— 10-11 —
B
B
3
3
t
t
y
y
p
p
e
e
B
B
5
5
t
t
y
y
p
p
e
e
2
2
3
3
t
t
y
y
p
p
e
e
2
2
5
5
t
t
y
y
p
p
e
e
10.3. Cause and Remedy of Alarm
u Velocity Error Over: A4
Cause Remedy
(1) Velocity of Motor has reached to the limit
due to external disturbance.
· Clear the alarm.
(2) Velocity of Motor has reached to the limit
due to overshooting.
· Reduce the setting of acceleration rate.
· Reduce the rotational speed.
(3) Motor tends to vibrate due to poor servo
tuning.
· Tune the Motor properly.
(4) Motor is out of control.
· Confirm the PA data for abnormality.
· Replace the Driver Unit referring to “Appendix 4.
How to Replace ESB Driver Unit.”
u Home Position Undefined: A5
Cause Remedy
(1) An absolute positioning command is
inputted after the power is turned on before
the Home position is defined.
· Complete Home Return.
· Clear alarm.
(2) Home position of the absolute position
sensor is lost because of a change in the
position scale setting
· Turn on the power again.
u Brake Error: A8
Cause Remedy
(1) Did not input the brake-off signal (CLCN
signal ON) before execution of Jog, or the
brake-off action is lifted (CLCN signal OFF)
during Jog.
· Activate the CLCN signal ON (Brake-off) before
Jog, or maintain the CLCN signal ON during Jog.
(2) The System detected pulse train signal
while the brake-off signal (CLCN) being
OFF, or the brake-off signal (CLCN) was
OFF while pulse train was being inputted.
· Activate the CLCN signal ON (Brake-off) before
inputting a pulse train command, or keep the CLCN
signal ON while inputting a pulse train command.
(3) The System detected an analog command
while the brake-off signal (CLCN) being
OFF, or the brake-off signal (CLCN) was
OFF while an analog command was being
inputted.
· Activate the CLCN signal ON (Brake-off) before
inputting an analog command, or keep the CLCN
signal ON while inputting an analog command.
(4) The DC command for velocity/torque
control mode is inputted while the brake-off
signal (CLCN) being OFF, or the brake-off
signal (CLCN) was OFF while an operation
by the DC command.
· Make the CLCN signal (Brake-off) ON before input
of DC command, or maintain the CLCN signal ON
while operation caused by the DC command.
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