9-17
AL.039
Full-closed Loop Encoder Matching
Error
CiA402 Error Code 0x7305-80-0039
Alarm Cause Encoder Matching Error
Check and
Handling
1. The full-closed loop function of used driver model (G2S-E, G2-E) prohibits the
use of the motor matching pulse type encoder.
2. Confirm if the driver correctly matches Cn030 motor model; please refer to
“Servo driver and servo motor matching comparison table” for Cn030 motor
code.
Alarm Clearing
Method
Power Re-set
AL.040
Turret Mode is prohibited to use non-
absolute type encoder
CiA402 Error Code 0x7305-80-0040
Alarm Cause Encoder Matching Error
Check and
Handling
Replace motor encoder.
Alarm Clearing
Method
Power Re-set
AL.041 Control Mode Selection Error CiA402 Error Code 0x6320-80-0041
Alarm Cause
This driver model does not support such control mode.
1. JSDG2(S)-E control mode setting error
2. JSDG2S control mode setting error
Check and
Handling
1. Check Cn001 control mode; JSDG2(S)-E does not contain b & c modes
(CANopen mode)
2. Check Cn001 control mode; JSDG2S does not contain d mode (EtherCAT mode)
Alarm Clearing
Method
Power Re-set
AL.042 Dividing Setting Error CiA402 Error Code 0x6320-80-0042
Alarm Cause Encoder signal dividing output (Cn005) setting error
Check and
Handling
Please refer to the description in “5-6-12 Encoder signal dividing output” to set
Cn005 within the reasonable range.
Alarm Clearing
Method
Power Re-set
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