— 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-off
Open
Open – –
3
–
A1
A1>Absolute
Position Error
Position data error Servo-off Open – –
3
–
A2
A2>Motor Cable
Disconnected
Disconnected Motor
cable
Servo off Open – –
3
–
A4 A4>Over Speed Excess velocity
Servo-off
Open – –
3
–
A7
A7>Resolver Amp.
Alarm
Resolver amplifier
alarm
Servo-off Open – –
3
–
A9
A9>Commutation
Error
Commutation error Servo-off Open – –
3
–
C3 C3>CPU Error CPU error
Servo-off
Open – –
3
–
C4 C4>Fieldbus Error Fieldbus error
Servo-off
Open – –
3*1
–
E0 E0>RAM Error RAM error Servo-off Open – – – –
E2 E2>ROM Error ROM error
Servo-off
Open – –
3*1
–
E7 E7>System Error System error
Servo-off
Open – –
3
–
E8 E8>I/F Error Interface error
Servo-off
Open – –
3
–
E9 E9>ADC Error ADC error
Servo-off
Open – –
3
–
F4 F4>Emergency Stop Emergency stop
Servo-off
Open – – –
3*2
P0 P0>Over Heat Over heat
Servo-off
Open – –
3
–
P1
P1>Main AC Line
Over Voltage
Excess voltage Servo-off Open – –
3
–
P2 P2>Over Current Excess Motor current Servo-off Open – –
3
–
P3
P3>Control AC Line
Under Voltage
Low control power
voltage
Servo-off Open – –
3
–
P9
P9>Power Module
Alarm
Power module alarm Servo-off Open – –
3
–
*1: Back up only recordable history.
*2: Can be cleared by a deactivation of the input
EMST.
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