Chapter 6 Alarm
Err21 (Logic circuit error)
Potential cause
Control circuit fault
Check
Handle
Turn on the power again If the error still exists, then replace the
and check
servo driver.
Err23 (AD conversion error)
Potential cause
Current sensor and connector fault
AD converter and analog amplifier
fault
Check
Check the main circuit
Check the control
circuit
Handle
Replace the servo driver.
Replace the servo driver.
Err24 (Under voltage of control power supply)
Potential cause
Control circuit LDO fault
Check
Check the power of
control board
Handle
Replace the servo driver.
Err29 (Over-torque alarm)
Potential cause
Check
Unexpected big load occurs
Check load condition
Parameter P070、P071、P072 setting Check the parameters
is not reasonable
Handle
Correctly readjust the load.
Correctly readjust parameters.
Err30 (Lost Z signal of encoder)
Potential cause
Encoder has problem
Encoder cable and/or connector has
problem
The interface circuit of the servo driver
is at fault
Check
Check the encoder Z
signal
Check cable and
connector
Check the control
circuit
Handle
Replace the encoder.
Replace the cable and connector.
Replace the servo driver.
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