NSK EDD Megatorque Motor - Cause and Remedy for Alarms and Warnings

11. Alarm and Warning
— 11-6 —
11.2.2. Condition in the State of Alarm and Warning
 The Driver Unit reports three kinds of abnormality.
 Alarm : Abnormal state in which the System cannot continue the operation.
 Warning : Abnormality that can be avoided by changing the way of operation or
tuning of parameters.
 Over travel limit: Hardware over travel limit and software over travel limit
 For reporting abnormal state, the power LED on the front panel of the Driver Unit turns in orange and the
7 segments LED identifies the abnormality.
11.2.2.1. Alarm
 Reports occurrence of serious problem or in the state of Emergency stop.
 When an alarm is detected, the output DRDY opens, the condition of the Motor changes to
servo-off state, and the Dynamic brake functions to stop the Motor.
 In case of emergency stop, the state of alarm can be cleared by deactivation of the input EMST.
In case of other alarms, it is necessary to turn off the power and remedy the cause. (When the
part of the System is defective, some alarm cannot be cleared.)
Table 11-5: Alarm
7-seg.
LED
Readout of the
Command TA
(Tell alarm)
Name
Motor
condition
Output
DRDY
Output
WRN
Output
OTPA
OTMA
Alarm
history
Alarm
clear
–
–
(CPU not functioning)
Servo-off
Open
Open
Open
–
–
A0
A0>Position
Sensor Error
Disconnected sensor
cable
Servo-
offOpen
Open
–
–

–
A1
A1>Absolute
Position Error
Position data error
Servo-off
Open
–
–

–
A2
A2>Motor Cable
Disconnected
Disconnected Motor
cable
Servo off
Open
–
–

–
A4
A4>Over Speed
Excess velocity
Servo-off
Open
–
–

–
A9
A9>Commutation
Error
Commutation error
Servo-off
Open
–
–

–
C3
C3>CPU Error
CPU error
Servo-off
Open
–
–
*1
–
E0
E0>RAM Error
RAM error
Servo-off
Open
–
–
–
–
E2
E2>ROM Error
ROM error
Servo-off
Open
–
–
*1
–
E7
E7>System Error
System error
Servo-off
Open
–
–

–
E8
E8>I/F Error
Interface error
Servo-off
Open
–
–

–
E9
E9>ADC Error
ADC error
Servo-off
Open
–
–

–
F4
F4>Emergency
Stop
Emergency stop
Servo-off
Open
–
–
–
*2
P0
P0>Over Heat
Over heat
Servo-off
Open
–
–

–
P1
P1>Main AC Line
Over Voltage
Excess voltage
Servo-off
Open
–
–

–
P2
P2>Over Current
Excess Motor current
Servo-off
Open
–
–

–
P3
P3>Control AC
Line Under
Voltage
Low control power
voltage
Servo-off
Open
–
–

–
P9
P9>Power Module
Alarm
Power module alarm
Servo-off
Open
–
–

–
*1: Back up only recordable history.
*2: Can be cleared by a deactivation of the input EMST.