10 Troubleshooting

10 Troubleshooting
10.1 Faults and Warnings
Faults and warnings are divided into the following three levels based on severity: No.1 > No.2 > No.3.
■ No. 1 non-resettable fault
■ No. 1 resettable fault
■ No. 2 resettable fault
■ No. 3 resettable warning
"Resettable" means the keypad stops displaying the fault/warning once receiving the reset signal.
To reset a fault/warning, use one of the following two methods:
■ Set 200D-02h to 1 (Fault reset).
■ Set the rising edge of bit7 of the control word 0x6040 through the host controller.
To reset a No. 1 or No. 2 fault, turn o the S-ON signal and send a fault reset signal.
For No. 3 warnings, the servo drive resets warnings automatically after the warning source is cleared.
Related parameter

Para. Setting E ective Default

Name Value Range Function
No. Condition Time Value

Used to stop the keypad from displaying

0: No operation
the fault/warning when a resettable
200Dh- Fault 1: Reset the fault/warning occurs. At stop Immediately 0
02h reset fault and
After fault/warning reset, 200Dh-02h is
warning
restored to 0 (No operation) immediately.

■ Solutions to faults and warnings occurred upon start

Fault
Start Process Cause Con rming Method
Symptom

1. The voltage of the

Check whether the value of H0B-63 is 1.
control circuit power
Measure the AC voltage between L1C and L2C.
supply is abnormal.

2. Phase loss occurs Check whether the value of H0B-63 is 2.

on the input power Voltage must be present in all the phases of a three-phase 380
supply. V power supply.

Check whether the value of H0B-63 is 3.

The LED
Switch on ◆ For single-phase 220 V models, measure the AC voltage
neither
the control
lights up nor between L1 and L2. The keypad displays nr when the DC
power
displays ry . 3. The voltage of the bus voltage amplitude (between terminals P and N) of the
supply (L1C,
main circuit power main circuit power supply is lower than 235 V.
L2C) and
supply is abnormal. ◆ For three-phase 220 V/380 V models, measure the AC voltage
main power
among L1, L2, and L3. The keypad displays nr when the DC
supply (L1,
L2, L3). bus voltage amplitude (between terminals P and N) of the
main circuit power supply is lower than 235 V/451 V.

4. The servo drive is

-
faulty.

The keypad
displays See 10.3 Solutions to Faults and 10.4 Solutions to Warnings for solutions.
Exxx.x .

The keypad displays ry when preceding faults are cleared.

10 Troubleshooting

10.2 Communication Faults and Warning Codes

■ List of fault codes

Error
Auxiliary
Fault Display Name Type Reset Fault Range Code
Code (203Fh)
(603Fh)
E101.0 System parameter error No.1 No Servo drive fault 0x6320 0x01010101
E101
E101.1 2000h/2001h parameter error No.1 No Servo drive fault 0x6320 0x11010101

FPGA communication initialization

E102.0 No.1 No Servo drive fault 0x7500 0x01020102
E102 error

E102.8 Software version mismatch No.1 No Servo drive fault 0x7500 0x81020102

E104.1 MCU operation timeout No.1 No Servo drive fault 0x7500 0x11040104

E104 E104.2 Current loop operation timeout No.1 No Servo drive fault 0x7500 0x21040104

E104.4 MCU reference update timeout No.1 No Servo drive fault 0x7500 0x41040104

E108.0 Parameter write error No.2 Yes Servo drive fault 0x5530 0x01080108

E108.1 Parameter read error No.2 Yes Servo drive fault 0x5530 0x11080108

E108 Invalid check on data written in

E108.2 No.2 Yes Servo drive fault 0x5530 0x21080108
EEPROM

Invalid check on data read in

E108.3 No.2 Yes Servo drive fault 0x5530 0x31080108
EEPROM

E120.0 Unknown encoder type No.1 No Axis fault 0x7122 0x01200120

E120.1 Unknown motor model No.1 No Axis fault 0x7122 0x11200120

E120.2 Unknown drive model No.1 No Axis fault 0x7122 0x21200120

E120
Motor current and drive current
E120.5 No.1 No Axis fault 0x7122 0x51200120
mismatch

E120.6 FPGA and motor model mismatch No.1 No Axis fault 0x7122 0x61200120

Multi-turn absolute encoder setting

E122.0 No.2 Yes Axis fault 0x6320 0x01220122
error

E122 Di erent DIs assigned with the same

E122.1 No.2 Yes Axis fault 0x6320 0x11220122
function

E122.3 Upper limit invalid No.2 Yes Axis fault 0x6320 0x31220122

E136.0 Encoder parameter error No.1 No Axis fault 0x7305 0x01360136

E136
E136.1 Encoder communication error No.1 No Axis fault 0x7305 0x11360136

E140.0 Encryption chip check error No.1 No Servo drive fault 0x0140 0x01400140
E140
E140.1 Encryption chip check failure No.1 No Servo drive fault 0x0140 0x01400140

STO signal input protection

E150.0 No.1 Yes Servo drive fault 0x0150 0x01500150
activated

E150.1 STO signal input error No.1 Yes Servo drive fault 0x0150 0x11500150

E150 E150.2 Abnormal voltage detected No.1 Yes Servo drive fault 0x0150 0x21500150

STO upstream optocoupler

E150.3 No.1 Yes Servo drive fault 0x0150 0x31500150
detection failure

E150.4 PWM Bu er detection failure No.1 Yes Servo drive fault 0x0150 0x41500150

E201.0 Phase-P overcurrent No.1 No Servo drive fault 0x2312 0x02010201

E201.1 Phase-U overcurrent No.1 No Axis fault 0x2312 0x12010201

E201
E201.2 Phase-V overcurrent No.1 No Axis fault 0x2312 0x22010201

E201.4 Phase-N overcurrent No.1 No Servo drive fault 0x2312 0x42010201

 10 Troubleshooting

Error
Auxiliary
Fault Display Name Type Reset Fault Range Code
Code (203Fh)
(603Fh)
MCU position reference updated
E208.0 No.1 Yes Axis fault 0x0208 0x02080208
frequently

E208.2 Encoder communication timeout No.1 Yes Axis fault 0x0208 0x22080208
E208
E208.3 Current sampling fault No.1 Yes Axis fault 0x0208 0x32080208

FPGA current loop operation

E208.4 No.1 Yes Axis fault 0x0208 0x42080208
timeout

E210 E210.0 Output short-circuited to ground No.1 No Axis fault 0x2330 0x02100210

E234 E234.0 Runaway protection No.1 No Axis fault 0x0234 0x02340234

E400 E400.0 Main circuit overvoltage No.1 Yes Servo drive fault 0x3210 0x04000400

E410 E410.0 Main circuit undervoltage No.1 Yes Servo drive fault 0x3220 0x04100410

E420 E420.0 Phase loss fault No.2 Yes Servo drive fault 0x3130 0x04200420

E430 E430.0 Control circuit undervoltage No.2 Yes Servo drive fault 0x0430 0x04300430

E500.0 Motor overspeed No.1 Yes Axis fault 0x8400 0x05000500

E500.1 Speed feedback over ow No.1 Yes Axis fault 0x8400 0x15000500
E500
FPGA position feedback pulse
E500.2 No.1 Yes Axis fault - 0x25000500
overspeed

E602.0 Angle auto-tuning error No.1 Yes Axis fault 0x0602 0x06020602
E602 Wrong UVW phase sequence
E602.2 No.1 Yes Axis fault 0x0602 0x26020602
detected during angle auto-tuning

E605 E605.0 Speed upon S-ON too high No.1 Yes Axis fault 0x8400 0x06050605

E620 E620.0 Motor overload No.1 Yes Axis fault 0x3230 0x06200620

E630 E630.0 Motor stall No.1 Yes Axis fault 0x7121 0x06300630

E640.0 IGBT over-temperature No.1 Yes Axis fault 0x4210 0x06400640

E640
E640.1 Flywheel diode over-temperature No.1 Yes Axis fault 0x4210 0x06400640

E650 E650.0 Heatsink over-temperature No.1 Yes Axis fault 0x4210 0x06500650

E660 E660.0 Air-cooled motor over-temperature No.1 Yes Axis fault 0x4210 0x06600660

E661 E661.0 Auto-tuned gains too low No.2 Yes Axis fault 0x4210 0x06610661

E731 E731.0 Encoder battery failure No.2 Yes Axis fault 0x0661 0x07310731

E733 E733.0 Encoder multi-turn counting error No.2 Yes Axis fault 0x7305 0x07330733

Encoder multi-turn counting

E735 E735.0 No.2 Yes Axis fault 0x7305 0x07350735
over ow

E740.2 Absolute encoder error No.1 No Axis fault 0x7305 0x27400740

Absolute encoder single-turn

E740 E740.3 No.1 No Axis fault 0x7305 0x37400740
calculation error

E740.6 Encoder write error No.1 No Axis fault 0x7305 0x67400740

Nikon encoder communication

E755 E755.0 No.1 No Axis fault - 0x07550755
failure

E760 E760.0 Encoder over-temperature No.2 Yes Axis fault 0x4210 0x07600760

E765 E765.0 Nikon encoder beyond the limit No.1 No Axis fault - 0x07650765

EB00.0 Position deviation too large No.2 Yes Axis fault 0x8611 0x0B000B00
EB00
EB00.1 Position deviation over ow No.2 Yes Axis fault 0x8611 0x1B000B00

EA33 EA33.0 Encoder read/write check error No.1 No Axis fault 0x7305 0x0A330A33
10 Troubleshooting

Error
Auxiliary
Fault Display Name Type Reset Fault Range Code
Code (203Fh)
(603Fh)
Position reference increment too
EB01.1 No.2 Yes Axis fault 0x6320 0x1B010B01
large for once

Position reference increment too

EB01.2 No.2 Yes Axis fault 0x6320 0x2B010B01
EB01 large continuously

EB01.3 Reference over ow No.2 Yes Axis fault 0x6320 0x3B010B01

EB01.4: Target position beyond

EB01.4 No.2 Yes Axis fault 0x6320 0x4B010B01
upper/lower limit

EE09.0 Software position limit setting error No.2 Yes Axis fault 0x6320 0x0E090E09

EE09.1 Home setting error No.2 Yes Axis fault 0x6320 0x1E090E09

EE09 EE09.2 Gear ratio beyond the limit No.2 Yes Axis fault 0x6320 0x2E090E09

EE09.3 No synchronization signal No.2 Yes Axis fault 0x6320 0x3E090E09

EE09.5 PDO mapping beyond the limit No.2 Yes Axis fault 0x6320 0x5E090E09

EE08.0 SYNC signal loss No.2 Yes Axis fault 0x0FFF 0x0E086E08

EE08.1 Network status switchover error No.2 Yes Axis fault 0x0FFF 0x1E080E08

EE08.2 IRQ loss No.2 Yes Axis fault 0x0FFF 0x2E080E08

EE08 EE08.3 LAN cable connected improperly No.2 Yes Axis fault 0x0FFF 0x3E080E08

EE08.4 Data frame loss protection error No.2 Yes Axis fault 0x0FFF 0x4E080E08

EE08.5 Data frame transfer error No.2 Yes Axis fault 0x0FFF 0x5E080E08

EE08.6 Data update timeout No.2 Yes Axis fault 0x0FFF 0x6E080E08

EE11.0 ESI check error No.2 Yes Servo drive fault 0x5530 0x0E110E11

EE11 EE11.1 EEPROM read failure No.2 Yes Servo drive fault 0x5530 0x1E110E11

EE11.2 EEPROM update failure No.2 Yes Servo drive fault 0x5530 0x2E110E11

EE12 EE12.0 EtherCAT external device error No.1 No Servo drive fault 0x0E12 0x0E120E12

EE13 EE13.0 Synchronization cycle setting error No.2 Yes Servo drive fault 0x6320 0x0E130E13

Number of synchronization cycle

EE15 EE15.0 No.2 Yes Servo drive fault 0x0E15 0x0E150E15
errors too large

■ List of warning codes

Auxiliary
Resettable Error Code
Warning Display Name Type Fault Range Code
or not (603Fh)
(203Fh)
E121 E121.0 Invalid S-ON command No.3 Yes Warning 0x0121 0x01210121

E600 E600.0 Inertia auto-tuning failure No.3 Yes Warning 0x0600 0x06000600

E601.0 Homing timeout No.3 Yes Warning 0x0601 0x06010601

E601 E601.1 Home switch error No.3 Yes Warning 0x0601 0x16010601

E601.2 Homing mode setting error No.3 Yes Warning 0x6320 0x2601E602

E730 E730.0 Encoder battery warning No.3 Yes Warning 0x7305 0x07300730

E900 E900.0 Emergency stop No.3 Yes Warning 0x0900 0x09000900

E902.0 Invalid DI setting No.3 Yes Warning 0x6320 0x09020902

E902
E902.1 Invalid DO setting No.3 Yes Warning 0x0902 0x19020902

Model identi cation check byte

E908 E908.0 No.3 Yes Warning 0x0908 0x09080908
invalid

E909 E909.0 Motor overload warning No.3 Yes Warning 0x3230 0x09090909

E920 E920.0 Regenerative resistor overload No.3 Yes Warning 0x3210 0x09200920
 10 Troubleshooting

Auxiliary
Resettable Error Code
Warning Display Name Type Fault Range Code
or not (603Fh)
(203Fh)
Resistance of external regenerative
E922 E922.0 No.3 Yes Warning 0x6320 0x09220922
resistor too small

E924 E924.0 Braking transistor over-temperature No.3 Yes Warning 0x3230 0x09240924

Parameter modi cations not

E941 E941.0 No.3 Yes Warning 0x6320 0x09410941
activated

E942 E942.0 Parameter saved frequently No.3 Yes Warning 0x7600 0x09420942

E950 E950.0 Forward overtravel warning No.3 Yes Warning 0x5443 0x09500950

E952 E952.0 Reverse overtravel warning No.3 Yes Warning 0x5444 0x09520952

EA41 EA41.0 Torque ripple compensation failure No.3 Yes Warning 0x0A41 0x0A410A41

10.3 Solutions to Faults

■ E101.0: System parameter error

Direct cause:

The total number of parameters changes, which generally occurs after software update.

Parameter values in groups 2002h and above exceed the limit, which generally occurs after software
update.

Root Cause Con rming Method Solution

Check whether the voltage drops during

Restore system parameters to default values
control power (L1C, L2C) cuto or whether
(2002-20h = 1), and write parameters again.
instantaneous power failure occurs.

Measure whether the voltage input to the

control circuit cable during operation is
within the following range:
1. The control 220 V servo drive:
power voltage drops Increase the power capacity or replace with
E ective value: 220 V to 240 V
instantaneously. a power supply of larger capacity. Restore
Allowable deviation: –10% to +10%
system parameters to default values (2002-
(198 V to 264 V)
20h = 1), and write parameters again.
380 V servo drive:
E ective value: 380 V to 440 V
Allowable deviation: –10% to +10%
(342 V to 484 V)

2. Instantaneous
Power on the system again, restore system
power failure occurs Check whether instantaneous power failure
parameters to default values (2002-20h = 1),
during parameter occurs during parameter saving.
and write parameters again.
saving.

3. The number of write Change the write mode and write

Check whether parameters are updated
operations exceeds parameters again.
frequently through the host controller.
the limit. If the servo drive is faulty, replace it.

Reset the servo drive model and the

4. The software has Check whether the software has been
servo motor model, and restore system
been updated. updated.
parameters to default values (2002-20h = 1).

If the fault persists after several times of

5. The servo drive is
restart and parameter initialization, the Replace the servo drive.
faulty.
servo drive is faulty.