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AL.009 Emergency Stop CiA402 Error Code 0x5442-01-0009
Alarm Cause
Digital input contact EMC (emergency stop) generates action.
1. Digital input contact EMC (emergency stop) activates.
2. Caused by the driver is interfered by the noise internally.
Check and
Handling
1. Disable digital input contact EMC action.
2. Please follow the motor and power standard wiring diagram & control signal
standard wiring diagram in Chapter 2 to connect external power and signal
wires.
Alarm Clearing
Method
Based on parameter Cn002.3 (EMC Return Mode Selection)
AL.010
Absolute Type Encoder Battery
Warning
CiA402 Error Code 0x7305-01-0010
Alarm Cause
Battery module voltage under 2.75V (the driver can continue operating when this
error alarm occurs).
Check and
Handling
Please replace the battery.
Alarm Clearing
Method
Switch Reset
AL.011 Excessive Position Error CiA402 Error Code 0x8611-01-0011
Alarm Cause
The difference between the Pulse Command and the Encoder Feedback Pulse
exceeds the setting of Pn308 or Pn309.
1. Position gain value (Pn310 & Pn311)and feed forward gain(Pn312)settings are
too small.
2. Setting of maximum position error determined value (Pn308 & Pn309) is too
small.
3. Torque limit too low.
4. Change of position input command is too serious.
5. Excessive external load.
6. Incorrect Motor Wiring (U, V, W).
7. Continue recording position command input quantity after drive prohibition
occurs; excessive cumulative commands. Generate alarm when activated.
Check and
Handling
1. Increase the setting of Position Loop Gain (Pn310 & Pn311) and feed forward
gain (Pn312) to speed up Motor Reaction Speed.
2. Increase the setting of Pn308 (position maximum position error determined
value) and Pn309 (negative maximum position error determined value).
3. Adjust torque limit value correctly.
4. Extend acceleration/deceleration time within permitted range.
5. Decrease external load or re-evaluate motor capacity.
6. Check whether the Motor Wiring (U, V, W) is connected properly.
7. Set the correct Pn301.2 (Drive prohibits command receiving selection) .
Alarm Clearing
Method
Switch Reset
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