Inovance SV670P Series - STO Safety Terminal (CN6)

Description of Fault Codes
‑86‑
Cause
Confirming Method
Solution
3. The motor is stalled due
to mechanical factors.
Check the reference and
motor speed (H0b.00)
through the software tool or
keypad.
● References in the position
control mode: H0b.13
(Input position reference
counter)
● References in the speed
control mode: H0b.01
(Speed reference)
● References in the torque
control mode: H0b.02
(Internal torque reference)
Check whether the reference
value is not 0 but the motor
speed is 0 rpm in the
corresponding mode.
Eliminate the mechanical
factors.
4. The gain values are too
low.
Check the position loop gain
and speed loop gain of the
servo drive.
● 1st gain set: H08.00...
H08.02
● 2nd gain set: H08.03...
H08.05
Adjust the gain values
manually or perform gain
auto‑tuning.
5. The position reference
increment is too large.
Position control mode:
● In IP/CSP mode, check the
gear ratio 6091.01h/
6091.02h to determine the
position reference
increment for an individual
synchronization period and
convert it to the speed
information.
● In PP mode, check the gear
ratio 6091.01h/6091.02h
and determine the 6081h
(Profile velocity).
● In HM mode, check the
gear ratio 6091.01h/
6091.02h, and determine
6099.01h and 6099.02h.
● IP/CSP: Decreases the
position reference
increment per
synchronization period.
The host controller should
cover the position ramp
when generating
references.
● PP: Decreases the value of
6081h or decreases the
acceleration/deceleration
ramp (6083h, 6084h).
● HM: Decreases 6099.01h
and 6099.02h or decreases
the acceleration/
deceleration ramp (609Ah).
Reduce the gear ratio as
needed.