Alarm list
Parameter and check exceptions
The data of internal parameters of servo drive is abnormal.
Parameter format exception
The data format of internal parameters of servo drive is abnormal.
System and check exceptions
The data of internal parameters of servo drive is abnormal.
The main circuit detection unit is
abnormal.
Various detected data of the main circuit are abnormal.
Parameter setting exception
Parameter combination exception
The combination of multiple parameters is out of the set range.
Outside the combinable motor capacity range.
The product does not support Alarms
Unsupported products are connected.
Servo ON command invalid alarm
A servo ON command is sent from the upper device after performing the auxiliary
function of energizing the motor.
Power transistor overcurrent or heat sink overheating.
Motor overcurrent detection
A current exceeding the allowable current flows through the motor.
Regeneration overload occurred.
Main circuit power supply wiring error
The setting of AC power input/DC power input is incorrect. The power cord is wired
incorrectly.
The main circuit DC voltage is abnormally high.
The DC voltage of the main circuit is insufficient.
The motor speed exceeds the maximum speed.
Abnormal vibration of motor speed is detected.
Automatically adjust alarm
Vibration is detected in the automatic adjustment of the adjustment-free function.
Incorrect ESM requires exception
protection
A state transition request that cannot be converted from the current state was received.
Undefined ESM requires exception
protection
An undefined state transition request was received.
Boot state requires exception
protection
Bootstrap state transition request received.
PLL has not completed exception
protection
The phase combination of communication and servo is still unable to be completed after
synchronization is started for 1s.
PDO watchdog exception protection
When SP or OP, bit10 of ESC register 0200h is not ON within the specified time.
ESC hardware initialization error
ESC hardware initialization error.
ESM status is SP or OP, and the communication and servo phases do not match.
Abnormal protection of synchronous
signals
SYNC0 or IRQ interrupt processing timed out after synchronization processing was
completed.
The same period set abnormal
protection
Unsupported synchronization period (SYNC0) is set.
Mailbox Set Exception Protection
SM0/1 of mailbox is set incorrectly.
PDO Watchdog Sets Abnormal
Protection
PDO watchdog setting error.
DC set exception protection
SM event mode setting exception
protection
Unsupported SM events are set.
SM2/3 Set Abnormal Protection
SM2/3 is set to an incorrect value.
CAN controller hardware error
CAN transceiver hardware error
CANopen heartbeat timed out
Monitor heartbeat time loss or timeout
CANopen synchronization frame
timed out
Synchronization frame lost or timed out
TxPDO allocates exception
protection.
The data size of the TxPDO map exceeds 32 bytes.
RxPDO assigns exception protection.
The data size of the RxPDO map exceeds 32 bytes.
Lost link exception protection
After ESM leaves Init state, Port0 or 1 appears lost link state.
Overload (instantaneous maximum
load)
It runs for several seconds to tens of seconds with a torque greatly exceeding the rated
value.
Overload (continuous maximum load)
Continuous operation is carried out with torque exceeding the rated value.
Due to the action of DB (dynamic brake), the operating energy exceeds the capacity of
DB resistor.
Impulse current limiting resistor
overload
The main circuit power on frequency is too high.
The power supply of the encoder is completely exhausted and the position data is
cleared.
The sum check result of encoder memory is abnormal.
The voltage of the battery drops below the specified value after switching on the control
power supply.
Data inside encoder is abnormal.
When the power supply is ON, the encoder rotates at high speed.
MECHATROLINK communication
ASIC fault 1
MECHATROLINK Communication ASIC Failure 1 Occurred
MECHATROLINK communication
ASIC fault 2
MECHATROLINK Communication ASIC Failure 2 Occurred.
Servo motor out of control.
Phase information is inconsistent
Phase information is inconsistent.
Encoder communication failure
There is no communication between encoder and servo drive.
Abnormal acceleration of encoder
communication position data
A failure occurred in the calculation of encoder position data.
Encoder communication timer
exception
The communication timer between encoder and servo drive has failed.
Encoder parameter exception
Parameters of encoder are corrupted.
Encoder loopback check exception
The communication content with encoder is incorrect.
Position deviation is too large
In the servo ON state, the position deviation exceeds the excessive position deviation
warning value (Pn520).
Alarm for excessive position
deviation when servo ON
Servo ON is maintained when the position deviation in servo OFF exceeds the set value
of the excessive position deviation warning value (Pn526) when servo ON.
Alarm for excessive positi ON
When the servo is ON in the position deviation accumulation state, the speed limit is
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