Appendix
ES2 Series Servo User Manual Lite V1.0
Input signal function description
Code
FunIN.36
FunIN.37
FunIN.38
FunIN.39
FunIN.40
Name
XINT_RST
RUN_SUSPEND
TCMD1
TCMD2
Reserved
Function Name
Description
Reset interrupt
fixed length
Pause interrupt
fixed length
Multi-segment
torque command 1
Multi-segment
torque command 2
Forced to exit the fixed length state
Pause interrupt fixed length operation
3 segmen torque command selection
3 segmen torque command selection
FunIN.41
Reserved
Status
Assign
Assign
Assign
Assign
Assign
Assign
Appendix A: Error Code Table
Error
number
Er_
1
2
3
4
6
7
8
Error Name
System
exception
parameter
Product model selection
failure
Motor data verification
failure
Fault in parameter storage
Program exception
Control
undervoltage
circuit
Cause of Error
The data of the servo internal parameters is
abnormal.
Invalid motor model or drive model
Motor ROM data check error or no data
1 parameter storage device failure
2 parameters read and write too frequently
3 control power supply instability
4 drive failure
1 system parameter abnormal
2 drive internal failure
Control circuit undervoltage
Stop
method
when
error
occurs
No.1
No.1
No.1
No.1
No.1
No.1
Fault
reseta
ble
No
No
No
No
No
No
Short circuit to ground
detection failure
1 drive or motor parameters are incorrect;
2 UVW phase-to-phase short circuit;
3 the motor burned out;
4 motor is shorted to ground;
5 drive failure;
NO.1 No
1 drive or motor parameters are incorrect;
2 UVW phase-to-phase short circuit;
9
Overcurrent fault A
3 motor burned out;
NO.1 No
4 motor is shorted to ground;
5 drive failure;
1 servo motor wiring is wrong;
10
Overcurrent fault B
2 software detects the overcurrent of the
No.1
No
power transistor;
11
Encoder disconnection
Encoder disconnection
12
Encoder AB signal is
abnormal
Encoder AB signal is abnormal
No.1
No
No.1
No
13
Encoder check exception Encoder zero point check exception
No.1
No
71