Panasonic MINAS A6 Multi Series Technical Reference page 194

Error No.
Protective function
Main Sub
17 0 Mechanical brake circuit
voltage error protection
1 Mechanical brake circuit
overload protection
21 0 Encoder communication
disconnection error
protection
1 Encoder communication
error protection
23 0 Encoder communication
data error protection
(To be continued)
Causes
The power supply input voltage to the
mechanical brake output circuit of the motor
connector X105 of each axis built in the
driver module is smaller than the specified
value or larger than the specified value
1) The input voltage of the control power
supply exceeded the specified value.
2) Failure of driver module.
(Failure of mechanical brake output
circuit.)
Excessive current flowed into the
mechanical brake output circuit of the motor
connector X105 of each axis built in the
driver module.
1) The BRK + and BRK- terminals of motor
connector X105 Short circuited.
2) BRK + and BRK- terminals of motor
connector X105 Ground fault.
3) BRK + and BRK- terminals of motor
connector X105
Contact failure occurred.
4) Failure of driver module.
(Failure of mechanical brake output
circuit.)
In the driver module, the data received from
the 1st encoder for each axis was
interrupted a certain number of times.
The driver module received the data
received from the 1st encoder of each axis,
but an error was detected by the format
check.
Data error mainly due to noise. The 1st
encoder line is connected but the received
data is error.
The driver module received the data
received from the 1st encoder of each axis
and the format check was normal, but an
error was detected in the content of the
received data.
Data error mainly due to noise
Protective Functions
Measures
When not using the mechanical brake, set
bit 0 (mechanical brake circuit voltage error
protection function) of Pr5.90 " Function
extended shared setup 3" to 1: Disabled.
1) Check the input voltage between the
terminals of the control power supply
and set it to the specified value. Then
clear the alarm.
2) Replace the driver module.
Check the wiring of the external mechanical
brake and mechanical brake output.
1) Check the connector lead wires to see if
BRK + and BRK- of motor connector
X105 are short-circuited. Connect the
motor wires correctly.
2) Check the insulation resistance
between BRK + and BRK- of motor
connector X105 and the ground wire. If
insulation failure has occurred, replace
the driver module.
3) Remove the BRK + and BRK- terminals
of motor connector X105.
Check and if it is loose or missing, fix it
securely.
4) Replace the driver module.
Check if the 1st encoder connector X9 is
connected correctly.
 Correctly wire the 1st encoder cable.
 Correct the connection error of the
connector pin.
 To take measures against noise, take the
same measures as Err21.1 and Err23.0.
 Replace the motor (failure of the encoder).
 Secure the power supply for the encoder
of 5 VDC ±5% (4.75 to 5.25 V) ... pay an
attention especially when the encoder
cables are long.
 Separate the encoder cable and the motor
cable if they are bound together.
 Connect the shield to FG.
 Replace the motor (failure of the encoder).
 Secure the power supply for the encoder
of 5 VDC ±5% (4.75 to 5.25 V) ... pay an
attention especially when the encoder
cables are long.
 Separate the encoder cable and the motor
cable if they are bound together.
 Connect the shield to FG.
 Replace the motor (failure of the encoder).
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