YASKAWA A1000 Series Technical Manual page 331

Digital Operator Display
Er-21
Cause
Motor was coasting when Auto-Tuning was
performed.
Either the motor or the PG encoder on the motor is
not properly wired.
The direction for the PG encoder is set incorrectly, or
the number of pulses set for the PG encoder is
wrong.
PG encoder is damaged.
YASKAWA ELECTRIC SIEP C710616 27C YASKAWA AC Drive A1000 Technical Manual
Z Pulse Correction Error
Make sure the motor has stopped completely. Repeat Auto-Tuning.
Check the wiring for the motor and the PG encoder. Repeat Auto-Tuning.
Check the direction and number of pulses set for the PG encoder. Repeat Auto-Tuning.
Check the signal output from the PG encoder attached to the motor. Replace the PG if damaged.
6.7 Auto-Tuning Fault Detection
Error Name
Possible Solutions
6
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