YASKAWA JUSP-MD D01A Series User Manual page 307

9 Troubleshooting
9.1.2 Troubleshooting of Alarms
Alarm Number:
Alarm Name
(Alarm Description)
A.d00:
Position Error
Overflow
(Position error exceeded
the value set in the
excessive position error
alarm level (Pn520).)
A.d01:
Position Error
Overflow Alarm at
Servo ON
A.d02:
Position Error
Overflow Alarm by
Speed Limit at Servo
ON
A.d10:
Motor-load Position
Error Overflow
A.Eb1:
Safety Function Signal
Input Timing Error
A.EE0:
Local Communica-
tions Servo OFF Oper-
ation Error 1
A.EE1:
Local Communica-
tions Servo ON Oper-
ation Error 1
9-18
Cause
The servomotor U, V, and W wir-
ings is faulty.
The frequency of the position ref-
erence pulse is too high.
The acceleration of the position
reference is too high.
Setting of the excessive position
error alarm level (Pn520) is low
against the operating condition.
A fault occurred in the multi-
winding drive unit.
This alarm occurs if the servomo-
tor power is turned ON when the
position error is greater than the
set value of Pn526 while the ser-
vomotor power is OFF.
When the position errors remain
in the error counter, Pn529 limits
the speed if the servomotor power
is ON. If Pn529 limits the speed
in such a state, this alarm occurs
when reference pulses are input
and the number of position errors
exceeds the value set for the
excessive position error alarm
level (Pn520).
Motor rotation direction and
external encoder installation
direction are opposite.
Mounting of the load (e.g., stage)
and external encoder joint instal-
lation are incorrect.
The lag between activations of
the input signals /HWBB1 and
/HWBB2 for the HWBB function
is ten second or more.
The servo was not turned OFF for
all axes within 1 second after the
servo OFF request.
The servo was not turned ON for
all axes within 1 second after the
servo ON request.
Investigative Actions
Check the servomotor main circuit
cable connection.
Reduce the reference pulse fre-
quency, and operate the multi-wind-
ing drive unit.
Reduce the reference acceleration,
and operate the multi-winding drive
unit.
Check the alarm level (Pn520) to
see if it is set to an appropriate
value.
−
Check the position error amount
(Un008) while the servomotor
power is OFF.
−
Check the servomotor rotation
direction and the external encoder
installation direction.
Check the external encoder
mechanical connection.
Measure the time lag between the /
HWBB1 and
/HWBB2 signals.
−
Check to see if the multi-winding
drive unit is in ready status.
Check to see if the motor is stopped.
(cont'd)
Corrective Actions
Confirm that there is no contact
fault in the motor wiring or encoder
wiring.
Reduce the position reference pulse
frequency or acceleration of posi-
tion reference. 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 control power supply OFF
and ON again. If the alarm still
occurs, the multi-winding drive unit
may be faulty. Replace the multi-
winding drive unit.
Set position error to be cleared
while the servomotor power is OFF.
Or, correct the excessive position
error alarm level at servo ON
(Pn526).
Set position error to be cleared
while the servomotor power is OFF.
Or, correct the excessive position
error alarm level (Pn520).
Or, adjust the speed limit level at
servo ON (Pn529).
Install the external encoder in the
opposite direction, or change the
setting of the external encoder
usage method (Pn002.3) to reverse
the direction.
Check the mechanical joints.
The output signal circuits or devices
for /HWBB1 and
/HWBB2 or the multi-winding
drive unit input signal circuits may
be faulty. Alternatively, the input
signal cables may be disconnected.
Check if any of these items are
faulty or have been disconnected.
Perform an alarm reset and restart
operation.
Perform an alarm reset and restart
operation.
Perform an alarm reset and restart
operation.