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5.3 Troubleshooting Alarms
Alarm Number:
Alarm Name
A.d01:
Position Devia-
tion Overflow
Alarm at Servo
ON
A.d02:
Position Devia-
tion Overflow
Alarm for Speed
Limit at Servo ON
A.d10:
Motor-Load Posi-
tion Deviation
Overflow
A.d30:
Position Data
Overflow
A.E02:
MECHATROLINK
Internal Synchro-
nization Error 1
A.E40:
MECHATROLINK
Transmission
Cycle Setting
Error
A.E41:
MECHATROLINK
Communications
Data Size Setting
Error
5-32
Possible Cause
The servo was turned
ON after the position
deviation exceeded
Check the position devia-
the setting of Pn526
tion while the servo is
(Position Deviation
OFF.
Overflow Alarm Level
at Servo ON) while the
servo was OFF.
If position deviation
remains in the devia-
tion counter, the set-
ting of Pn529 or
Pn584 (Speed Limit
Level at Servo ON)
limits the speed when
the servo is turned
–
ON. This alarm occurs
if a position reference
is input and the set-
ting of Pn520 (Posi-
tion Deviation
Overflow Alarm Level)
is exceeded.
The motor direction
Check the motor direction
and external encoder
and the external encoder
installation orientation
installation orientation.
are backward.
There is an error in the
connection between
Check the coupling of the
the load (e.g., stage)
external encoder.
and external encoder
coupling.
The position data
Check the input refer-
exceeded
ence pulse counter.
±1,879,048,192.
The MECHATROLINK
transmission cycle
–
fluctuated.
A failure occurred in
–
the SERVOPACK.
The setting of
MECHATROLINK
Check the setting of the
transmission cycle is
MECHATROLINK trans-
outside of the speci-
mission cycle.
fied range.
The number of trans-
Check the MECHA-
mission bytes set on
TROLINK communica-
DIP switch S3 is not
tions data size of the host
correct.
controller.
Confirmation
Optimize the setting of
Pn526 (Position Deviation
Overflow Alarm Level at
Servo ON).
Optimize the setting of
Pn520 (Position Deviation
Overflow Alarm Level). Or,
adjust the setting of
Pn529 or Pn584 (Speed
Limit Level at Servo ON).
Install the external
encoder in the opposite
direction, or change the
setting of Pn002 =
n.X (External
Encoder Usage) to
reverse the direction.
Check the mechanical
coupling.
Reconsider the operating
specifications.
Remove the cause of
transmission cycle fluctu-
ation at the host control-
ler.
Turn the power supply to
the SERVOPACK OFF and
ON again. If an alarm still
occurs, the SERVOPACK
may be faulty. Replace the
SERVOPACK.
Set the MECHATROLINK
transmission cycle to an
appropriate value.
Reset DIP switch S3 to
change the number of
transmission bytes to an
appropriate value.
Continued from previous page.
Refer-
Correction
ence
*1
*1
*1
–
–
–
–
–
*1
Continued on next page.
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Table of Contents
Troubleshooting
