Panasonic Servo Drive Error Codes

When in Trouble, Protective Function (What is Error Code ?)

Various protective functions are equipped in the driver. When these are triggered, the

motor will stall due to error, the driver will turn the Servo-Alarm output (ALM) to off (open).

 

Protective function	Error code No.		Causes	Measures
	Main	Sub
Under voltage protection of control power supply	11	0	Voltage between P and N of converting unit of control power supply has fallen down and dropped below specified value. 100 V version: approx. 200 VDC (approx. 140 VAC)	Measure L1C-L2C line voltage of connector and terminal block
			200 V version: approx. 400 VDC (approx. 280 VAC)
			1)  Low power supply voltage. Occurrence of momentary power failure.	1)  Increase the capacity of power supply voltage. Change the power supply.
			2)  Power capacity shortage…Due to rush current at the main power-on, power supply voltage has fallen down.	2)  Increase the power capacity.
			3)  Servo driver failure (circuit failure)	3)  Replace with new servo driver.
Over-voltage protection	12	0	Voltage between P and N of the converter portion of the control power supply has exceeded the specified value 100 V version: approx. 200 VDC (approx. 140 VAC)	Measure the voltage between lines of connector (L1, L2 and L3).
			200 V version: approx. 400 VDC (approx. 280 VAC)	1)  Enter correct voltage. Remove a phase- advancing capacitor.
			1)  Power supply voltage has exceeded the permissible input voltage. Voltage surge due to the phase-advancing capacitor or UPS (Uninterruptible Power Supply) have occurred.	2)  Measure the resistance of the external resistor connected between terminal P – B of the driver. Replace the external resistor if the value is ∞.
			2)  Disconnection of the regeneration discharge resistor	3)  Change the specified regeneration
			3) External regeneration resistor is not appropriate and could not absorb the regenerative energy.	resistance value to wattage.
			4)  External regeneration discharge resistor is not appropriate and could not absorb the regeneration energy.	4)  Change to the one with specified
			5)  Failure of servo driver (failure of the circuit)	resistance and wattage.
				5)  Check that Pr0.16.
Main power supply under- voltage protection (PN)	13	0	Instantaneous power failure has occurred between L1 and L3 for longer period than the preset time with Pr5.09 (Main power off detecting time) while Pr5.08 (LV trip selection at the main power-off) is set	Measure the voltage between lines of connector (L1, L2 and L3).
			to 1. Or the voltage between P and N of the converter portion of the main power supply has fallen below the specified value during Servo-ON.
			100 V version: approx. 80 VDC (approx. 55 VAC)
			200 V version: approx. 110 VDC (approx. 75 VAC)
			1)  Power supply voltage is low. Instantaneous power failure has occurred	1)  Increase the power capacity. Change the power supply. Remove the causes of the shutdown of the magnetic contactor or the main power supply, then re-enter the power.
			2)  Instantaneous power failure has occurred.	2)  Set up the longer time to Pr5.09 (Main power off detecting time). Set up each phase of the power correctly.
			3)  Lack of power capacity…Power supply voltage has fallen down due to inrush current at the main power-on.	3)  Increase the power capacity. For the capacity, refer to P.2-10, “Driver and List of Applicable Peripheral Equipments” of Preparation.
			4)  Phase lack…3-phase input driver has been operated with single phase input.	4)  Connect each phase of the power supply (L1, L2 and L3) correctly. For single phase, 100 V and 200 V driver, use L1 and L3.
			5)  Failure of servo driver (failure of the circuit)	5)  Replace the driver with a new one.Eusens Control
Main power supply under- voltage protection (AC)		1
Protective function	Error code No.		Causes	Measures
	Main	Sub
*	14	0	Current through the converter portion has
Over-current protection			exceeded the specified value.
			1) Failure of servo driver (failure of the circuit, IGBT or other components)	1)  Turn to Servo-ON, while disconnecting the motor. If error occurs immediately, replace with a new driver.
			2) Short of the motor wire (U, V and W)	2)  Check that the motor wire (U, V and W) is not shorted, and check the branched out wire out of the connector. Make a correct wiring connection.
				3)  Measure the insulation resistance between motor wires, U, V and W and earth wire. In case of poor insulation, replace the motor.
			3) Earth fault of the motor wire	4)  Check the balance of resister between each motor line, and if unbalance is found, replace the motor.
				5)  Check the loose connectors. If they are, or
			4) Burnout of the motor	pulled out, fix them securely.
			5) Poor contact of the motor wire.	6)  Replace the servo driver. Do not use Servo-ON/Servo-OFF as a means of staring/stopping the operation.
			6)  Welding of contact of dynamic braking relay due to frequent servo ON/OFF operations.	7)  Enter the pulses 100 ms or longer after
			7)  Timing of pulse input is same as or earlier than Servo-ON.	Servo-ON.
IPM error protection		1	8)  Blowout of thermal fuse due to overheating dynamic brake circuit. (Only F and G frames)	8)  Replace the driver.
IPM:Intelligent Power Module			9)  Power Modulef overheat protection	9) Increase capacity of servo driver and motor. Set up longer acceleration/deceleration time.Reduce the load.
Over-heat protection	15	0	Temperature of the heat sink or power device has been risen over the specified temperature.	1)  Improve the ambient temperature and cooling condition.
			1)  Ambient temperature has risen over the specified temperature.	2)  Increase the capacity of the driver and motor. Set up longer acceleration/ deceleration time. Lower the load.
* Encoders abnormal Over-heat protection		1	When encoder overheating prtection detection is valid by the setting value	1)  Improve the ambient temperature of servomotor and the cooling condition.
			of bit 11 Pr6.10,(Invaild initial set value) The temperature of encoder has exceeded an encoder overheat abnormal level.	2)  Increase capacity of servo driver and motor.Set up longer acceleration/ deceleration time.Reduce the load..
			1)  The ambient temperature of servomotor is high.
			2)  Overload
Protective function	Error code No.		Causes	Measures
	Main	Sub
Over-load protection	16	0	Torque command value has exceeded the over-load level set with Pr5.12 (Setup of over-load level) and resulted in overload protection according to the time characteristics (described later)	Check that the torque (current) does not oscillates nor fluctuate up an down very much on the analog outoput and via communication. Check the over-load alarm display and load factor with the analog outoput and via communication..
				1) Increase the capacity of the driver and motor. Set up longer acceleration/ deceleration time. Lower the load.
			1)  Load was heavy and actual torque has exceeded the rated torque and kept running for a long time.	2) Make a re-adjustment.
			2)  Oscillation and hunching action due to poor adjustment.
			Motor vibration, abnormal noise.
			Inertia ratio (Pr0.04) setup error.	3) Make a wiring as per the wiring diagram. Replace the cables.
			3)  Miswiring, disconnection of the motor.	4) Remove the cause of distortion. Lower the load.
			4)  Machine has collided or the load has gotten heavy. Machine has been distorted.	5) Measure the voltage between brake terminals. Release the brake
			5)  Electromagnetic brake has been kept engaged.	6) Make a correct wiring by matching the correct motor and encoder wires.
			6)  While wiring multiple axes, miswiring has occurred by connecting the motor cable to other axis.
				•  The over-load protection time characteristics are described on P.6-14.
				Once this error occurs, it cannot be cleared at least for 10 sec.
Torque saturation anomaly protection		1	Torque saturation has continued for the time set in Pr6.57 Torque saturation error protection detect time.	• Check operation of the driver.
				• Refer to Measures described for Err16.0.
Over- regeneration load protection	18	0	Regenerative energy has exceeded the capacity of regenerative resistor.	Check the load factor of the regenerative resistor from the front panel or via communi- cation.
				Do not use in the continuous regenerative brake application.
				1) Check the running pattern (velocity monitor). Check the load factor of the regenerative resistor and over-regeneration warning display. Increase the capacity
			1) Due to the regenerative energy during deceleration caused by a large load inertia, converter voltage has risen, and the voltage is risen further due to the lack of capacity of absorbing this energy of the regeneration discharge resistor.	of the driver and the motor, and loosen the deceleration time. Use the external regenerative resistor.
			2) Regenerative energy has not been absorbed in the specified time due to a high motor rotational speed.	2) Check the running pattern (speed monitor). Check the load factor of the regenerative resistor. Increase the capacity of the driver and the motor, and loosen the deceleration time. Lower the motor rotational speed. Use an external regenerative resistor.
				3) Set up Pr0.16 to 2.
			3) Active limit of the external regenerative
			resistor has been limited to 10 % duty.
				Caution Install an external protection such as thermal fuse without fail when
				you set up Pr0.16 to 2. Otherwise, regenerative resistor loses the
				protection and it may be heated up extremely and may burn out.
Protective function	Error code No.		Causes	Measures
	Main	Sub
*	18	1	Regenerative driver transistor on the	Replace the driver.
Regenerative			servo driver is defective.
transistor
error
protection
*	21	0	Communication between the encoder and the driver has been interrupted in certain times, and disconnection	Make a wiring connection of the encoder as per the wiring diagram. Correct the miswiring of the connector pins.
Encoder communication disconnection error protection			detecting function has been triggered.
*		1	Communication error has occurred in data from the encoder. Mainly data error due to noise. Encoder cables are connected, but communication data has some errors.	• Secure the power supply for the encoder of DC4.90 V to 5.25 V)…pay an attention especially when the encoder cables are long.
Encoder communication error protection				• Separate the encoder cable and the motor
				cable if they are bound together.
*	23	0	Data communication between the encoder is normal, but contents of data are not correct.	• Connect the shield to FG.
Encoder communication data error protection			Mainly data error due to noise. Encoder cables are connected, but communication data has some errors.
Position deviation excess protection	24	0	Deviation pulses have exceeded the
			setup of Pr0.14.
			1) The motor movement has not followed the command.	1)  Check that the motor follows to the position command pulses. Check that the output toque has not saturated in torque monitor. Make a gain adjustment. Set up maximum value to Pr0.13 and Pr5.22. Make a encoder wiring as per the wiring diagram. Set up the longer acceleration/deceleration time. Lower the load and speed.
				2)  Set up a larger value to Pr0.14.
			2) Setup value of Pr0.14 (Position
			deviation excess setup) is small.
Speed deviation excess protection		1	The difference between the internal positional command speed and actual speed (speed deviation) exceeds the setup vale of Pr6.02.	• Increase the setup value of Pr6.02.
			Note) If the internal positional command speed is forcibly set to 0 due to instantaneous stop caused by the command pulse inhibit input (INH) or CW/CCW over-travel inhibit input, the speed deviation rapidly increases at this moment. Pr6.02 setup value should have sufficient margin because the speed deviation also largely increases on the rising edge of the internal positional command speed.	• Lengthen the acceleration/deceleration time of internal positional command speed, or improve the follow-up characteristic by adjusting the gain.
				• Disable the excess speed deviation detection (Pr6.02 = 0).
Protective function	Error code No.		Causes	Measures
	Main	Sub
* Hybrid deviation	25	0	• Position of load by the external scale and position of the motor by the encoder slips larger than the setup pulses with Pr3.28 (Setup of hybrid deviation excess) at full-closed control.	• Check the connection between the motor
excess error protection				and the load.
				• Check the connection between the external
				scale and the driver.
				• Check that the variation of the motor position (encoder feedback value) and the load position (external scale feedback
				value) is the same sign when you move the load.
				• Check that the numerator and denominator of the external scale division (Pr3.24 and 3.25) and reversal of external scale direction (Pr3.26) are correctly set.
				• Do not change command division/
				multiplication during full closed control.
			• During full closed control, numerator of command division/multiplication is changed or switched over.
Over-speed protection	26	0	The motor rotational speed has exceeded the setup value of Pr5.13.	• Do not give an excessive speed command.
				• Check the command pulse input frequency
				and division/multiplication ratio.
				•    Make a gain adjustment when an overshoot
				has occurred due to a poor gain adjustment.
				•    Make a wiring connection of the encoder as
2nd Over- speed protection		1	The motor rotational speed has exceeded the setup value of Pr6.15.	per the wiring diagram.
Command pulse input frequency error protection	27	0	The frequency of command pulse input is	Check the command pulse input for
			more than 1.2 times the setting in Pr5.32.	frequency.
Absolute clear abnormal protection		1	Absolute encode multi-rotation clear has been executed when a block operation was enabled (Pr 6.28 is non 0).	Confirm whether absolute encode multi- rotation clear has when a block operation was enabled.(Note) This is a safety measure and is not an abnormality.
Command pulse multiplier error protection		2	Division and multiplication ratio which are set up with the command pulse counts per single turn and the1st and the 4th numerator/denominator of the electronic gear are not appropriate.	• Set the command division and multiplication ratio to a value as small as possible e.g. between 1/1000 and 1000.
			The command pulses per 0.167 ms multiplied by the command division and multiplication ratio exceeds 3000 Mpps. The command pulse input fluctuates.	• Check the setup value of electronic gear.
			Noises mixed with the command pulse input cause counting error.	• If possible, use the line driver I/F.
				• Set Pr5.32 (setting of max. command pulse input) to a value less than 1000 and enable digital filter.
Limit of pulse replay protection	28	0	The output frequency of pulse	• Check the setup values of Pr0.11 and 5.03.
			regeneration has exceeded the limit.	• To disable the detection, set Pr5.33 to 0.
Protective function	Error code No.		Causes	Measures
	Main	Sub
Deviation counter overflow protection	29	0	Position deviation value of the encoder pulse standard has exceeded 230-1 (1073741823).	• Check that the motor follows the position
				command.
				• Check that the output toque has not saturated on torque monitor.
				• Make a gain adjustment.
				• Maximize Pr0.13 “The 1st torque limit setup” and Pr5.22 “The 2nd torque limit setup”.
				• Make a connection of the encoder as
				described in the wiring diagram.
Counter overflow error protection 1		1	The value of absolute encoder (absolute external scale) position [pulse units]	• Confirm the operating range of absolute encoder (absolute external scale) position and review the electronic gear ratio.
			/ electronic gear ratio has exceeded
			±231(2147483648), in position information initialization process after closing control power supply under absolute mode when block operations is valid
Counter overflow error protection 2		2	Value of positioning deviation has exceeded±230-1(1073741823) in pulse units. Or the value ofpositioning deviation has exceeded ±230 (1073741824) in command units.	• Confirm that motor rotates in accordance
				with the positioning command.
				• Confirm that output torque has not saturated by the torque monitor.
				• Adjust gain.
				• Set Pr.0.13 “1st torque limit setting” and Pr5.22 “2ndtorque limit setting” to maximum.
				• Connect encoder connection wiring as per
				the wiring diagram.
* Safety function error	31	0	Safety function has detected an error.	In case of the repeated occurrence, because failure is possible, replace the servo driver. Return to a dealer for investigation (repair).
protection		2
*	33	0	Input signals (SI1, SI2, SI3, SI4, SI5) are assigned with two functions.	Allocate correct function to each connector pin.
I/F overlap allocation error 1 protection
*		1	Input signals (SI6, SI7, SI8, SI9, SI10)
I/F overlap allocation error 2 protection			are assigned with two functions.
*		2	Input signals (SI1, SI2, SI3, SI4, SI5) are
I/F input function number error 1			assigned with undefined number.
Protective function	Error code No.		Causes	Measures
	Main	Sub
*	33	3	Input signals (SI6, SI7, SI8, SI9, SI10) are assigned with undefined number.	Allocate correct function to each connector pin.
I/F input function number error 2
*		4	Output signals (SO1, SO2, SO3) are
I/F output function number error 1			assigned with undefined number.
*		5	Output signals (SO4, SO5, SO6) are
I/F output function number error 2			assigned with undefined number.
*		6	Counter clear function is assigned to a signal number other than SI7.
Counter clear allocation error
* Command pulse		7	Command pulse inhibit input function is assigned to a signal number other than SI10.
inhibition input allocation error
Motor working range setup error protection	34	0	The motor has exceeded the motor working range set to Pr5.14 “Allowable motor operating range setting” against the position command input range.
			1) Gain is not appropriate.
				1)  Check the gain (balance between position loop gain and speed loop gain) and inertia ratio.
				2)  Increase the setup value of Pr5.14. Or, Set Pr5.14 to 0 to disable the protective function.
			2) Pr5.14 setup value is low.
*	36	0	Data in parameter storage area has been	• Set up all parameters again.
EEPROM			damaged when reading the data from	• If the error persists, replace the driver (it may be a failure.) Return the product to the dealer or manufacturer.
parameter		1	EEPROM at power-on.
error
protection
*	37	0	Data for writing confirmation to EEPROM	Replace the driver. (it may be a failure).
EEPROM			has been damaged when reading the	Return the product to a dealer or
		1
check code			data from EEPROM at power-on.	manufacturer.
error protection		2
*	38	0	Both positive and negative direction drive	• Check that there is no error in the switches, wires and power supply connected to the positive direction/negative direction drive prohibition input. Check particularly that start-up of the power supply for the control signal (DC12 to 24 V) is not slow.
Drive			prohibition inputs (POT and NOT) have
prohibition			been turned ON at Pr5.04 “Over-travel
input			inhibition input setting” =0.
protection			Either positive direction drive prohibition
			input or negative direction drive
			prohibition input has been turned ON at
			Pr5.04=2.
Protective function	Error code No.		Causes	Measures
	Main	Sub
Analog input 1 (AI1) excess protection	39	0	The voltage more than the value set in Pr4.24 “Analog input 1 (AI1) excess	• Correctly set Pr4.24 “Analog input 1 (AI1)
			setup” has been applied to analog input 1.	excess setup.”
				Check the connection of I/F connector.
				• Set Pr4.24 to 0 and disable the protective
				function.
Analog input 2 (AI2) excess protection		1	The voltage more than the value set in Pr4.27 “Analog input 2 (AI2) excess	• Correctly set Pr4.24 “Analog input 1 (AI1)
			setup” has been applied to analog input 2.	excess setup.”
				Check the connection of I/F connector.
				• Set Pr4.24 to 0 and disable the protective
				function.
Analog input 3 (AI3) excess protection		2	The voltage more than the value set	• Correctly set Pr4.24 “Analog input 1 (AI1) excess setup.”Clear the absolute encoder first to excute the alarm clear.
			in Pr4.30 “Analog input 3 (AI3) excess setup” has been applied to analog input 3.	Check the connection of I/F connector.
				• Set Pr4.24 to 0 and disable the protective
				function.
Absolute system down error protection	40	0	The power supplies and battery powers to absolute encoder were shut down, and the built-in capacitor voltage dropped below specified value.	After connecting the power supply for the battery, clear the absolute encoder.
			Caution Once this error occurs, the alarm cannot be cleared until the absolute encoder is reset.	•   If you use the incremental system
				Pr 0.15 “sets the absolute encoder ” is set
				to 1.
* Absolute counter over error protection	41	0	Multi-turn counter of the absolute encoder has exceeded the specified value.	• Set Pr0.15 to 2 to ignore the multi-turn
				counter over.
				• Limit the travel from the machine origin
				within 32767 revolutions.
Absolute over-speed error protection	42	0	When using absolute encoder
			1) During a power failure, when only battery power is supplied, the motor rotational speed has exceeded the	1)  Check the driving from outside in a power outage and the rotational speed at the time, and operate to make it below specified value.
			specified value.
			2) During normal operation, for some	2)  Because the mode was switched to a power failure mode during normal activity
			reason, the power of encoder has been	• Check the encoder-side power supply voltage (5 V±5 %).
			shut down, and the rotational speed has	• Check the connection of connector CN2.
			exceeded the specified value.	The alarm cannot be cleared until the absolute encoder is reset.
			Caution Once this error occurs, the alarm cannot be cleared until the absolute encoder is reset.	•   If you use the incremental system
Protective function	Error code No.		Causes	Measures
	Main	Sub
*	43	0	An error has been detected at	Replace the motor.
Encoder			initialization time of serial incremental
initialization			encoder.
error protection *1
*	44	0	Absolute encoder has detected a single	Replace the motor.
Absolute single			turn counter error.
turn counter			Serial incremental encoder has detected
error protection/			an error in the incremental counter value
incremental			of single turn counter.
single turn			(between z-phase signals)
counter error protection *1
*	45	0	Absolute encoder has detected a multi-	Replace the motor.
Absolute			turn counter error.	•   If you use the incremental system
multi-turn			Serial incremental encoder has detected	Pr 0.15 “sets the absolute encoder ” is set
counter error protection/			an error in the incremental counter values between CS signals.	to 1.
incremental
counter error protection *1
*	47	0	When power is turned on, absolute	Arrange so as the motor does not run at
Absolute			encoder has been rotated at the specified	power-on.
status error protection *1			value or above.
Incremental	48	0	Missing pulse of Z-phase of serial	Replace the motor.
encoder Z			incremental encoder has been detected.
phase error			Failure of encoder.
protection
Incremental	49	0	CS signal logic error of serial incremental	Replace the motor.
Encoder CS			encoder has been detected.
signal error			Failure of encoder.
protection
*	50	0	Communication between the external	• Make a wiring connection of the external
External scale			scale and the driver has been interrupted	scale as per the wiring diagram.
wiring error			in certain times, and disconnection	• Correct the miswiring of the connector pins.
protection			detecting function has been triggered.
*		1	Communication error has occurred in	• Secure the power supply for the external scale of DC5±5 % (4.75 V to 5.25 V)…pay attention especially when the external scale cables are long.
External			data from the external scale. Mainly data	• Separate the external scale cable and the
communication			error due to noise. External scale cables	motor cable if they are bound together.
data error			are connected, but communication date	•    Connect the shield to FG…refer to wiring
protection			has some error.	diagram.
Protective function	Error code No.		Causes	Measures
	Main	Sub
*	51	0	Bit 0 of the external scale error code	Remove the causes of the error, then clear
External			(ALMC) has been turned to 1.	the external scale error from the front panel.
scale status			Check the specifications of the external	And then, shut off the power to reset.
0 error protection *1			scale.
*		1	Bit 1 of the external scale error code
External			(ALMC) has been turned to 1.
scale status			Check the specifications of the external
1 error protection *1			scale.
*		2	Bit 2 of the external scale error code
External			(ALMC) has been turned to 1.
scale status			Check the specifications of the external
2 error protection *1			scale.
*		3	Bit 3 of the external scale error code (ALMC) has been turned to 1.
External			Check the specifications of the external
scale status 3 error protection *1			scale.
*		4	Bit 4 of the external scale error code (ALMC) has been turned to 1.
External			Check the specifications of the external
scale status 4 error protection *1			scale.
*		5	Bit 5 of the external scale error code (ALMC) has been turned to 1.	Remove the causes of the error, then clear the external scale error from the front panel. And then, shut off the power to reset.
External			Check the specifications of the external
scale status 5 error protection *1			scale.
*	55	0	A-phase wiring in the external scale is defective, e.g. discontinued.	Check the A-phase wiring connection.
A-phase
wiring error protection
*		1	B-phase wiring in the external scale is defective, e.g. discontinued.	Check the B-phase wiring connection.
B-phase
wiring error protection
*		2	Z-phase wiring in the external scale is defective, e.g. discontinued.	Check the Z-phase wiring connection.
Z-phase
wiring error protection
U-phase current detector error protection	70	0	U-phase current offset error is detected.	• Turn off the power once, then re-enter.
W-phase current detector error protection		1	W-phase current offset error is detected.	• If error repeats, this might be a failure.
Thermal protector error	72	0	Thermal protector error is detected.	Stop using the products, and replace the motor and the driver. Return the products to the dealer or manufacturer.
Protective function	Error code No.		Causes	Measures
	Main	Sub
Modbus communication timeout protection	80	0	While ensuring Modbus execution right, Modbus communication against own axis has not been received for more than the set time.	• Set Pr5.40 ”Modbus communication timeout period” to 0 to be disabled or to appropriate time.
				• Check the connection of Modbus
				communication.
Forced alarm input protection	87	0	Forced alarm input (E-STOP) is applied.	Check the wiring of forced alarm input (E-STOP).
Encoder data recovery abnormal protection	92	0	Initialization process of internal position information has not conducted normally under absolute and semi-closed control mode.	• Secure encoder power supply voltage at DC5V±5% (4.75 to 5.25V). Care must be taken when the encoder lines are lengthy.
				• If motor wires and encoder wires are
				bundled together, separate them.
				• Connect shield to FG.
External scale data recovery error protection		1	Internal position information initialization error under full-closed control and absolute mode with block operation enabled.	• Secure external scale power supply voltage of 5 VDC±5% (4.75 to 5.25 V). Please take extra care in case the cable connecting the external scale is long.
				• In case the motor line and the external scale connecting cable are bundled together, separate them.
				• Connect shield to FG. Refer to external
				scale connecting diagram
Multi-rotation upper limit value inconsistency error protection		3	At continuous rotating absolute encoder function, there was a disagreement between the upper-limit value of encoder multi-turn data and the upper-limit value of driver parameter multi-turn data.	• Please confirm the set values of
				parameters.
				• Reclose the control power supply when this occurs immediately after closing the control power supply. (This is not an abnormality.)
Parameter setup error 1	93	0	1)   Electronic gear ratio exceeds the allowable range.	• Check the setting value of the parameter.
			2)   When a block operation was enabled(Pr 6.28 is non 0), Modbus connection was disabled (Pr 5.37 is 0).	1)  When a block operation was enabled (Pr 6.28 is non 0), Electronic gear ratio must be in the range 1/1000 to 8000.
				2)   When a block operation was enabled
				(Pr 6.28 is non 0), Modbus connection was disabled (Pr 5.37 is 0).
Protective function	Error code No.		Causes	Measures
	Main	Sub
Block data setting error protection	93	1	1)Velocity, acceleration and deceleration were set to 0, and a block operation was started.	1)Set a value other than zero for velocity, acceleration and deceleration.
			2)A conditional branch command has not been supported for comparison purpose.
				2)Check whether the conditional branch command or the comparison purpose does not have any problems.
			3) A designated block data command has	3)Check whether the block data does not have any problems.Check whether the block number designated does not have any problems.
			been undefined.	4)Check whether the block data setup does not have any problems.
			4) Also, block data setup has some error.
Parameter setting error protection 2		2	External scale ratio has exceeded the allowable range (1/160000 to 160000 times)	• Please confirm the set values of parameters.
				• Use external scale ratio in the range of 1/40 to 1280 times
External scale connection error protection		3	Set value for Pr3.23 “External scale type selection” and the connected serial communication type external scale type to not match.	• Set Pr3.23 to match the type of the
				connected external scale
Parameter setting error protection 6		8	Block operation origin offset (Pr60.49) has been set outside the range in absolute mode origin offset valid setting (Pr60.48 bit 1 =1) under infinite rotation absolute mode when block operation is valid (Pr6.28 ≠ 0).	• Please confirm the set values of parameters.
Block operation error protection	94	0	1)During the execution of movement system command (During the execution of position command creation process), a new movement system command has been executed.	1)Check whether the block operation
			2) During block operation, a new block number was designated to start.	sequence does not have any problems.
			3)Although it was servo-off, a block operation was started.	2)Check whether the host sequence does not
				have any problems.
				3)Check whether the host sequence does not
				have any problems.
Return to origin error protection		2	Abnormal condition has occurred during block operation return to origin.	Check for abnormalities in various sensor installation status.
*	95	0 to 4	The motor and the driver has not been matched.	Replace the motor which matches to the driver.
Motor
automatic recognition error protection
*	97	0	Block operation is set to enabled, when	Check the setting of Pr 0.01”control mode
Control			other than Position control (Pr0.01 = 0)	setting” and Pr 6.28 “Special function
mode			or full-closed control (Pr0.01 = 6)	selection”
setting error
prtection

 

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