Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - Analog Voltage and Pulse Train Reference - Manual (Page 365)

10 Troubleshooting
10.1.2 Troubleshooting of Alarms
10-18
A.d00:
Position Error Over-
flow
(Position error exceeded
the value set in the
excessive position error
alarm level (Pn520).)
The servomotor U, V, and W wir-
ings is faulty.
Check the servomotor main circuit
cable connection.
Confirm that there is no contact
fault in the motor wiring or encoder
wiring.
The frequency of the position ref-
erence pulse is too high.
Reduce the reference pulse fre-
quency, and operate the SERVO-
PACK.
Reduce the position reference pulse
frequency or acceleration of posi-
tion reference. Or, reconsider the
electronic gear ratio.
The acceleration of the position
reference is too high.
Reduce the reference acceleration,
and operate the SERVOPACK.
Apply the smoothing function, such
as using position reference accelera-
tion/deceleration time constant
(Pn216).
Setting of the excessive position
error alarm level (Pn520) is low
against the operating condition.
Check the alarm level (Pn520) to
see if it is set to an appropriate
value.
Set the Pn520 to proper value.
A SERVOPACK fault occurred. −
Turn the power supply OFF and
then ON again. If the alarm still
occurs, the SERVOPACK may be
faulty. Replace the SERVOPACK.
A.d01:
Position Error Over-
flow Alarm at Servo
ON
This alarm occurs if the servomo-
tor power is turned ON when the
position error is greater than the
set value of Pn526 while the ser-
vomotor power is OFF.
Check the position error amount
(Un008) while the servomotor
power is OFF.
Set position error to be cleared
while the servomotor power is OFF.
Or, correct the excessive position
error alarm level at servo ON
(Pn526).
A.d02:
Position Error Over-
flow Alarm by Speed
Limit at Servo ON
When the position errors remain
in the error counter, Pn529 limits
the speed if the servomotor power
is ON. If Pn529 limits the speed
in such a state, this alarm occurs
when reference pulses are input
and the number of position errors
exceeds the value set for the
excessive position error alarm
level (Pn520).
−
Set position error to be cleared
while the servomotor power is OFF.
Or, correct the excessive position
error alarm level (Pn520).
Or, adjust the speed limit level at
servo ON (Pn529).
A.d10:
Motor-load Position
Error Overflow
Motor rotation direction and
external encoder installation
direction are opposite.
Check the servomotor rotation
direction and the external encoder
installation direction.
Install the external encoder in the
opposite direction, or change the
setting of the external encoder
usage method (Pn002.3) to reverse
the direction.
Mounting of the load (e.g., stage)
and external encoder joint instal-
lation are incorrect.
Check the external encoder
mechanical connection.
Check the mechanical joints.
A.E71:
Safety Option Module
Detection Failure
The connection between the
SERVOPACK and the safety
option module is faulty. Check the connection between the
SERVOPACK and the safety option
module.
Correctly connect the safety option
module.
The safety option module was
disconnected.
–
Execute Fn014 (Resetting configu-
ration error of option module) with
using the digital operator or Sig-
maWin+ and turn the power supply
OFF and then ON again.
A safety option module fault
occurred.
– Replace the safety option module.
A SERVOPACK fault occurred. – Replace the SERVOPACK.
(cont’d)
Alarm Number:
Alarm Name
(Alarm Description)
Cause Investigative Actions Corrective Actions