
Check the power
supply to see if it is a
DC power supply.
Correct the settings to match the
actual power supply specifications.
In the DC power input
mode, AC power was
supplied.
Check the power
supply to see if it is an
AC power supply.
Correct the settings to match the
actual power supply specifications.
Regenerative resistor
capacity (Pn600) is not set
to 0 even though the
regenerative resistor is
disconnected.
Check if regenerative
resistor is connected
and check the
regenerative resistor
capacity.
Set Pn600 to 0.
A SERVOPACK fault
occurred.
--
The SERVOPACK may be faulty.
Replace the SERVOPACK.
. For 100-VAC SERVOPACKs:
The AC power supply
voltage exceeded 145 V. .

A.400
Overvoltage
(Detected
in the
SERVOPACK
main
circuit
power
supply
section.)
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 exceeded 580 V. .
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.
Measure the power
supply voltage.
Set AC/DC power supply voltage
within the specified range.
The power supply is
unstable, or was influenced
by a lightning surge.
Measure the power
supply voltage.
Improve the power supply
conditions by installing a surge
absorber, etc. Then, turn the power
supply OFF and ON again. If the
alarm still occurs, the SERVOPACK
may be faulty. Replace the
SERVOPACK.
A.400
(cont.)
Overvoltage
(Detected in
the
SERVOPACK
main circuit
power supply
section.)
Acceleration/deceleration
was executed under the
following conditions. . The
AC power supply voltage of
100-VAC SERVOPACK was in
the range between 115 V
and 135 V. . The AC power
supply voltage of 200-VAC
SERVOPACK 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.
Check the power
supply voltage and the
speed and torque
during operation.
Set AC power supply voltage within
the specified range.
The external regenerative
resistance is too high for the
actual operating conditions.
Check the operating
conditions and the
regenerative
resistance.
Select a regenerative resistance
value appropriate for the operating
conditions and load.
The moment of inertia ratio
exceeded the allowable
value.
Confirm that the
moment of inertia ratio
is within the allowable
range.
Increase the deceleration time, or
reduce the load.
A SERVOPACK fault
occurred.
--
Turn the control power OFF and
then ON again while the main circuit
power supply is OFF. If the alarm
still occurs, the SERVOPACK may be
faulty. Replace the SERVOPACK.
A.410
* "Do
not
cycle
power
to
drives"
Undervoltage
(Detected in
the
SERVOPACK
main circuit
power supply
section.)
. For 100-VAC SERVOPACKs:
The AC power supply
voltage is 49 V or less. . For
200-VAC SERVOPACKs: The
AC power supply voltage is
120 V or less. . For 400-VAC
SERVOPACKs: The AC power
supply voltage is 240 V or
less.
Measure the power
supply voltage.
Set the power supply voltage within
the specified range.
The power supply voltage
dropped during operation.
Measure the power
supply voltage.
Increase the power supply capacity.
Occurrence of
instantaneous power
interruption.
Measure the power
supply voltage.
When the instantaneous power cut
hold time (Pn509) is set, decrease
the setting.
The SERVOPACK fuse is
blown out.
--
Replace the SERVOPACK, connect a
reactor, and run the SERVOPACK.
A SERVOPACK fault
occurred.
--
The SERVOPACK may be faulty.
Replace the SERVOPACK.

A.450
Main-
Circuit
Capacitor
Overvoltage
A SERVOPACK fault
occurred.
--
Replace the SERVOPACK.
A.510
Overspeed
(The
servomotor
rotational
speed
exceeds
the
maximum.)
The order of phases U, V,
and W in the servomotor
wiring is incorrect.
Check the servomotor
wiring.
Confirm that the servomotor is
correctly wired.
A reference value exceeding
the overspeed detection
level was input.
Check the input value.
Reduce the reference value or
adjust the gain.
The motor speed exceeded
the maximum.
Check the servomotor
speed waveform.
Reduce the speed reference input
gain, adjust the servo gain, or
reconsider the operating conditions.
A SERVOPACK fault
occurred.
--
The SERVOPACK may be faulty.
Replace the SERVOPACK.
A.511
Overspeed
of
Encoder
Output
Pulse
Rate
The encoder output pulse
frequency exceeded the
limit.
Check the encoder
output pulse setting.
Decrease the setting of the encoder
output pulse (Pn212).
The encoder output pulse
output frequency exceeded
the limit because the
servomotor speed was too
high.
Check the encoder
output pulse output
setting and servomotor
speed.
Decrease the servomotor speed.
A.520
Vibration
Alarm
Abnormal vibration was
detected at the servomotor
speed.
Check for abnormal
noise from the
servomotor, and check
the speed and torque
waveforms during
operation.
Reduce the servomotor speed or
reduce the speed loop gain (Pn100).
The moment of inertia ratio
(Pn103) value is greater
than the actual value or is
greatly changed.
Check the moment of
inertia ratio.
Set the moment of inertia ratio
(Pn103) to an appropriate value.
A.521
Autotuning
Alarm
(Vibration
was
detected
while
executing
the
advanced
autotuning,
one-
parameter
tuning,
EasyFFT,
or tuning-
less
function.)
The servomotor vibrated
considerably while
performing tuningless
function (factory setting).
Check the servomotor
speed waveform.
Reduce the load so that the
moment of inertia ratio falls within
the allowable value, or raise the
tuning level using the tuning-less
levels setting (Fn200) or reduce the
load level.
The servomotor vibrated
considerably during
advanced autotuning, one-
parameter tuning, or
EasyFFT.
Check the servomotor
speed waveform.
Check the operation procedure of
corresponding function and take a
corrective action.
A.710 - High Load
A.720 - Overload
A.720 - Low Load
Incorrect wiring or contact
fault of servomotor and
encoder.
Check the wiring.
Confirm that the servomotor and
encoder are correctly wired.
Operation beyond the
overload protection
characteristics.
Check the servomotor
overload
characteristics and
executed run
command.
Reconsider the load conditions and
operating conditions. Or, increase
the servomotor capacity.
Excessive load was applied
during operation because
the servomotor was not
driven due to mechanical
problems.
Check the executed
operation reference
and servomotor speed.
Remove the mechanical problems.
A SERVOPACK fault
--
The SERVOPACK may be faulty.

A SERVOPACK fault
occurred.
--
The SERVOPACK may be faulty.
Replace the SERVOPACK.
A.730
A.731
Dynamic
Brake
Overload
(An
excessive
power
consumption
of
dynamic
brake was
detected.)
The servomotor rotates
because of external force.
Check the operation
status.
Take measures to ensure the
servomotor will not rotate because
of external force.
The rotating energy at a DB
stop exceeds the DB
resistance capacity.
Check the power
consumed by DB
resistance (Un00B) to
see how many times
the DB has been used.
Reconsider the following: . Reduce
the servomotor reference speed. .
Reduce the moment of inertia ratio.
. Reduce the number of times of the
DB stop operation.
A SERVOPACK fault
occurred.
--
The SERVOPACK may be faulty.
Replace the SERVOPACK.
A.740
Overload
of Surge
Current
Limit
Resistor
(The main
circuit
power is
turned
ON/OFF
too
frequently.)
The inrush current limit
resistor operation frequency
at the main circuit power
supply ON/OFF operation
exceeds the allowable
range.
--
Reduce the frequency of turning the
main circuit power supply ON/OFF.
A SERVOPACK fault
occurred.
--
The SERVOPACK may be faulty.
Replace the SERVOPACK.
A.7A0
Heat Sink
Overheated
(Detected
when the
heat sink
temperature
exceeds
100°C.)
The surrounding air
temperature is too high.
Check the surrounding
air temperature using a
thermostat.
Decrease the surrounding air
temperature by improving the
SERVOPACK installation conditions.
The overload alarm has
been reset by turning OFF
the power too many times.
Check the alarm
history display (Fn000)
to see if the overload
alarm was reported.
Change the method for resetting
the alarm.
A.7A0
(cont.)
Heat Sink
Overheated
(Detected
when the
heat sink
temperature
exceeds
100°C.)
Excessive load or operation
beyond the regenerative
energy processing capacity.
Check the accumulated
load ratio (Un009) to
see the load during
operation, and the
regenerative load ratio
(Un00A) to see the
regenerative energy
processing capacity.
Reconsider the load and operating
conditions.
Incorrect SERVOPACK
installation orientation
or/and insufficient space
around the SERVOPACK.
Check the SERVOPACK
installation conditions.
Install the SERVOPACK correctly as
specified.
A SERVOPACK fault
occurred.
--
The SERVOPACK may be faulty.
Replace the SERVOPACK.
A.7AB
Built-in
Fan in
SERVOPACK
Stopped
The fan inside the
SERVOPACK stopped.
Check for foreign
matter or debris inside
the SERVOPACK.
Remove foreign matter or debris
from the SERVOPACK. If the alarm
still occurs, the SERVOPACK may be
faulty. Replace the SERVOPACK.
A.810
Encoder
Backup
Error
(Only
when an
absolute
encoder is
connected.)
(Detected
on the
Alarm occurred when the
power to the absolute
encoder was initially turned
ON.
Check to see if the
power was turned ON
initially.
Set up the encoder (Fn008).
The encoder cable
disconnected, and
connected again.
Check to see if the
power was turned ON
initially.
Confirm the connection and set up
the encoder (Fn008).
The power from both the
control power supply (+5 V)
from the SERVOPACK and
the battery power supply is
not being supplied.
Check the encoder
connector battery or
the connector contact
status.
Replace the battery or take similar
measures to supply power to the
encoder, and set up the encoder
(Fn008).

on the
encoder
side.)
not being supplied.
status.
(Fn008).
An absolute encoder fault
occurred.
--
If the alarm cannot be reset by
setting up the encoder again,
replace the servomotor.
A SERVOPACK fault
occurred.
--
The SERVOPACK may be faulty.
Replace the SERVOPACK.
A.820
Encoder
Checksum
Error
(Detected
on the
encoder
side.)
An encoder fault occurred.
--
Set up the encoder again using
Fn008. If the alarm still occurs, the
servomotor may be faulty. Replace
the servomotor.
A SERVOPACK fault
occurred.
--
The SERVOPACK may be faulty.
Replace the SERVOPACK.
A.830
Absolute
Encoder
Battery
Error
(The
absolute
encoder
battery
voltage is
lower than
the
specified
value.)
The battery connection is
incorrect.
Check the battery
connection.
Reconnect the battery.
The battery voltage is lower
than the specified value
2.7V.
Measure the battery
voltage.
Replace the battery.
A SERVOPACK fault
occurred.
--
The SERVOPACK may be faulty.
Replace the SERVOPACK.
A.840
Encoder
Data Error
(Detected
on the
encoder
side.)
The encoder malfunctioned.
--
Turn the power supply OFF and then
ON again. If the alarm still occurs,
the servomotor may be faulty.
Replace the servomotor.
Malfunction of encoder
because of noise
interference, etc.
--
Correct the wiring around the
encoder by separating the encoder
cable from the servomotor main
circuit cable or by checking the
grounding and other wiring.
A.850
Encoder
Overspeed
(Detected
when the
control
power
supply was
turned ON.)
(Detected
on the
encoderside.)
The servomotor was
running at 200 min-1 or
higher when the control
power supply was turned
ON.
Check the motor
rotating speed (Un000)
to confirm the
servomotor speed
when the power is
turned ON.
Reduce the servomotor speed to a
value less than 200 min-1, and turn
ON the control power supply.
An encoder fault occurred.
--
Turn the power supply OFF and then
ON again. If the alarm still occurs,
the servomotor may be faulty.
Replace the servomotor.
A SERVOPACK fault
occurred.
--
Turn the power supply OFF and then
ON again. If the alarm still occurs,
the SERVOPACK may be faulty.
Replace the SERVOPACK.
A.860
Encoder
Overheated
(Only when
an absolute
encoder is
connected.)
(Detected
on the
encoder
side.)
The ambient operating
temperature around the
servomotor is too high.
Measure the ambient
operating temperature
around the servomotor.
The ambient operating temperature
must be 40°C or less.
The servomotor load is
greater than the rated load.
Check the accumulated
load ratio (Un009) to
see the load.
The servomotor load must be within
the specified range.
An encoder fault occurred.
--
Turn the power supply OFF and then
ON again. If the alarm still occurs,
the servomotor may be faulty.
Replace the servomotor.
A SERVOPACK fault
occurred.
--
Turn the power supply OFF and then
ON again. If the alarm still occurs,
the SERVOPACK may be faulty.
Replace the SERVOPACK.

Replace the SERVOPACK.
A.8A0
External
Encoder
Error
Setting the zero point
position of external absolute
encoder failed because the
servomotor rotated.
Before setting the zero
point position, use the
fully-closed feedback
pulse counter (Un00E)
to confirm that the
servomotor is not
rotating.
The servomotor must be stopped
while setting the zero point position.
An external encoder fault
occurred.
--
Replace the external encoder.
A.8A1
External
Encoder
Error of
Module
An external encoder fault
occurred.
--
Replace the external encoder.
A serial converter unit fault
occurred.
--
Replace the serial converter unit.
A.8A
External
Encoder
Error of
Sensor
(Incremental)
An external encoder fault
occurred.
--
Replace the external encoder.
A.8A3
External
Encoder
Error of
Position
(Absolute)
An external absolute
encoder fault occurred.
--
The external absolute encoder may
be faulty. Refer to the encoder
manufacturer's instruction manual
for corrective actions.
A.8A5
External
Encoder
Overspeed
The overspeed from the
external encoder occurred.
Check the maximum
speed of the external
encoder.
Keep the external encoder below its
maximum speed.
A.8A6
External
Encoder
Overheated
The overheat from the
external encoder occurred.
--
Repair or replace the external
encoder.
A.b10
Speed
Reference
A/D Error
(Detected
when the
servo is
ON.)
A malfunction occurred in
the speed reference input
section.
--
Clear and reset the alarm and
restart the operation.
A SERVOPACK fault
occurred.
--
Turn the power supply OFF and then
ON again. If the alarm still occurs,
the SERVOPACK may be faulty.
Replace the SERVOPACK.
A.b11
Speed
Reference
A/D Data
Error
A malfunction occurred in
the speed reference input
section.
--
Clear and reset the alarm and
restart the operation.
A SERVOPACK fault
occurred.
--
Turn the power supply OFF and then
ON again. If the alarm still occurs,
the SERVOPACK may be faulty.
Replace the SERVOPACK.
A.b20
Reference
Torque
Input Read
Error
(Detected
when the
servo is
ON.)
A malfunction occurred in
the reading section of the
torque reference input.
--
Clear and reset the alarm and
restart the operation.
A SERVOPACK fault
occurred.
--
Turn the power supply OFF and then
ON again. If the alarm still occurs,
the SERVOPACK may be faulty.
Replace the SERVOPACK.
A.b31
Current
Detection
Error 1
The current detection circuit
for phase U is faulty.
--
Turn the power supply OFF and then
ON again. If the alarm still occurs,
the SERVOPACK may be faulty.
Replace the SERVOPACK.
A.b32
Current
Detection
Error 2
The current detection circuit
for phase V is faulty.
--
Turn the power supply OFF and then
ON again. If the alarm still occurs,
the SERVOPACK may be faulty.
Replace the SERVOPACK.

A.b33
Current
Detection
Error 3
The detection circuit for the
current is faulty.
--
Turn the power supply OFF and then
ON again. If the alarm still occurs,
the SERVOPACK may be faulty.
Replace the SERVOPACK.
The servomotor main circuit
cable is disconnected.
Check for
disconnection of the
servomotor main
circuit cable.
Correct the servomotor wiring.
A.bF0
System
Alarm 0
A SERVOPACK fault
occurred.
--
Turn the power supply OFF and then
ON again. If the alarm still occurs,
the SERVOPACK may be faulty.
Replace the SERVOPACK.
A.bF1
System
Alarm 1
A SERVOPACK fault
occurred.
--
Turn the power supply OFF and then
ON again. If the alarm still occurs,
the SERVOPACK may be faulty.
Replace the SERVOPACK.
A.bF2
System
Alarm 2
A SERVOPACK fault
occurred.
--
Turn the power supply OFF and then
ON again. If the alarm still occurs,
the SERVOPACK may be faulty.
Replace the SERVOPACK.
A.bF3
System
Alarm 3
A SERVOPACK fault
occurred.
--
Turn the power supply OFF and then
ON again. If the alarm still occurs,
the SERVOPACK may be faulty.
Replace the SERVOPACK.
A.bF4
System
Alarm 4
A SERVOPACK fault
occurred.
--
Turn the power supply OFF and then
ON again. If the alarm still occurs,
the SERVOPACK may be faulty.
Replace the SERVOPACK.
A.C10
Servo
Overrun
Detected
(Detected
when the
servomotor
power is
ON.)
The order of phases U, V,
and W in the servomotor
wiring is incorrect.
Check the servomotor
wiring.
Confirm that the servomotor is
correctly wired.
An encoder fault occurred.
--
If the alarm still occurs after turning
the power OFF and then ON again,
even though the servomotor is
correctly wired, the servomotor may
be faulty. Replace the servomotor.
A SERVOPACK fault
occurred.
--
Turn the power supply OFF and then
ON again. If the alarm still occurs,
the SERVOPACK may be faulty.
Replace the SERVOPACK.
A.C80
Absolute
Encoder
Clear Error
and
Multiturn
Limit
Setting
Error
An encoder fault occurred.
--
Turn the power supply OFF and then
ON again. If the alarm still occurs,
the servomotor may be faulty.
Replace the servomotor.
A SERVOPACK fault
occurred.
--
Turn the power supply OFF and then
ON again. If the alarm still occurs,
the SERVOPACK may be faulty.
Replace the SERVOPACK.
Contact fault of encoder
connector or incorrect
encoder wiring.
Check the encoder
connector contact
status.
Re-insert the encoder connector
and confirm that the encoder is
correctly wired.
Encoder cable disconnection
or short-circuit. Or, incorrect
cable impedance.
Check the encoder
cable.
Use the encoder cable with the
specified rating.
Corrosion caused by
improper temperature,
humidity, or gas, short-
Improve the operating

A.C90
Encoder
Communications
Error
humidity, or gas, short-
circuit caused by intrusion
of water drops or cutting oil,
or connector contact fault
caused by vibration.
Check the operating
environment.
Improve the operating
environmental conditions, and
replace the cable. If the alarm still
occurs, replace the SERVOPACK.
Malfunction caused by noise
interference.
--
Correct the wiring around the
encoder to avoid noise interference
(Separate the encoder cable from
the servomotor main circuit cable,
improve grounding, etc.)
A SERVOPACK fault
occurred.
--
Connect the servomotor to another
SERVOPACK, and turn ON the
control power. If no alarm occurs,
the SERVOPACK may be faulty.
Replace the SERVOPACK.
A.C91
Encoder
Communications
Position
Data Error
The noise interference
occurred on the I/O signal
line because the encoder
cable is bent and the sheath
is damaged.
Check the encoder
cable and connector.
Confirm that there is no problem
with the encoder cable layout.
The encoder cable is
bundled with a high-current
line or near a high-current
line.
Check the encoder
cable layout.
Confirm that there is no surge
voltage on the encoder cable.
The FG potential varies
because of influence from
machines on the servomotor
side, such as the welder.
Check the encoder
cable layout.
Properly ground the machines to
separate from the encoder FG.
A.C92
Encoder
Communications
Timer Error
Noise interference occurred
on the I/O signal line from
the encoder.
--
Take countermeasures against
noise for the encoder wiring.
Excessive vibration and
shocks were applied to the
encoder.
Check the operating
environment.
Reduce the machine vibration or
correctly install the servomotor.
An encoder fault occurred.
--
Turn the power supply OFF and then
ON again. If the alarm still occurs,
the servomotor may be faulty.
Replace the servomotor.
A SERVOPACK fault
occurred.
--
Turn the power supply OFF and then
ON again. If the alarm still occurs,
the SERVOPACK may be faulty.
Replace the SERVOPACK.
A.CA0
Encoder
Parameter
Error
An encoder fault occurred.
--
Turn the power supply OFF and then
ON again. If the alarm still occurs,
the servomotor may be faulty.
Replace the servomotor.
A SERVOPACK fault
occurred.
--
Turn the power supply OFF and then
ON again. If the alarm still occurs,
the SERVOPACK may be faulty.
Replace the SERVOPACK.
The encoder wiring and
contact are incorrect.
Check the encoder
wiring.
Correct the encoder wiring.
Noise interference occurred
due to incorrect encoder
cable specifications.
--
Use tinned annealed copper
shielded twisted-pair or screened
unshielded twisted-pair cable with a
core of at least 0.12 mm2.
Noise interference occurred
because the wiring distance
for the encoder cable is too
long.
--
The wiring distance must be 50 m
max.
The FG potential varies
because of influence from
Check the encoder
Properly ground the machines to

A.Cb0
Encoder
Echoback
Error
because of influence from
machines on the servomotor
side, such as the welder.
Check the encoder
cable layout.
Properly ground the machines to
separate from encoder FG.
Excessive vibration and
shocks were applied to the
encoder.
Check the operating
environment.
Reduce the machine vibration or
correctly install the servomotor.
An encoder fault occurred.
--
Turn the power supply OFF and then
ON again. If the alarm still occurs,
the servomotor may be faulty.
Replace the servomotor.
A SERVOPACK fault
occurred.
--
Turn the power supply OFF and then
ON again. If the alarm still occurs,
the SERVOPACK may be faulty.
Replace the SERVOPACK.
A.CC0
Multiturn
Limit
Disagreement
When using a direct drive
(DD) servo motor, the
multiturn limit value
(Pn205) is different from
that of the encoder.
Check the value of the
Pn205.
Correct the setting of Pn205 (0 to
65535).
The multiturn limit value of
the encoder is different
from that of the
SERVOPACK. Or, the
multiturn limit value of the
SERVOPACK has been
changed.
Check the value of the
Pn205 of the
SERVOPACK.
Execute Fn013 at the occurrence of
alarm.
A SERVOPACK fault
occurred.
--
Turn the power supply OFF and then
ON again. If the alarm still occurs,
the SERVOPACK may be faulty.
Replace the SERVOPACK.
A.CF1
Feedback
Option
Module
Communications
Error
(Reception
error)
Wiring of cable between
serial converter unit and
SERVOPACK is incorrect or
contact is faulty.
Check the external
encoder wiring.
Correct the cable wiring.
The specified cable is not
used between serial
converter unit and
SERVOPACK.
Confirm the external
encoder wiring
specifications.
Use the specified cable.
Cable between serial
converter unit and
SERVOPACK is too long.
Measure the length of
this cable.
Use 20-m cable max.
Sheath of cable between
serial converter unit and
SERVOPACK is broken.
Check the cable for
damage.
Replace the cable.
A.CF2
Feedback
Option
Module
Communications
Error
(Timer stop)
Noise interferes with the
cable between serial
converter unit and
SERVOPACK.
--
Correct the wiring around serial
converter unit, e.g., separating I/O
signal line from main circuit cable or
grounding.
A serial converter unit fault
occurred.
--
Replace the serial converter unit.
A SERVOPACK fault
occurred.
--
Replace the SERVOPACK.
Position
Error
Overflow
(Position
error
exceeded
The servomotor U, V, and W
wirings is faulty.
Check the servomotor
main circuit cable
connection.
Confirm that there is no contact
fault in the motor wiring or encoder
wiring.
The frequency of the
position reference pulse is
too high.
Reduce the reference
pulse frequency, and
operate the
SERVOPACK.
Reduce the position reference pulse
frequency or acceleration of
position reference. Or, reconsider
the electronic gear ratio.
The position reference
acceleration is too fast.
Reduce the reference
acceleration, and
operate the
Apply the smoothing function, such
as using position reference
acceleration/deceleration time

A.d00
exceeded
the value
set in the
excessive
position
error alarm
level
(Pn520).)
acceleration is too fast.
operate the
SERVOPACK.
acceleration/deceleration time
constant (Pn216).
Setting of the excessive
position error alarm level
(Pn520) is low against the
operating condition.
Check the alarm level
(Pn520) to see if it is
set to an appropriate
value.
Set the Pn520 to proper value.
A SERVOPACK fault
occurred.
--
Turn the power supply OFF and then
ON again. If the alarm still occurs,
the SERVOPACK may be faulty.
Replace the SERVOPACK.
A.d01
Position
Error
Overflow
Alarm at
Servo ON
This alarm occurs if the
servo ON signal (/S-ON) is
turned ON when the
position error is greater
than the set value of Pn526.
Check the position
error amount (Un008)
while the /S-ON signal
is OFF.
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).
A.d02
Position
Error
Overflow
Alarm by
Speed Limit
at Servo ON
When pulses remain in the
error counter, Pn529 limits
the speed if the /S-ON signal
is turned ON. If Pn529 limits
the speed in such a state,
this alarm occurs when
reference pulses are input
and the number of position
errors exceeds the value set
for the excessive position
error alarm level (Pn520).
--
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).
A.d10
Motor-load
Position
Error
Overflow
Motor rotation direction and
external encoder
installation direction are
opposite.
Check the servomotor
rotation direction and
the external encoder
installation direction.
Install the external encoder in the
opposite direction, or change the
setting of the external encoder
usage method (Pn002.3) to reverse
the direction.
Mounting of the load (e.g.,
stage) and external encoder
joint installation are
incorrect.
Check the external
encoder mechanical
connection.
Check the mechanical joints.
A.E72
Feedback
Option
Module
Detection
Failure
The connection between the
SERVOPACK and the
Feedback Option Module is
Faulty.
Check the connection
between the
SERVOPACK and the
Feedback Option
Module.
Correctly connect the Feedback
Option Module.
The Feedback Option
Module was disconnected.
--
Execute resetting configuration
error in option modules (Fn014) and
turn the power supply OFF and then
ON again.
A Feedback Option Module
fault occurred.
--
Replace the Feedback Option
Module.
A SERVOPACK fault
occurred.
--
Replace the SERVOPACK.
A.Eb1
Safety
Function
Signal Input
Timing
Error
The lag between activations
of the input signals /HWBB1
and /HWBB2 for the HWBB
function is ten second or
more.
Measure the time lag
between the /HWBB1
and /HWBB2 signals.
The output signal circuits or devices
for /HWBB1 and /HWBB2 or the
SERVOPACK input signal circuits
may be faulty. Alternatively, the
input signal cables may be
disconnected. Check if any of these
items are faulty or have been
disconnected.
A.F10
Main Circuit
Cable Open
Phase
(With the
main power
supply ON,
voltage was
low for
more than 1
second in
an R, S, or T
The three-phase power
supply wiring is incorrect.
Check the power
supply wiring.
Confirm that the power supply is
correctly wired.
The three-phase power
supply is unbalanced.
Measure the voltage at
each phase of the
three-phase power
supply.
Balance the power supply by
changing phases.
A single-phase power is
input without setting
Pn00B.2 (power supply
method for three-phase
Check the power
supply and the
parameter setting.
Match the parameter setting to the
power supply.

an R, S, or T
phase.)
(Detected
when the
main power
supply was
turned ON.)
method for three-phase
SERVOPACK) to 1 (single-
phase power supply).
parameter setting.
power supply.
A SERVOPACK fault
occurred.
--
Turn the power supply OFF and then
ON again. If the alarm still occurs,
the SERVOPACK may be faulty.
Replace the SERVOPACK.
CPF00
Digital
Operator
Transmission
Error 1
The contact between the
digital operator and the
SERVOPACK is faulty.
Check the connector
contact.
Insert securely the connector or
replace the cable.
Malfunction caused by noise
interference.
--
Keep the digital operator or the
cable away from noise sources.
CPF01
Digital
Operator
Transmission
Error 2
A digital operator fault
occurred.
--
Disconnect the digital operator and
then re-connect it. If the alarm still
occurs, the digital operator may be
faulty. Replace the digital operator.
A SERVOPACK fault
occurred.
--
Turn the power supply OFF and then
ON again. If the alarm still occurs,
the SERVOPACK may be faulty.
Replace the SERVOPACK.

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