6.

When in Trouble 1

Before Using the Products

1. When in Trouble
What to Check ? ..........................................................................................6-2
2
Protective Function (What is Error Code ?) .................................................6-2

Protective function (Detail of error code) .....................................................6-4

Preparation
2. Setup of gain pre-adjustment protection .................................6-23
3. Troubleshooting
Motor Does Not Run ..................................................................................6-26
Unstable Rotation (Not Smooth) ,
Motor Runs Slowly Even with Speed Zero at Velocity Control Mode ........6-28 3

Positioning Accuracy Is Poor .....................................................................6-29
Origin Point Slips .......................................................................................6-30

Connection
Abnormal Motor Noise or Vibration ...........................................................6-30
Overshoot/Undershoot,
Overheating of the Motor (Motor Burn-Out) ...............................................6-31
Motor Speed Does Not Reach to the Setup,
Motor Revolutions (Travel) Is Too Large or Small .....................................6-31
4
Parameter Returns to Previous Setup .......................................................6-32

Setup
5

Adjustment

6
When in Trouble

7
Supplement

6-1
 6 1. When in Trouble
When in Trouble What to Check ?

Isn't error code No. is displayed ?

Aren't the parameter

setups wrong ?
Doesn't the power voltage vary ?
Is the power turned on ?
Any loose connection ? Motor does not run.
Check the cause by referring to P.2-102,
Is the connecting portion “Display of Factor of No Motor Running” of
disconnected ? Preparation, and then take necessary measure.
(Broke wire, contact)
Host
Is the wiring correct ?
controller
Isn't the connector pulled off ?
Isn't the short wire pulled off ? Is the wiring to Connector
X4 correct ?
Is abnormal noise generated Or aren't any wires pulled
from the motor ? off ?

Is the wiring to Connector X5

Isn't the holding in case of full-closed control
brake engaged ? correct ?
Ground Or aren't any wires pulled off ?

Is the wiring to Connector X6

correct ?
Or aren't any wires pulled off ?
Machine Motor

Isn't the connection

loose ? External scale

6 1. When in Trouble
When in Trouble Protective Function (What is Error Code ?)

• Various protective functions are equipped in the driver. When these are triggered, the
motor will stall due to error, the driver will turn the Servo-Alarm output (ALM) to off (open).
• Error status and their measures
• During the error status, the error code No. will be displayed on the front panel LED,
and you cannot turn Servo-ON.
• You can clear the error status by Alarm clear input(A-CLR) in 120 ms or longer.
• When overload protection is triggered, you can clear it by Alarm clear input (A-CLR)
in 10sec or longer after the error occurs. (*1 Table below) You can clear the Overload
protection time characteristics (refer to P.6-14) by turning off the control power supply
between L1C and L2C (100 V, 200 V) of the driver.
• You can clear the above error by operating the front panel keys and setup support
softwear "PANATERM". Refer to P.2-111 “Alarm Clear Screen” of Preparation.
• Be sure to clear the alarm during stop after removing the cause of the error and se-
curing safety.

Note • The figure above shows connections on velocity, position, torque and full-closed mode
driver.
Related page • P.2-88 ... “How to Use the Front Panel” • P.3-32 “Inputs and outputs on connector X4”
• P.7-26 “Outline of Setup support software “PANATERM”

6-2
 1. When in Trouble
Protective Function (What is Error Code ?)
1

Before Using the Products

<List of error code No.>
Error code Attribute Error code Attribute
Detail Detail
Protective function Can be Immediate page Protective function Can be Immediate page
Main Sub History cleared
stop*3 Main Sub History cleared
stop*3
11 0 Control power supply under- voltage protection 34 0 Software limit protection
12 0 Over-voltage protection 36 0 to 1 EEPROM parameter error protection
6-10
Main power supply under-voltage 37 0 to 2 EEPROM check code error protection

13
0
protection (between P and N)
Main power supply under-voltage
6-4 38 0 Over-travel inhibit input protection 2
0 Analog input1 excess protection

1 protection 39 1 Analog input2 excess protection
(AC interception detection)

Preparation
2 Analog input3 excess protection
0 Over-current protection *4
14 40 0 Absolute system down error protection
1 IPM error protection 6-11
6-5 41 0 Absolute counter over error protection
0 Over-heat protection *4
15 42 0 Absolute over-speed error protection
1 Encoder overheat error protection
*1 *
43 0 Initialization failure
0 Over-load protection Switchable 2
16 44 0 Absolute single turn counter error protection
1 Torque saturation error protection 6-6

18
0 Over-regeneration load protection
45 0 Absolute multi-turn counter error protection
47 0 Absolute status error protection
3

1 Over-regeneration Tr error protection
0 Feedback scale connection error protection
0 Encoder communication disconnect error protection 50
21 1 Feedback scale communication error protection

Connection
1 Encoder communication error protection
6-7 0 Feedback scale status 0 error protection 6-12
23 0 Encoder communication data error protection
1 Feedback scale status 1 error protection
0 Position deviation excess protection
24 2 Feedback scale status 2 error protection
1 Velocity deviation excess protection 51
3 Feedback scale status 3 error protection
25 0 Hybrid deviation excess error protection
4 Feedback scale status 4 error protection
0 Over-speed protection 5 Feedback scale status 5 error protection
26
1
0
2nd over-speed protection
Command pulse input frequency error protection 6-8
0 A-phase connection error protection 4

55 1 B-phase connection error protection
27 1 Absolute clear abnormal protection 2 Z-phase connection error protection
2 Command pulse multiplier error protection 0 U-phase current detector error protection
70

Setup
28 0 Limit of pulse replay error protection 1 W-phase current detector error protection 6-13
0 Deviation counter overflow protection 72 0 Thermal protector error
29
2 Deviation counter overflow error protection 2 80 0 Modbus communication timeout protection
0 Safety function error protection 1 87 0 Compulsory alarm input protection
31
2 Safety function error protection 2 92 0 Encoder data recovery abnormal protection
6-9
0
1
IF overlaps allocation error 1 protection
IF overlaps allocation error 2 protection
93
0 Parameter setup error 1
1 Block data setting error protection
5

2 IF input function number error 1 protection 0 Block operation error protection
94
3 IF input function number error 2 protection 2 Return to origin error protection

Adjustment
33
4 IF output function number error 1 protection 95 0 to 4 Motor automatic recognition error protection 6-14
5 IF output function number error 2 protection 97 0
6-10
6 CL fitting error protection Other Other error
7 INH fitting error protection number

Note History...The error will be stored in the error history.

Can be cleared...To cancel the error, use the alarm clear input (A-CLR).
If the alarm clear input is not effective, turn off power, remove the cause of the error and then turn on
6

power again.
When in Trouble

Immediate stop...Instantaneous controlled stop upon occurrence of an error.

(Setting of “Pr.5.10 Sequence at alarm” is also required.)

*1：When Err16.0 “Overload Protection 1”is activated, error can be cleared about 10 seconds after the occurrence.
*2：When Err40.0 “Absolute System Down Error protection,” or Err42.0 “Absolute Overspeed Protection” occurs, the
error is unable to be cleared unless Absolute Clear is performed.
*3：Immediate stop refers to alarms which result in an immediate stop when setting is made to 4 to 7 in Pr5.10 “Sequence 7

at alarm” are shown. For the detail of an immediate stop, see 6-5-4 “Sequence at alarm.”
Supplement

*4：Err 16.0 “Overload protection,”can be switched to responsive/non-responsive by switching bit 11 of “Function

expansion setting 2” of Pr 6.47. Set to non-responsive at time of shipment.

6-3
 6 1. When in Trouble
When in Trouble Protective function (Detail of error code)

Protective Error code No.

Causes Measures
function Main Sub
Control 11 0 Voltage between P and N of converting Measure L1C-L2C line voltage of connector
power unit of control power supply has fallen and terminal block
supply down and dropped below specified value.
under- 1) Low power supply voltage. Occurrence 1) Increase the capacity of power supply
voltage of momentary power failure. voltage. Change the power supply.
2) Power capacity shortage…Due to rush 2) Increase the power capacity.
protection
current at the main power-on, power
supply voltage has fallen down.
3) Servo driver failure (circuit failure) 3) Replace with new servo driver.
Over-voltage 12 0 Voltage between P and N of the Measure the voltage between lines of
protection converter portion of the control power connector (L1, L2 and L3).
supply has exceeded the specified value
100 V version: approx. 200 VDC (approx. 140 VAC)
200 V version: approx. 400 VDC (approx. 280 VAC)
1) Power supply voltage has exceeded 1) Enter correct voltage. Remove a phase-
the permissible input voltage. Voltage advancing capacitor.
surge due to the phase-advancing
capacitor or UPS (Uninterruptible
Power Supply) have occurred.
2) Disconnection of the regeneration 2) Measure the resistance of the external
discharge resistor resistor connected between terminal P - B
of the driver. Replace the external resistor
if the value is ∞.
3)External regeneration resistor is not 3) Change the specified regeneration
appropriate and could not absorb the resistance value to wattage.
regenerative energy.
4) External regeneration discharge
resistor is not appropriate and could 4) Change to the one with specified
not absorb the regeneration energy. resistance and wattage.
5) Failure of servo driver (failure of the
circuit) 5) Check that Pr0.16.
Main power 13 0 Instantaneous power failure has occurred Measure the voltage between lines of
supply between L1 and L3 for longer period than connector (L1, L2 and L3).
under- the preset time with Pr5.09 (Main power
voltage off detecting time) while Pr5.08 (LV trip
protection selection at the main power-off) is set
to 1. Or the voltage between P and N of
(PN)
the converter portion of the main power
Main power 1 supply has fallen below the specified
supply value during Servo-ON.
under- 100 V version: approx. 80 VDC (approx. 55 VAC)
200 V version: approx. 110 VDC (approx. 75 VAC)
voltage
protection
1) Power supply voltage is low. 1) Increase the power capacity. Change the
(AC) Instantaneous power failure has power supply. Remove the causes of the
occurred shutdown of the magnetic contactor or the
main power supply, then re-enter the power.
2) Instantaneous power failure has 2) Set up the longer time to Pr5.09 (Main
occurred. power off detecting time). Set up each
phase of the power correctly.
3) Lack of power capacity...Power supply 3) Increase the power capacity. For the capacity,
voltage has fallen down due to inrush refer to P.2-10, "Driver and List of Applicable
current at the main power-on. Peripheral Equipments" of Preparation.
4) Phase lack...3-phase input driver has 4) Connect each phase of the power supply
been operated with single phase input. (L1, L2 and L3) correctly. For single phase,
100 V and 200 V driver, use L1 and L3.
5) Failure of servo driver (failure of the circuit) 5) Replace the driver with a new one.

Related page • P.2-12... “System Configuration and Wiring” • P.4-49 “Details of parameter”

6-4
1. When in Trouble
Protective function (Detail of error code)
1

Before Using the Products

Protective Error code No.
Causes Measures
function Main Sub

* 14 0 Current through the converter portion has

Over-current exceeded the specified value.
protection 1) Failure of servo driver (failure of the 1) Turn to Servo-ON, while disconnecting the 2

circuit, IGBT or other components) motor. If error occurs immediately, replace
with a new driver.

Preparation
2) Short of the motor wire (U, V and W) 2) Check that the motor wire (U, V and W) is
not shorted, and check the branched out
wire out of the connector. Make a correct
* 1 wiring connection.
IPM error 3) Earth fault of the motor wire 3) Measure the insulation resistance between
protection motor wires, U, V and W and earth wire. In
IPM: case of poor insulation, replace the motor. 3

Intelligent 4) Burnout of the motor 4) Check the balance of resister between
Power Module each motor line, and if unbalance is found,

Connection
replace the motor.
5) Poor contact of the motor wire. 5) Check the loose connectors. If they are, or
pulled out, fix them securely.
6) Welding of contact of dynamic braking 6) Replace the servo driver. Do not use
relay due to frequent servo ON/OFF Servo-ON/Servo-OFF as a means of
operations. staring/stopping the operation.
7) Timing of pulse input is same as or 7) Enter the pulses 100 ms or longer after 4
earlier than Servo-ON. Servo-ON.

8) Blowout of thermal fuse due to 8) Replace the driver.
overheating dynamic brake circuit.

Setup
(Only F and G frames)
9) Power Modulef overheat protection 9)Increase capacity of servo driver and motor.
Set up longer acceleration/deceleration
[Link] the load.

*
Over-heat
15 0 Temperature of the heat sink or power
device has been risen over the specified
5

protection temperature.
1) Ambient temperature has risen over 1) Improve the ambient temperature and

Adjustment
the specified temperature. cooling condition.
2) Over-load 2) Increase the capacity of the driver
and motor. Set up longer acceleration/
deceleration time. Lower the load.

1 The temperature of encoder has

exceeded an encoder overheat 6
abnormal level.

1) The ambient temperature of 1) Improve the ambient temperature of

When in Trouble

servomotor is high. servomotor and the cooling condition.

2) Overload 2) Increase capacity of servo driver and
[Link] up longer acceleration/
deceleration [Link] the load..

7
Supplement

Note • When protective function marked with * in the protective function table is activated, it can-
not be disabled by the alarm clear input (A-CLR). To return to the normal operation, turn off
power, remove the cause, and then turn on power again.

6-5
 1. When in Trouble
Protective function (Detail of error code)

Protective Error code No.

Causes Measures
function Main Sub

Over-load 16 0 Torque command value has exceeded Check that the torque (current) does not
protection the over-load level set with Pr5.12 oscillates nor fluctuate up an down very
(Setup of over-load level) and resulted in much on the analog outoput and via
overload protection according to the time communication. Check the over-load alarm
characteristics (described later) display and load factor with the analog
outoput and via communication..
1) Load was heavy and actual torque has 1) Increase the capacity of the driver
exceeded the rated torque and kept and motor. Set up longer acceleration/
running for a long time. deceleration time. Lower the load.
2) Oscillation and hunching action due to 2) Make a re-adjustment.
poor adjustment.
Motor vibration, abnormal noise.
Inertia ratio (Pr0.04) setup error.
3) Miswiring, disconnection of the motor. 3) Make a wiring as per the wiring diagram.
Replace the cables.
4) Machine has collided or the load has 4) Remove the cause of distortion. Lower the
gotten heavy. Machine has been load.
distorted.
5) Electromagnetic brake has been kept 5) Measure the voltage between brake
engaged. terminals. Release the brake
6) While wiring multiple axes, miswiring 6) Make a correct wiring by matching the
has occurred by connecting the motor correct motor and encoder wires.
cable to other axis.
• The over-load protection time characteristics are described on P.6-14.

Caution Once this error occurs, it cannot be cleared at least for 10 sec.

Torque 1 Torque saturation has continued for the • Check operation of the driver.
saturation time set in Pr6.57 Torque saturation error • Refer to Measures described for Err16.0.
anomaly protection detect time.
protection

* 18 0 Regenerative energy has exceeded the Check the load factor of the regenerative
Over- capacity of regenerative resistor. resistor from the front panel or via communi-
regeneration cation.
Do not use in the continuous regenerative
load
1) Due to the regenerative energy during brake application.
protection 1) Check the running pattern (velocity
deceleration caused by a large load
inertia, converter voltage has risen, monitor). Check the load factor of the
and the voltage is risen further due to regenerative resistor and over-regeneration
the lack of capacity of absorbing this warning display. Increase the capacity
energy of the regeneration discharge of the driver and the motor, and loosen
resistor. the deceleration time. Use the external
regenerative resistor.
2) Regenerative energy has not been 2) Check the running pattern (speed monitor).
absorbed in the specified time due to a Check the load factor of the regenerative
high motor rotational speed. resistor. Increase the capacity of the driver
and the motor, and loosen the deceleration
time. Lower the motor rotational speed.
Use an external regenerative resistor.
3) Active limit of the external regenerative 3) Set up Pr0.16 to 2.
resistor has been limited to 10 % duty.

Caution Install an external protection such as thermal fuse without fail when
you set up Pr0.16 to 2. Otherwise, regenerative resistor loses the
protection and it may be heated up extremely and may burn out.

Note • When protective function marked with * in the protective function table is activated, it can-
not be disabled by the alarm clear input (A-CLR). To return to the normal operation, turn off
power, remove the cause, and then turn on power again.
Related page • P.4-7... “Details of parameter”

6-6
1. When in Trouble
Protective function (Detail of error code)
1

Before Using the Products

Protective Error code No.
Causes Measures
function Main Sub

* 18 1 Regenerative driver transistor on the Replace the driver.

Regenerative servo driver is defective.
transistor 2

error
protection

Preparation
* 21 0 Communication between the encoder Make a wiring connection of the encoder as
Encoder and the driver has been interrupted per the wiring diagram. Correct the miswiring
communica- in certain times, and disconnection of the connector pins.
tion discon- detecting function has been triggered.
nection error
protection 3

* 1 Communication error has occurred in • Secure the power supply for the encoder
Encoder data from the encoder. Mainly data of DC4.90 V to 5.25 V)...pay an attention

Connection
communica- error due to noise. Encoder cables are especially when the encoder cables are
tion error connected, but communication data has long.
protection some errors. • Separate the encoder cable and the motor
cable if they are bound together.
* 23 0 Data communication between the • Connect the shield to FG.
Encoder encoder is normal, but contents of data
communi- are not correct. 4
cation data Mainly data error due to noise. Encoder

error cables are connected, but communication
protection data has some errors.

Setup
Position 24 0 Deviation pulses have exceeded the
deviation setup of Pr0.14.
excess 1) The motor movement has not followed 1) Check that the motor follows to the position
protection the command. command pulses. Check that the output
toque has not saturated in torque monitor.
Make a gain adjustment. Set up maximum
5

value to Pr0.13 and Pr5.22. Make a
encoder wiring as per the wiring diagram.

Adjustment
Set up the longer acceleration/deceleration
time. Lower the load and speed.
2) Setup value of Pr0.14 (Position 2) Set up a larger value to Pr0.14.
deviation excess setup) is small.

Velocity 1 The difference between the internal • Increase the setup value of Pr6.02.
deviation positional command speed and actual • Lengthen the acceleration/deceleration 6
excess speed (speed deviation) exceeds the time of internal positional command speed,

protection setup vale of Pr6.02. or improve the follow-up characteristic by

When in Trouble

Note) If the internal positional command adjusting the gain.

speed is forcibly set to 0 due to • Disable the excess speed deviation
instantaneous stop caused by the detection (Pr6.02 = 0).
command pulse inhibit input (INH) or
CW/CCW over-travel inhibit input, the
speed deviation rapidly increases at this
moment. Pr6.02 setup value should have
sufficient margin because the speed
7

deviation also largely increases on the

Supplement

rising edge of the internal positional

command speed.

6-7
 1. When in Trouble
Protective function (Detail of error code)

Protective Error code No.

Causes Measures
function Main Sub

* 25 0 • Position of load by the external scale • Check the connection between the motor
Hybrid and position of the motor by the and the load.
deviation encoder slips larger than the setup • Check the connection between the external
excess error pulses with Pr3.28 (Setup of hybrid scale and the driver.
protection deviation excess) at full-closed control. • Check that the variation of the motor
position (encoder feedback value) and
the load position (external scale feedback
value) is the same sign when you move the
load.
• Check that the numerator and denominator
of the external scale division (Pr3.24 and
3.25) and reversal of external scale direction
(Pr3.26) are correctly set.
• During full closed control, numerator • Do not change command division/
of command division/multiplication is multiplication during full closed control.
changed or switched over.

Over-speed 26 0 The motor rotational speed has exceeded • Do not give an excessive speed command.
protection the setup value of Pr5.13. • Check the command pulse input frequency
and division/multiplication ratio.
2nd Over- 1 The motor rotational speed has exceeded • Make a gain adjustment when an overshoot
speed the setup value of Pr6.15. has occurred due to a poor gain adjustment.
protection • Make a wiring connection of the encoder as
per the wiring diagram.

Command 27 0 The frequency of command pulse input is Check the command pulse input for
pulse input more than 1.2 times the setting in Pr5.32. frequency.
frequency
error
protection

Absolute 1 Absolute encode multi-rotation clear has Confirm whether absolute encode multi-
clear been executed when a block operation rotation clear has when a block operation
abnormal was enabled (Pr 6.28 is non 0). was enabled.(Note) This is a safety measure
protection and is not an abnormality.

Electronic 2 Division and multiplication ratio which are • Set the command division and multiplication
gear error set up with the command pulse counts ratio to a value as small as possible e.g.
protection per single turn and the1st and the 4th between 1/1000 and 1000.
numerator/denominator of the electronic • Check the setup value of electronic gear.
gear are not appropriate. • If possible, use the line driver I/F.
The command pulses per 0.167 ms • Set Pr5.32 (setting of max. command pulse
multiplied by the command division and input) to a value less than 1000 and enable
multiplication ratio exceeds 3000 Mpps. digital filter.
The command pulse input fluctuates.
Noises mixed with the command pulse
input cause counting error.

Pulse 28 0 The output frequency of pulse • Check the setup values of Pr0.11 and 5.03.
regeneration regeneration has exceeded the limit. • To disable the detection, set Pr5.33 to 0.
limit
protection

6-8
1. When in Trouble
Protective function (Detail of error code)
1

Before Using the Products

Protective Error code No.
Causes Measures
function Main Sub

Deviation 29 0 Positional deviation of encoder pulse • Check that the motor runs as per the
counter reference has exceeded 229 (536870912). position command pulses.
overflow • Check that the output toque has not 2

protection saturated in torque monitor.
• Make a gain adjustment.

Preparation
• Set up maximum value to Pr0.13 and
Pr5.22.
• Make a wiring connection of the encoder as
per the wiring diagram.

Deviation 2 Value of positioning deviation has • Confirm that motor rotates in accordance
counter
overflow
exceeded±230-1(1073741823) in pulse
units. Or the value ofpositioning deviation
with the positioning command.
• Confirm that output torque has not saturated
3

protection 2 has exceeded ±230 (1073741824) in by the torque monitor.
command units. • Adjust gain.

Connection
• Set Pr.0.13 “1st torque limit setting” and
Pr5.22 “2ndtorque limit setting” to maximum.
• Connect encoder connection wiring as per
the wiring diagram.

* 31 0 Safety function has detected an error. In case of the repeated occurrence, because
Safety failure is possible, replace the servo driver. 4
2

function Return to a dealer for investigation (repair).
error
protection

Setup
* 33 0 Input signals (SI1, SI2, SI3, SI4, SI5) are Allocate correct function to each connector
I/F input assigned with two functions. pin.
duplicated
allocation
error 1
protection
5

* 1 Input signals (SI6, SI7, SI8, SI9, SI10)

Adjustment
I/F input are assigned with two functions.
duplicated
allocation
error 2
protection

*
I/F input
2 Input signals (SI1, SI2, SI3, SI4, SI5) are
assigned with undefined number.
6

function
When in Trouble

number error
1 protection

* 3 Input signals (SI6, SI7, SI8, SI9, SI10)

I/F input are assigned with undefined number.
function
number error
2 protection 7
Supplement

Note • When protective function marked with * in the protective function table is activated, it can-
not be disabled by the alarm clear input (A-CLR). To return to the normal operation, turn off
power, remove the cause, and then turn on power again.

6-9
 1. When in Trouble
Protective function (Detail of error code)

Protective Error code No.

Causes Measures
function Main Sub

* 33 4 Output signals (SO1, SO2, SO3) are Allocate correct function to each connector
I/F output assigned with undefined number. pin.
function
number error
1 protection

* 5 Output signals (SO4, SO5, SO6) are

I/F output assigned with undefined number.
function
number error
2 protection

* 6 Counter clear function is assigned to a

CL signal number other than SI7.
assignment
error

* 7 Command pulse inhibit input function is

INH assigned to a signal number other than
assignment SI10.
error

Software 34 0 When a position command within the

limit specified input range is given, the motor
protection operates outside its working range
specified in Pr5.14.
1) Gain is not appropriate. 1) Check the gain (balance between position
loop gain and speed loop gain) and inertia
ratio.
2) Pr5.14 setup value is low. 2) Increase the setup value of Pr5.14. Or,
Set Pr5.14 to 0 to disable the protective
function.

* 36 0 Data in parameter storage area has been • Set up all parameters again.
EEPROM damaged when reading the data from • If the error persists, replace the driver (it
parameter 1 EEPROM at power-on. may be a failure.) Return the product to the
error dealer or manufacturer.
protection

* 37 0 Data for writing confirmation to EEPROM Replace the driver. (it may be a failure).
EEPROM has been damaged when reading the Return the product to a dealer or
check code 1 data from EEPROM at power-on. manufacturer.
error
2
protection

* 38 0 With Pr5.04, over-travel inhibit input Check that there are not any errors in
Over-travel setup = 0, both positive and negative switches, wires or power supply which are
inhibit over-travel inhibit inputs (POT/NOT) connected to positive direction/ negative
input have been ON. direction over-travel inhibit input. Check that
protection With Pr5.04 = 2, positive or negative the rising time of the control power supply
over-travel inhibit input has turned ON. (DC12 V to 24 V) is not slow.

6-10
1. When in Trouble
Protective function (Detail of error code)
1

Before Using the Products

Protective Error code No.
Causes Measures
function Main Sub

Analog 39 0 Higher voltage has been applied to the • Set up Pr4.24 correctly. Check the
input 1 (AI1) analog input 1 than the value that has connecting condition of the connector X4.
excess been set by Pr4.24. • Set up Pr4.24 to 0 and invalidate the 2

protection protective function.

Preparation
Analog 1 Higher voltage has been applied to the • Set up Pr4.27 correctly. Check the
input 2 (AI2) analog input 2 than the value that has connecting condition of the connector X4.
excess been set by Pr4.27. • Set up Pr4.27 to 0 and invalidate the
protection protective function.

Analog 2 Higher voltage has been applied to the • Set up Pr4.30 correctly. Check the
input 3 (AI3)
excess
analog input 3 than the value that has
been set by Pr4.30.
connecting condition of the connector X4.
• Set up Pr4.30 to 0 and invalidate the
3

protection protective function.

Connection
Absolute 40 0 Voltage of the built-in capacitor has fallen After connecting the power supply for the
system below the specified value because the battery, clear the absolute encoder.
down error power supply or battery for the absolute
protection encoder has been down.

Caution Once this error occurs, the alarm cannot be cleared until the absolute
encoder is reset.
4

* 41 0 Multi-turn counter of the absolute • Set Pr0.15 to 2 to ignore the multi-turn
Absolute encoder has exceeded the specified counter over.

Setup
counter value. • Limit the travel from the machine origin
over error within 32767 revolutions.
protection

Absolute 42 0 The motor speed has exceeded the • Check the supply voltage at the encoder
over- specified value when only the supply side (5 V±5 %)
speed error from the battery has been supplied to 17- • Check the connecting condition of the 5

protection bit encoder during the power failure. connector X2.

Caution Once this error occurs, the alarm cannot be cleared until the absolute

Adjustment
encoder is reset.

* 43 0 Encoder initialization error was detected. Replace the motor.

Encoder
initialization
error
protection *1
6
When in Trouble

* 44 0 Absolut: Replace the motor.

Absolute single turn counter error protection
single turn incremental:
counter error single turn counter error protection
protection *1

7
Supplement

Note • When protective function marked with * in the protective function table is activated, it can-
not be disabled by the alarm clear input (A-CLR). To return to the normal operation, turn off
power, remove the cause, and then turn on power again.

6-11
 1. When in Trouble
Protective function (Detail of error code)

Protective Error code No.

Causes Measures
function Main Sub
* 45 0 Absolut: Replace the motor.
Absolute multi-turn counter error protection
multi-turn incremental:
counter error single turn counter error protection
protection *1

* 47 0 Encoder has been running at faster Arrange so as the motor does not run at
Absolute speed than the specified value at power- power-on.
status error on.
protection *1

* 50 0 Communication between the external • Make a wiring connection of the external

Feedback scale and the driver has been interrupted scale as per the wiring diagram.
scale in certain times, and disconnection • Correct the miswiring of the connector pins.
wiring error detecting function has been triggered.
protection

* 1 Communication error has occurred in • Secure the power supply for the external
External data from the external scale. Mainly data scale of DC5±5 % (4.75 V to 5.25 V)...pay
communi- error due to noise. External scale cables attention especially when the external scale
cation data are connected, but communication date cables are long.
error has some error. • Separate the external scale cable and the
protection motor cable if they are bound together.
• Connect the shield to FG...refer to wiring
diagram.

* 51 0 Bit 0 of the external scale error code Remove the causes of the error, then clear
External (ALMC) has been turned to 1. the external scale error from the front panel.
scale status Check the specifications of the external And then, shut off the power to reset.
0 error scale.
protection *1

* 1 Bit 1 of the external scale error code

External (ALMC) has been turned to 1.
scale status Check the specifications of the external
1 error scale.
protection *1

* 2 Bit 2 of the external scale error code

External (ALMC) has been turned to 1.
scale status Check the specifications of the external
2 error scale.
protection *1

* 3 Bit 3 of the external scale error code

External (ALMC) has been turned to 1.
scale status Check the specifications of the external
3 error
scale.
protection *1

* 4 Bit 4 of the external scale error code

External (ALMC) has been turned to 1.
scale status Check the specifications of the external
4 error
scale.
protection *1

Note • When protective function marked with * in the protective function table is activated, it can-
not be disabled by the alarm clear input (A-CLR). To return to the normal operation, turn off
power, remove the cause, and then turn on power again.

6-12
1. When in Trouble
Protective function (Detail of error code)
1

Before Using the Products

Protective Error code No.
Causes Measures
function Main Sub

* 51 5 Bit 5 of the external scale error code Remove the causes of the error, then clear
External (ALMC) has been turned to 1. the external scale error from the front panel.
scale status Check the specifications of the external And then, shut off the power to reset. 2
5 error

scale.
protection *1

Preparation
* 55 0 A-phase wiring in the external scale is Check the A-phase wiring connection.
A-phase defective, e.g. discontinued.
wiring error
protection

* 1 B-phase wiring in the external scale is Check the B-phase wiring connection.
B-phase
wiring error
defective, e.g. discontinued.
3

protection

* 2 Z-phase wiring in the external scale is Check the Z-phase wiring connection.

Connection
Z-phase defective, e.g. discontinued.
wiring error
protection

U-phase current 70 0 U-phase current offset error is detected. • Turn off the power once, then re-enter.
detector error • If error repeats, this might be a failure.
protection
Stop using the products, and replace the 4
motor and the driver. Return the products to

W-phase current 1 W-phase current offset error is detected.
detector error the dealer or manufacturer.
protection

Setup
Thermal protector 72 0 Thermal protector error is detected.
error

Modbus 80 0 While ensuring Modbus execution right, • Set Pr5.40 ”Modbus communication timeout
communication Modbus communication against own axis period” to 0 to be disabled or to appropriate
timeout
protection
has not been received for more than the
set time.
time.
• Check the connection of Modbus
5

communication.

Adjustment
Forced 87 0 Forced alarm input (E-STOP) is applied. Check the wiring of forced alarm input
alarm input (E-STOP).
protection

Encoder data 92 0 Initialization process of internal position • Secure encoder power supply voltage at
recovery information has not conducted normally DC5V±5% (4.75 to 5.25V). Care must be
abnormal
protection
under absolute and semi-closed control taken when the encoder lines are lengthy. 6
mode. • If motor wires and encoder wires are

bundled together, separate them.

When in Trouble

• Connect shield to FG.

Parameter 93 0 1) Electronic gear ratio exceeds the • Check the setting value of the parameter.
setup error 1 allowable range. 1) When a block operation was enabled
2) When a block operation was (Pr 6.28 is non 0), Electronic gear ratio
enabled(Pr 6.28 is non 0), Modbus must be in the range 1/1000 to 8000.
connection was disabled (Pr 5.37 is 0). 2) When a block operation was enabled
(Pr 6.28 is non 0), Modbus connection was 7

disabled (Pr 5.37 is 0).

Supplement

6-13
 1. When in Trouble
Protective function (Detail of error code)

Protective Error code No.

Causes Measures
function Main Sub

Block data 93 1 1)Velocity, acceleration and deceleration 1)Set a value other than zero for velocity,
setting error were set to 0, and a block operation acceleration and deceleration.
protection was started.
2)A conditional branch command has not 2)Check whether the conditional branch
been supported for comparison purpose. command or the comparison purpose does
not have any problems.
3)A designated block data command has 3)Check whether the block data does not
been undefined. have any [Link] whether the
4)Also, block data setup has some error. block number designated does not have
any problems.
4)Check whether the block data setup does
not have any problems.

Return to 94 0 1)During the execution of movement 1)Check whether the block operation
origin system command (During the execution sequence does not have any problems.
error of position command creation process),
protection a new movement system command
has been executed.
2)During block operation, a new block 2)Check whether the host sequence does not
number was designated to start. have any problems.
3)Although it was servo-off, a block 3)Check whether the host sequence does not
operation was started. have any problems.

2 Abnormal condition has occurred during Check for abnormalities in various sensor
block operation return to origin. installation status.

* 95 0 to 4 The motor and the driver has not been Replace the motor which matches to the
Motor matched. driver.
automatic
recognition
error
protection

* 97 0 When it was not position control, a block Check the setting of Pr 0.01”control mode
Control operation was enabled. setting” and Pr 6.28 “Special function
mode selection”.
setting error
prtection

* Other Control circuit has malfunctioned due to • Turn off the power once, then re-enter.
Other error No. excess noise or other causes. • If error repeats, this might be a failure.
Some error has occurred inside of the Stop using the products, and replace the
driver while triggering self-diagnosis motor and the driver. Return the products to
function of the driver. the dealer or manufacturer.

Note • When protective function marked with * in the protective function table is activated, it can-
not be disabled by the alarm clear input (A-CLR). To return to the normal operation, turn off
power, remove the cause, and then turn on power again.

6-14
1. When in Trouble
Protective function (Detail of error code)

Time characteristics of Err16.0 (Overload protection)

MSMF Overload protection time characteristics

Time [s] MSMF5A, 01, 02 ,04, 08, 09 Time [s] MSMF10, 15, 20, 30, 40, 50
1000 1000
・MSMF30 When the servo lock
・MSMF08, 09
When the servo lock，
Duringthe rotaption ・MSMF10, 15, 20, 40, 50 When the servo lock

100 ・MSMF02, 04 100

When the servo lock， ・MSMF10, 15, 20, 30, 40, 50
Duringthe rotaption During the rotaption

10 10

1 ・MSMF012 1
When the servo lock，
Duringthe rotaption
・MSMF5AZ, 011
When the servo lock，Duringthe rotaption
0.1 0.1
115
100 150 200 250 300 350 100 150 200 250 300 350

115 120 125

Torque[%] Torque [%]

MQMF Overload protection time characteristics

Time [s] MQMF01 Time [s] MQMF02, 04

1000 1000

・MQMF02 When the servo lock

100 ・MQMF01 100

・MQMF04 When the servo lock
When the servo lock，
Duringthe rotaption ・MQMF02, MQMF04
During the rotaption

10 10

1 1

0.1 0.1
115
100 150 200 250 300 350 100 150 200 250 300 350

Torque [%] 115 125 Torque[%]

Caution Use the motor so that actual torque stays in the continuous running range shown in “S-T
characteristic” of the motor. For the S-T characteristics, see P.7-55 Motor characteristics
(S-T characteristics).

6-15
 Time characteristics of Err16.0 (Overload protection)

MDMF Overload protection time characteristics

Time[s] MDMF10, 15, 20, 30 Time [s] MDMF40, 50

1000 1000

・MDMF40 When the servo lock

100
・MDMF10, 15, 20, 30
100
When the servo lock， ・MDMF50 When the servo lock
Duringthe rotaption ・MDMF40 ，50
During the rotaption

10 10

1 1

0.1 0.1
115
100 150 200 250 300 350 100 150 200 250 300 350

115 120
Torque [%] Torque [%]

MGMF Overload protection time characteristics

Time[s] MGMF09, 13, 18 Time [s] MGMF29, 44

1000 1000

・MGMF29, 44
100 ・MGMF09, 13, 18 100 When the servo lock，
When the servo lock， Duringthe rotaption
Duringthe rotaption

10 10

1 1

0.1 0.1
115 115
100 150 200 250 300 350 100 150 200 250 300 350

Torque [%] Torque [%]

6-16
Time characteristics of Err16.0 (Overload protection)

MHMF Overload protection time characteristics

Time [s] MHMF5A, 01 Time [s] MHMF02, 04
1000 1000

・MHMF02 When the servo lock

100 100

・MHMF5A, 01 ・MHMF04 When the servo lock

When the servo lock， ・MHMF02, 04
10 During the rotaption 10 During the rotaption

1 1

0.1 0.1
100115 150 200 250 300 350 100 150 200 250 300 350

Torque[%] 115 125 Torque [%]

Time [s]
MHMF08, 09
1000

・MHMF08 When the servo lock

100

・MHMF09 When the servo lock

・MHMF08, 09 During the rotaption

10

0.1
100 150 200 250 300 350

115 125 Torque [%]

Time [s] MHMF10, 15, 20 Time [s] MHMF30, 40, 50

1000 1000

・MHMF40 When the servo lock

・MHMF20 When the servo lock
・MHMF30 When the servo lock

100 100
・MHMF10, 15 When the servo lock ・MHMF50 When the servo lock
・MHMF10, 15,20 ・MHMF30, 40, 50
During the rotaption During the rotaption

10 10

1 1

0.1 0.1
100 150 200 250 300 350 100 150 200 250 300 350

115 125 115 120 125

Torque [%] Torque[%]

6-17
 1. When in Trouble
Protective function (Detail of error code)

Setting Pr5.13 Over-speed level setup and Pr6.15 2nd over-speed level setup
In a specific condition, the motor will not stop normally when the immediate stop function
is activated.
For example, as shown below, when the motor speed exceeds Pr5.13 Over-speed level
setup, and immediate stop function is activated, the motor speed cannot be controlled.
As a safety measure against over-speed, Err26.1 (2nd over-speed protection) is provid-
ed. Because Err26.1 is an immediate stop unsupported alarm, it shuts off motor current
and stops the motor by following sequence operation B of alarm process. In Pr6.15 2nd
over-speed level setup, set the allowable over-speed level.
Set Pr5.13 to the lower value compared with that of Pr6.15 to have sufficient margin.
When both settings are the same or margin is small, Err26.0 and Err26.1 may be detect-
ed at the same time. In this case Err26.0 is displayed, but because Err26.1 is also gener-
ated internally, immediate stop unsupported alarm is given priority and immediate stop is
not performed.
Furthermore, if the setup value of Pr6.15 is lower than that of Pr5.13, Err26.1 is gener-
ated before Err26.0, disabling immediate stop.

Speed
[r/min]
<For current off>
2nd over-speed level setup
(Pr6.15)
<For immediate stop>
Over-speed level setup
(Pr5.13) Motor speed

velocity
command
Time

Alarm Not generated Generated

Err26.0 (Immediate stop supported alarm)
Err26.1 (Immediate stop unsupported alarm)
is internally generated.

Current Flowing Turned off

Normal operation Immediate Sequence at alarm

(according to command from host) stop
operation Operation following operation B
When the speed exceeds the speed set in
Pr6.15 2nd over-speed level setup, turns off
the current and operates according to
sequence operation B at alarm.

Related page • P.4-50, 4-58 “Details of parameter”

6-18
 1. When in Trouble
Protective function (Detail of error code)

Software Limit Function (Err34.0)

1) Outline
You can make an alarm stop of the motor with software limit protection (Err34.0) when
the motor travels exceeding the movable range which is set up with Pr5.14 (Motor
working range setup) against the position command input range.
You can prevent the work from colliding to the machine end caused by motor oscilla-
tion.
2) Applicable range
This function works under the following conditions.
Conditions under which the software limit works
Control mode • Position control, Full-closed control

• Should be in servo-on condition

• Input signals such as the deviation counter clear and command input
Others
inhibit, and parameters except for controls such as torque limit setup,
are correctly set, assuring that the motor can run smoothly.

3) Cautions
• This function is not a protection against the abnormal position command.
• When this software limit protection is activated, the motor decelerates and stops ac-
cording to Pr5.10 (sequence at alarm).
The work (load) may collide to the machine end and be damaged depending on the
load during this deceleration, hence set up the range of Pr5.14 including the decel-
eration movement.
• This software limit protection will be invalidated during the trial run and frequency
characteristics functioning of the PANATERM.

Note • Only for position control type is not provided with X5.
Related page • P.4-49, 4-50 “Details of parameter”

6-19
 1. When in Trouble
Protective function (Detail of error code)

4) Example of movement
(1) When no position command is entered (Servo-ON status),
The motor movable range will be the travel range which is set at both sides of the
motor with Pr5.14 since no position command is entered. When the load enters to
the Err34.0 occurrence range (oblique line range), software limit protection will be
activated.

Motor Load

Pr5.14 Pr5.14
Motor
Error occurrence range movable Error occurrence range
range

(2) When the load moves to the right (at Servo-ON),

When the position command to the right direction is entered, the motor movable
range will be expanded by entered position command, and the movable range will
be the position command input range + Pr5.14 setups in both sides.

Motor Load

Position command
Pr5.14 input range Pr5.14
Error occurrence range Error occurrence range
Motor movable range

(3) When the load moves to the left (at Servo-ON),

When the position command to the left direction, the motor movable range will be
expanded further.

Motor Load

Position command
Pr5.14 input range Pr5.14
Error occurrence range Error occurrence range
Motor movable range

5) Condition under which the position command input range is cleared

The position command input range will be 0-cleared under the following conditions.
• when the power is turned on.
• while the position deviation is being cleared (Deviation counter clear is valid, Pr5.05
(Sequence at over-travel inhibition) is 2 and over-travel inhibition input is valid.)
• At the beginning and ending of trial run via communication.

Related page • P.4-47... “Details of parameter”

6-20
1. When in Trouble
Protective function (Detail of error code)

Falling prevention function at alarm

Upon occurrence of immediate stop supported alarm, this function starts to keep the cur-
rent flow after the brake release output (BRK-OFF) OFF until activation of external brake,
preventing falling from vertical axis.

1) Related parameters
Class No. Title Function

Once an alarm occurs, sets the status during

Sequence at
5 10 deceleration and after stop.
alarm
Setup values 4 to 7 enable immediate stop.

Sets bits related to falling prevention function.

bit10 Positional deviation of falling prevention function
Function during alarm
6 10
expansion setup 　0: Invalid (always) 　1: Valid (clear)
To enable the falling prevention function, set to 1.
* The least significant bit is represented by bit0.

When immediate stop alarm is issued, turn off brake

release output (BRK-OFF) and set the time during which
Immediate
the current flows through the motor.
cessation
6 51 When the setup value is 0, the falling prevention function
completion wait
is disabled.
time
Setting resolution is 2 ms. For example: when the setup
value is 11, the time required for processing is 12 ms.

2) Description
• Falling prevention operation at immediate stop supported alarm

Motor stops Motor runs

(at 30 r/min or lower) (at 30 r/min or higher) Deceleration start
Motor speed (30 r/min or lower) 30 r/min 30 r/min or lower

With/without alarm Normal Immediate stop supported alarm Normal Immediate stop supported alarm
0.5 to 5 ms 0.5 to 5 ms
Servo alarm output ON (normal) OFF (abnormal) ON (normal) OFF (abnormal)
(ALM)
Application of external brake Application of external brake
Brake release output OFF (operation) OFF (operation)
ON (release) ON (release)
(BRK-OFF)
Pr6.51 is set Pr6.51 is set

Motor current ON OFF ON OFF

Dynamic brake Released Released

Engaged Engaged

Caution To enable the falling prevention function at alarm, set Pr5.10 Sequence at alarm to “4”
and set bit 10 of Pr6.10 Function expansion setup to “1”. Set a time which is longer than
the time period between brake release output (BRK-OFF) OFF and actual engagement
of external brake to Pr6.51 Immediate stop complete wait time.

6-21
 1. When in Trouble
Protective function (Detail of error code)

Warning Function
When an error condition e.g. overloading occurs, the alarm code is issued to indicate
that the corresponding protective function will be triggered if suitable corrective action
is not taken. The alarm will be cleared as the cause of the error is removed. However,
certain alarm will remain latched for predetermined period as shown in the table below.
To forcibly clear the alarm, take the normal alarm clear procedure.
If alarm clear input (A-CLR) is kept valid, all warnings are always cleared.
Alarm
Alarm Pr6.27 *1 Content
No.

Load factor is 85 % or more the protection

Overload protection A0
level.

Over-regeneration Regenerative load factor is 85 % or more the

A1
alarm protection level.

Fixed at no
Battery alarm A2 Battery voltage is 3.2 V or lower.
time limit.

Fan alarm A3 Fan has stopped for 1 sec. *2

The number of successive encoder

Encoder
A4 communication errors exceeds the specified
communication alarm
value.

Encoder overheat
A5 The encoder detects overheat alarm.
alarm

Oscillation detection The motor vibration exceeds oscillation

A6
alarm detection level set in Pr6.37.

Lifetime detection Fixed at no The life expectancy of capacity or fan

A7
alarm time limit. becomes shorter than the specified time.

External scale error

A8 The feedback scale detects the alarm.
alarm

The number of successive feedback scale

External scale
A9 communication errors exceeds the specified
communication alarm
value.

When setting of Pr7.14 “Main power

off warning detection time” is 10-1999,
Main power off
C3 instantaneous power interruption occurs
warning
between L1 and L3 and lasts for a time longer
than the setting of Pr7.14.

*1 The “circle” means that a time in the range 1 s to 10 s or no time limit can be
selected through Pr6.27 “Warning latching time”. Note that the battery warning and
the end of life warning have no time limit.
*2 The upper fan on the H-frame driver stops during servo OFF to save energy. This is
normal and no fan alarm is displayed.

6-22
 6 2. Setup of gain pre-adjustment protection
When in Trouble

Before starting gain adjustment, set the following parameters based on the conditions of
use, to assure safe operation.
1) Setup of over-travel inhibit input
By inputting the limit sensor signal to the driver, the bumping against mechanical end
can be prevented. Refer to interface specification, positive/negative direction over-
travel inhibit input (POT/NOT). Set the following parameters which are related to over-
travel inhibit input.
Pr5.04 Setup of over-travel inhibit input
Pr5.05 Sequence at over-travel inhibit
Related page P.3-40 (POT/NOT), P.4-47 (Pr5.04, Pr5.05)
2) Setup of torque limit
By limiting motor maximum torque, damage caused by failure or disturbance such as
bite of the machine and collision will be minimized. To apply standardized limit through
parameters, set Pr0.13 The 1st torque limit.
If the torque limit setup is lower than the value required during the actual application,
the following two protective features will be triggered: over-speed protection when
overshoot occurs, and excess positional deviation protection when response to the
command delays.
By allocating the torque in-limit output (TLC) of interface specification to the output sig-
nal, torque limit condition can be detected externally.
Related page P.3-48 (TLC), P.4-12 (Pr0.13), P.4-52 (Pr5.21)
3) Setup of over-speed protection
Generates Err26.0 Over-speed protection when the motor speed is excessively high.
Default setting is the applicable motor maximum speed [r/min] × 1.2.
If your application operates below the motor maximum speed, set Pr5.13 Setup of
over-speed level by using the formula below.

Pr5.13 Setup of over-speed level = Vmax × (1.2 to 1.5)

Vmax: motor maximum speed [r/min] in operating condition
Factor in ( ) is margin to prevent frequent activation of over-speed protection.

When running the motor at a low speed during initial adjustment stage, setup the over-
speed protection by multiplying the adjusting speed by a certain margin to protect the mo-
tor against possible oscillation.
Related page P.4-50 (Pr5.13)

(Continued ...)

6-23
 2. Setup of gain pre-adjustment protection

4) Setup of the excess positional deviation protection

During the position control or full-closed control, this function detects potential exces-
sive difference between the positional command and motor position and issues Err24.0
Excess positional deviation protection.
Excess positional deviation level can be set to Pr0.14 Setup of positional deviation
excess. The deviation can be detected through command positional deviation [pulse
(command unit)] and encoder positional deviation [pulse (encoder unit)], and one of
which can be selected by Pr5.20 Position setup unit select. (See the control block dia-
gram.)
Default setting is 100000[pulse (command unit)].
Because the positional deviation during normal operation depends on the operating
speed and gain setting, fill the equation below based on your operating condition and
input the resulting value to Pr0.14.
• When Pr5.20 = 0 (detection through command positional deviation)

Pr0.14 Setup of positional deviation excess = Vc/kp × (1.2 to 2.0)

Vc: maximum frequency of positional command pulse [pulse (command unit)/s]
Kp: position loop gain [1/s]
Factor in ( ) is margin to prevent frequent activation of excess positional deviation
protection.

Note 1) When switching position loop gain Kp, select the smallest value for calculation.
Note 2) When using the positional command filter and damping control, add the
following values.
Positional command smoothing filter: Vc × filter time constant [s]
Positional command FIR filter: Vc × filter time constant [s]/2
Damping control: Vc/(π × damping frequency [Hz])
• When Pr5.20 = 1 (detection through encoder positional deviation,
full-closed positional deviation)

Pr0.14 Setup of positional deviation excess = Ve/Kp × (1.2 to 2.0)

Ve: maximum operation frequency [pulse/s] in encoder unit or full-closed unit
Kp: position loop gain [1/s]

Note 3) When switching position loop gain Kp, select the smallest value for calculation.
Note 4) When Pr5.20 = 1, setups of positional command filter and damping control have
no effect.
Related page P.4-12 (Pr0.14), P4-52 (Pr5.20)

5) Setup of motor working range

During the position control or full-closed control, this function detects the motor posi-
tion which exceeds the revolutions set to Pr5.14 Motor working range setup, and is-
sues Err34.0 Software limit protection.
Related page P.4-50 (Pr5.14)

6-24
 2. Setup of gain pre-adjustment protection
1

Before Using the Products

6) Setup of hybrid deviation excess error protection
At the initial operation with full-closed control, operation failure may occur due to re-
verse connection of external scale or wrong external scale division ratio.
To indicate this type of defect, Err25.0 Hybrid deviation excess error protection is is- 2
sued when the deviation of motor position (encoder unit) and load position (external

scale unit) exceed Pr3.28 Setup of hybrid deviation excess.

Preparation
Default setting is 16000 pulse (command unit). Because the deviation in normal opera-
tion varies with the operation speed and gain setup. Add a margin to this setting ac-
cording to your operating condition.
Related page P.4-36 (Pr3.28)
3

Connection
4

Setup
5

Adjustment

6
When in Trouble

7
Supplement

6-25
 6 3. Troubleshooting
When in Trouble Motor Does Not Run

When the motor does not run, refer to P.2-102, "Display of Factor of No-Motor Running" of Preparation
as well.
Classification Causes Measures
Parameter Setup of the Check that the present 1) Set up Pr0.01 again.
control mode is control mode is correct 2) Check that the input to control mode switching
not correct with monitor mode of the (C-MODE) of the Cnnector X4 is correct, when
front panel. Pr0.01 is set to 3 to 5.

Selection of Check that the external 1) Set up Pr05.21 to 0 and apply -9 [V] to N-ATL and
torque limit is not analog input (N-ATL/ +9 [V ] to P-ATL when you use the external input.
correct P-ATL) is not used for the 2) Set up Pr05.21 to 1 and set up the max. value to
torque limit. Pr0.13 when you use the parameter value.

Setup of Check that the motor 1) Check the setups of Pr0.09, Pr0.10 and Pr5.00 to
electronic gear moves by expected Pr5.02 again.
is not correct. revolution against the 2) Connect the electronic gear switching input (DIV) of
(Position/Full- command pulses. Connector X4 to COM–, or invalidate the division/
closed) multiplication switching by setting up the same
value to Pr0.09 and Pr5.00.

Wiring Servo-ON input In the front panel monitor Check and make a wiring so as to connect the SRV-
of Connector mode, is the Pin No. ON input to COM–.
X4 (SRV-ON) is corresponding to SRV-
open. ON in “ - ” state?

Positive/negative In the front panel monitor 1) Check and make a wiring so as to connect both
direction over- mode, is the Pin No. NOT/POT inputs to COM–.
travel inhibit input corresponding to NOT/ 2) Set up Pr5.04 to 1 (invalid) and reset the power.
of Connector X4 POT in “ A ” state?
(NOT/POT) is
open.

Command pulse Check that the input 1) Check that the command pulses are entered
input setup pulse counts and correctly to the direction selected with Pr0.05.
is incorrect. variation of command 2) Check that the command pulses are entered
(Position/Full- pulse sum does not slips, correctly in the format selected with Pr0.07.
closed) with monitor mode of the
front panel.

Command In the front panel monitor 1) Check and make a wiring so as to connect the INH
pulse input mode, is the Pin No. input to COM–.
inhibition (INH) of corresponding to INH in 2) Set up Pr5.18 to 1 (invalid).
Connector X4 is “ A ” state?
open. (Position/
Full-closed)

Counter clear In the front panel monitor 1) Check and make wiring so as to open the CL input
input (CL) of mode, is the Pin No. 2) Set up Pr5.17 to 0 (invalid).
Connector X4 corresponding to CL in
is connected to “ A ” state?
COM–. (Position/
Full-closed)

Related page • P.2-88... “How to Use the Front Panel” • P.3-32 “Inputs and outputs on connector X4”
• P.4-4... “Details of parameter”

6-26
 3. Troubleshooting
Motor Does Not Run
1

Before Using the Products

When the motor does not run, refer to P.2-102, "Display of Factor of No-Motor Running" of Preparation
as well.
Classification Causes Measures 2

Wiring Speed command Check that the velocity 1) Check the setups of Pr3.02 to Pr3.03 again by
is invalid command input method setting up Pr3.00 to 0, when you use the external

Preparation
(Velocity) (external analog analog command.
command/internal 2) Set up Pr3.04 to Pr3.07 and Pr3.08 to Pr3.11 by
velocity command) is setting up Pr3.00 to either one of 1, 2 or 3, when
correct. you use the internal speed command.

Speed zero In the front panel 1) Check and make wiring so as to connect speed
clamp input monitor mode, is the Pin zero clamp input to COM–. 3

(ZEROSPD) of No. corresponding to 2) Set up Pr3.15.
Connecter X4 is ZEROSPD in “ A ” state?

Connection
open.
(Velocity/Torque)

Torque command Check that the torque 1) Check that the input voltage is applied correctly by
is invalid (Torque) command input method setting up Pr3.17 to 0, when you use SPR/TRQR
(SPR/TRQR input, input.
P-ATL/TRQR input) is 2) Check that the input voltage is applied correctly by 4

correct. setting up Pr3.17 to 1, when you use the P-ATL/
TRQR input.

Setup
Velocity control is Check that the velocity 1) Set up the desired value to Pr3.21 by setting up
invalid (Torque) limit input method Pr3.17 to 0, when you use the parameter speed.
(parameter velocity, SPR/ 2) Check that the input voltage is applied correctly
TRQR/SPL input) is by setting up Pr3.17 to 1, when you use the SPR/
correct. TRQR/SPL input.

Installation Main power is In the front panel monitor Check the wiring/voltage of main power of the driver
5

shut off. mode, is the Pin No. (L1, L2 and L3).
corresponding to S-RDY

Adjustment
in “ - ” state?

The motor shaft 1) Check that you can If you cannot turn the motor shaft, consult with the
drags, the motor turn the motor shaft, dealer for repair.
does not run. after turning off the
power and separate it
from the machine. 6

2) Check that you can

When in Trouble

turn the motor shaft

while applying DC24 V
to the brake in case of
the motor with electro-
magnetic brake.

7
Supplement

Related page • P.4-29... “Details of parameter” • P.3-32 “Inputs and outputs on connector X4”

6-27
 6 3. Troubleshooting
Unstable Rotation (Not Smooth),
When in Trouble Motor Runs Slowly Even with Speed Zero at Velocity Control Mode

Classification Causes Measures

Parameter Setup of the control mode is not If you set up Pr0.01 to 1(Velocity control mode) by mistake at
correct. position control mode, the motor runs slowly at servo-ON due to
speed command offset. Change the setup of Pr0.01 to 0.

Adjustment Gain adjustment is not proper. Increase the setup of Pr1.01, 1st velocity loop gain. Enter torque
filter of Pr1.04 and increase the setup of Pr1.01 again.

Velocity and position command Check the motor movement with connector X7 of the front panel
are not stable. or the waveform graphic function of the PANATERM. Review the
wiring, connector contact failure and controller.

Wiring Each input signal of Connector 1) Check the wiring and connection between Pin29 and 41 of the
X4 is chattering. Connector X4 using the display function of I/O signal status.
1) Servo-ON signal Correct the wiring and connection so that the Servo-ON signal
can be turned on normally. Review the controller.
2) Positive/Negative direction 2) Check the wiring and connection between Pin-18 and 17, 16 and
torque limit input signal 17 of the Connector X4 using tester or oscilloscope. Correct the
wiring and connection so that Positive/Negative direction torque
limit input can be entered normally.
3) Deviation counter input signal 3) Check the wiring and connection between Pin-30 and 41 of the
Connector X4 using display function of I/O signal status. Correct
the wiring and connection so that the deviation counter input can
be turned on normally. Review the controller.
4) Check the wiring and connection between Pin-26 and 41of the
4) Speed zero clamp signal Connector X4 using Display function of I/O signal status. Correct
the wiring and connection so that the speed zero clamp input can
be entered normally. Review the controller.
5) Check the wiring and connection between Pin-33 and 41of the
5) Command pulse inhibition Connector X4 using display function of I/O signal status. Correct
input the wiring and connection so that the command pulse inhibition
input can be entered normally. Review the controller.

Noise is on the velocity Use a shield cable for connecting cable to the Connector X4.
command. Separate the power line and signal line (30 cm or longer) in the
separate duct.

Slip of offset Check the voltage between Pin-14 and 15 (speed command input)
using a tester or an oscilloscope.

Noise is on the position Use a shield cable for connecting cable to the Connector X4.
command. Separate the power line and signal line (30 cm or longer) in the
separate duct.

Related page • P.4-4 “Details of parameter” • P.3-32 “Inputs and outputs on connector X4”
• P.7-26 “Outline of Setup support software “PANATERM”

6-28
 6 3. Troubleshooting 1

Before Using the Products

When in Trouble Positioning Accuracy Is Poor

Classification Causes Measures

System Position command is not correct. Count the feedback pulses with a monitor function of the
(Amount of command pulse) PANATERM or feedback pulse monitor mode of the console while
repeating the movement of the same distance. If the value does
not return to the same value, review the controller. Make a noise 2

measure to command pulse.
Captures the positioning Monitoring with the waveform graphic function of the PANATERM.

Preparation
complete signal at the edge. Make the controller capture the signal not at the edge but with
some time allowance.
Shape or width of the If the shape of the command pulse is broken or narrowed, review
command pulse is not per the the pulse generating circuit. Make a noise measure.
specifications.
Noise is superposed on
deviation counter clear input CL
Make a noise measure to external DC power supply and make no
wiring of the unused signal lines.
3

(Connector X4, Pin-30).
Adjustment Position loop gain is small. Check the position deviation with the monitor function of the

Connection
PANATERM or at the monitor mode of the console.
Increase the setup of Pr1.00 within the range where no oscillation
occurs.
Parameter Setup of the positioning Lower the setup of Pr4.31 within the range where no chattering of
complete range is large. complete signal occurs.
Command pulse frequency have
exceeded 500kpps or 4Mpps.
Lower the command pulse frequency. Change the division/
multiplication ratio of 1st and 2nd numerator of command division/
4

multiplication, Pr0.09 and Pr0.10. Use a pulse line interface
exclusive to line driver when pulse line interface is used.

Setup
Setup of the division/ Check if the repetition accuracy is same or not. If it does not
multiplication is not correct. change, use a larger capacity motor and driver.
Velocity loop gain is proportion • Set up Pr1.02 and Pr1.07 of time constant of velocity loop
action at motor in stall. integration to 9999 or smaller.
• Review the wiring and connection so that the connection between
Pin-27 and 41 of the gain switching input connector, Connector
X4 becomes off while you set up Pr1.14 of 2nd gain setup, to 1.
5

Wiring Each input signal of Connector 1) Check the wiring and connection between Pin29 and 41 of the

Adjustment
X4 is chattering. connector, Connector X4 using the display function of I/O signal
1) Servo-ON signal status. Correct the wiring and connection so that the servo-On
signal can be turned on normally. Review the controller.
2) Deviation counter clear input 2) Check the wiring and connection between Pin-30 and 41 of the
signal connector, Connector X4 using display function of I/O signal
status. Correct the wiring and connection so that the deviation
counter clear input can be turned on normally. Review the
controller. 6

3) Positive/Negative direction 3 Check the wiring and connection between Pin-18 and 17, 16 and
When in Trouble

torque limit input signal 17 of the connector, Connector X4 using tester or oscilloscope.
Correct the wiring and connection so that Positive/Negative
direction torque limit input can be entered normally.
4) Command pulse inhibition 4) Check the wiring and connection between Pin-33 and 41of the
input connector, Connector X4 using display function of I/O signal
status. Correct the wiring and connection so that the command
pulse inhibition input can be entered normally. Review the controller.
Installation Load inertia is large. Check the overshoot at stopping with graphic function of the 7

PANATERM. If no improvement is obtained, increase the driver and

motor capacity.
Supplement

Related page • P.4-4 “Details of parameter” • P.3-32 “Inputs and outputs on connector X4”
• P.7-26 “Outline of Setup support software “PANATERM”

6-29
 6 3. Troubleshooting
When in Trouble Origin Point Slips

Classification Causes Measures

System Z-phase is not detected. Check that the Z-phase matches to the center of proximity dog.
Execute the homing matching to the controller correctly.

Homing creep speed is fast. Lower the homing speed at origin proximity. Or widen the origin
sensor.

Wiring Chattering of proximity sensor Check the dog sensor input signal of the controller with
(proximity dog sensor) output . oscilloscope.
Review the wiring near to proximity dog and make a noise measure
or reduce noise.

Noise is on the encoder line. Reduce noise (installation of noise filter or ferrite core), shield
treatment of I/F cables, use of a twisted pair or separation of power
and signal lines.

No Z-phase signal output. Check the Z-phase signal with oscilloscope. Check that the Pin-
13 of the connector, connector X4 is connected to the earth of the
controller. Connect the earth of the controller because the open
collector interface is not insulated. Replace the motor and driver.
Request for repair.

Miswiring of Z-phase output. Check the wiring to see only one side of the line driver is connected
or not. Use a CZ output (open collector if the controller is not
differential input.

6 3. Troubleshooting
When in Trouble Abnormal Motor Noise or Vibration

Classification Causes Measures

Wiring Noise is on the speed command. Measure the speed command inputs of Pin-14 and 15 of the
connector, Connector X4 with an oscilloscope. Reduce noise
(installation of noise filter or ferrite core), shield treatment of I/F
cables, use of a twisted pair, separation of power and signal lines.

Adjustment Gain setup is large. Lower the gain by setting up lower values to Pr1.01 and 1.06, of
velocity loop gain and Pr1.00 and Pr1.05 of position loop gain.

Installation Resonance of the machine and Re-adjust Pr1.04 and 1.09.

the motor. Check if the machine resonance exists or not with frequency
characteristics analyzing function of the PANATERM. Set up the
notch frequency to Pr2.01, Pr2.04, Pr2.07 or Pr2.10 if resonance
exists.

Motor bearing Check the noise and vibration near the bearing of the motor while
running the motor with no load. Replace the motor to check.
Request for repair.

Electro-magnetic sound, gear Check the noise of the motor while running the motor with no load.
noise, rubbing noise at brake Replace the motor to check. Request for repair.
engagement, hub noise or
rubbing noise of encoder.

6-30
 6 3. Troubleshooting 1

Before Using the Products

Overshoot/Undershoot,
When in Trouble Overheating of the Motor (Motor Burn-Out)

Classification Causes Measures

Adjustment Gain adjustment is not proper. Check with graphic function of PANATERM or monitor (connector
X7). Make a correct gain adjustment. Refer to “Adjustment”.

Installation Load inertia is large. Check with graphic function of PANATERM or monitor (Connector 2

X7). Make an appropriate adjustment. Increase the motor and
driver capacity and lower the inertia ratio. Use a gear reducer.

Preparation
Looseness or slip of the Review the mounting to the machine.
machine.

Ambient temperature, Lower the temperature with cooling fan if the ambient temperature
environment. exceeds the predications.

Stall of cooling fan, dirt of fan Check the cooling fans of the driver and the machine. Replace the 3

ventilation duct. driver fan or request for repair. (The upper fan on the H-frame driver
stops during servo OFF to save energy. This is normal.)

Connection
Mismatching of the driver and Check the name plates of the driver and the motor. Select a
the motor. correct combination of them referring to the instruction manual or
catalogue.

Failure of motor bearing. Check that the motor does not generate rumbling noise while
turning it by hand after shutting off the power. Replace the motor 4
and request for repair if the noise is heard.

Electromagnetic brake is kept Check the voltage at brake terminals. Apply the power (DC24 V) to
engaged (left un-released). release the brake.

Setup
Motor failure (oil, water or Avoid the installation place where the motor is subject to high
others) temperature, humidity, oil, dust or iron particles.

Motor has been turned by Check the running pattern, working condition and operating status,
external force while dynamic and inhibit the operation under the condition of the left. 5
brake has been engaged.

6 3. Troubleshooting Adjustment

Motor Speed Does Not Reach to the Setup,

When in Trouble Motor Revolutions (Travel) Is Too Large or Small 6
When in Trouble

Classification Causes Measures

Parameter Velocity command input gain is Check that the setup of Pr3.02, speed command input gain, is
not correct. made so as to make the setup of 500 makes 3000 r/min/6 V.

Adjustment Position loop gain is low. Set up Pr1.00and Pr1.05, position loop gain to approx. 1000.

Division/Multiplication is not Set up correct values to Pr0.09, 1st numerator of electronic

proper. gear, Pr0.11, numerator multiplier of electronic gear and Pr0.10, 7

denominator of electronic gear. Refer to parameter setup at each

mode.
Supplement

Related page • P.4-9... “Details of parameter” • P.7-26 “Outline of Setup support software “PANATERM”

6-31
 6 3. Troubleshooting
When in Trouble Parameter Returns to Previous Setup

Classification Causes Measures

Parameter No writing to EEPROM has been Refer to P.2-109, “EEPROM Writing Mode” of Preparation.
carried out before turning off the
power.

6-32
 Before Using the Products
1

7
Preparation Connection Setup Adjustment When in Trouble Supplement

6-33
MEMO