12.6
Troubleshooting Motion Errors
12-29
( 2 ) Servo Alarm Code (IW

2D)
When the Servo Driver Error (IL

04, bit 0) turns ON, a SERVOPACK alarm will exist. The con-
tent of the alarm can be confirmed using the Servo Alarm Code (monitoring parameter IW

2D).
The Servo alarm codes are listed in the following tables.
[ a ]
Σ
-
I
Series
Name
Register
Number
Code Meaning
Servo Alarm
Code
IW

2D
99 Normal
94 Parameter Setting Warning
95 MECHATROLINK Command Warning
96 MECHATROLINK Communication Error Warning
00 Absolute Value Data Error
02 Parameter Corrupted
10 Overcurrent
11 Ground Fault
40 Overvoltage
41 Undervoltage
51 Overspeed
71 Overload (Instantaneous)
72 Overload (Continuous)
7A Heat Sink Heating
80 Absolute Encoder Error
81 Absolute Encoder Backup Error
82 Absolute Encoder Checksum Error
83 Absolute Encoder Battery Error
84 Absolute Encoder Data Error
85 Absolute Encoder Overspeed
B1 Gate Array 1 Error
B2 Gate Array 2 Error
B3 Current Feedback Phase-U Error
B4 Current Feedback Phase-V Error
B5 Watchdog Detector Error
C1 Servo Run-away
C2 Encoder Phase Error Detected
C3 Encoder Phase-A or -B Broken
C4 Encoder Phase-C Broken
C5 Incremental Encoder Initial Pulses Error
D0 Position Error Exceeded
E5 MECHATROLINK Sync Error
E6 MECHATROLINK Communication Error
F1 Broken Phase in Power Line
F3 Momentary Power Loss
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