YASKAWA E-V Series User Manual page 223

Alarm:
Alarm Name
The contact in the servomotor U,
V, and W wirings is faulty.
The SERVOPACK gain is low.
The frequency of the position ref-
erence pulse is too high.
A.d00:
Position Error Pulse
Overflow
(Position error exceeded
The position reference accelera-
the value set in the
tion is too fast.
excessive position error
alarm level (Pn520))
Setting of the Pn520 (Excessive
Position Error Alarm Level) is
low against the operating condi-
tion.
A SERVOPACK fault occurred.
When setting not to clear position
A.d01:
error pulses, the servomotor
Position Error Pulse
rotated while the servo was OFF,
Overflow Alarm at
resulting in position error pulse
Servo ON
overflow.
The servo was turned ON while
the position error pulses accumu-
A.d02:
lated, and the reference pulse was
input while the servomotor was
Position Error Pulse
running at the speed limit
Overflow Alarm by
(Pn529). As a result, the position
Speed Limit at Servo
error count exceeded the exces-
ON
sive position error alarm level
(Pn520).
A.d30:
The position data exceeded
Position Data
±1879048192.
Overflow
MECHATROLINK-II transmis-
sion cycle fluctuated.
A.E02:
MECHATROLINK-II
Internal Synchroniza-
A SERVOPACK fault occurred.
tion Error 1
A.E40:
Setting of MECHATROLINK-II
MECHATROLINK-II
transmission cycle is out of speci-
Transmission Cycle
fications range.
Setting Error
A.E50:
WDT data of host controller was
MECHATROLINK-II
not updated correctly.
Synchronization Error
WDT data of host controller was
A.E51:
not updated correctly at the syn-
MECHATROLINK-II
chronization communications
Synchronization
start, and synchronization com-
Failed
munications could not start.
Cause Investigative Actions
Check the motor main circuit cable
connection.
Check the SERVOPACK gain to see
if it is too low.
Reduce the reference pulse fre-
quency, and operate the SERVO-
PACK.
Reduce the reference acceleration,
and operate the SERVOPACK.
Check the alarm level (Pn520) to
see if it is set to an appropriate
value.
−
Check the error counter (Un008)
while servo is OFF.
Check the error counter (Un008)
while servo is OFF.
Check the input reference counter
(Un00C).
−
−
Check the MECHATROLINK-II
transmission cycle setting.
Check the WDT data updating for
the host controller.
Check the WDT data updating for
the host controller.
8.1 Troubleshooting
Corrective Actions
Confirm that there is no contact
fault in the motor wiring of encoder
wiring.
Increase the servo gain using the
parameters such as Pn100 and
Pn102.
Reduce the position reference pulse
frequency or reference accelera-
tion. Or, reconsider the electronic
gear ratio.
Apply the smoothing function, such
as using position reference accelera-
tion/deceleration time constant
(Pn216).
Set the Pn520 to proper value.
Turn the power supply OFF and
then ON again. If the alarm still
occurs, the SERVOPACK may be
faulty. Repair or replace the SER-
VOPACK.
Set position error pulses to be
cleared while in servo OFF status.
Or, correct the excessive position
error alarm level (Pn520).
Set position error pulses to be
cleared while in servo OFF status.
Or, correct the excessive position
error alarm level (Pn520).
Or, adjust the speed limit level
(Pn529) when servo turns ON.
Reconsider the operating specifica-
tions.
Remove the cause of transmission
cycle fluctuation at host controller.
Turn the power supply OFF and
then ON again. If the alarm still
occurs, the SERVOPACK may be
faulty. Repair or replace the SER-
VOPACK.
Set the transmission cycle to the
proper value.
Update the WDT data at the host
controller correctly.
Update the WDT data at the host
controller correctly.
8
8-19