Chapter 6 Alarm
6.1 Alarm table
Alarm
code
Err--
Err 1
Err 2
Err 4
Err 7
Alarm
name
No alarm occurs
Over speed
Over voltage of the main
power supply
Position deviation exceeds
the limit value
Drive inhibition abnormal
Err 8
Err 9
Err11
Err12
Err13
Err14
Err15
Err16
Overflow of position
deviation counter
Encoder signal fault
Power model fault
Over current
Overload
Overload of brake peak
power
Encoder counter error
Over-heat of servomotor
Err17
Err18
Overload of brake average
power
Overload of power model
Err20
Err21
Err23
Err24
Err29
EEPROM error
Logic circuit error
AD conversion error
Under voltage of control
power supply
Over-torque alarm
Alarm
content
Normal operation
Servomotor speed exceeds the speed limit.
The voltage of the main power supply
exceeds the specified value.
The counter of position deviation exceeds
the setting limit value.
CCWL、CWL the inputs of drive inhibition
are not effective.
The absolute value of position deviation
counter exceeds 230
Lack of the signals of encoder
Power model fault occurs.
Over-current of servomotor
Overload of servomotor
Instantaneous load is too big in short brake
time
Encoder counter is abnormal.
The heat load of servomotor exceeds the
setting value (I2t detection)
Average load is too big in brake time
Alarm
clear
No
No
Can
Can
Can
No
No
No
No
No
No
No
No
Average output load of power model is too No
big
EEPROM error occurs when read or white. No
Logic circuit fault outside DSP
No
Circuit or current sensor fault
No
The LDO fault of control circuit
No
The torque of servomotor exceeds the
setting value and lasting time
Can
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