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Sercos Drive Error Codes
Error
Problem
Code
20
Motor Encoder State Error
21
Auxiliary Encoder state error
22
Motor Thermal Protection Fault
1 5 - 1 8 / R e v 1 5
Probable Cause
The motor encoder encoun-
tered an illegal transition
Bad encoder
The auxiliary encoder encoun-
tered an illegal transition
Setup time violation for
Step/Direction or CW/CCW
input
The internal filter protecting the
motor from overheating has
tripped
H A Y S S E
NSA N D I AC R E
Corrective Action
• Replace motor/encoder
• Use shielded cables with
twisted pair wires
• Route the feedback away
from potential noise sources
• Check the system grounds
• Verify that the unbuffered
encoder signals are not sub-
jected to eMI in the CN1
cable. Remove these signals
from the CN1 cable if they are
not being used
• Verify that the motor has a
high-frequency bond to the
drive's enclosure panel
• Verify that any stage con-
nected to the motor shaft (ie
using a ball screw) has a
high-frequency bond to the
machine frame and the drive's
enclosure panel.
Replace motor/encoder
• Use shielded cables with
twisted pair wires
• Route the encoder cable away
from potential noise sources
• Bad encoder - replace encoder
• Check the ground connections
Check timing of Step/Direction
or CW/CCW inputs to deter-
mine if setup time requirements
are being met
• Reduce acceleration rates
• Reduce duty cycle (ON/OFF)
of commanded motion
• Increase time permitted for
motion
• Use larger Ultra3000 and
motor
• Check tuning
®
U l t i m a S V
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