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Protective
Error
function
code No.
Because of an interruption of the communication between
Encoder
21
the encoder and the servo amplifier, the encoder cable
communication
*
disconnection detecting function was activated.
error protection
Data cannot be sent from the encoder, mainly because of a
data error due to noise. The encoder cable is connected,
Encoder
but the communication data are defective.
communication
23
data error
*
protection
The position deviation pulse count is larger than the
setting of Pr. 70 (Position deviation error level).
1) The motor does not run according to the command .
Position
deviation error
24
protection
2) The setting of Servo parameter No. 70 (Position
The position of a load due to an external scale and the
position of a motor based on an encoder were displaced each
other by not less than the number of pulses set by Servo
parameter No.7B (hybrid deviation error level).
Hybrid
25
deviation error
*
protection
The speed of motor revolutions exceeded the set value of
Servo parameter No.73 (Overspeed level).
Overspeed
26
protection
A communication error occurred in the data from an
external scale. It is a data error mainly caused by noises.
This communication data error occurred in spite of the
External scale
communication
28
existence of the connection of the external scale
connection cable.
data error
*
protection
The deviation counter's reading is higher than 2
(134217728).
Deviation
counter
29
overflow
protection
A4P
Cause
deviation error level) is too low.
MOTOR COMPANY, MATSUSHITA ELECTRIC INDUSTRIAL CO., LTD
Connect the encoder cable according to the wiring
diagram. Correct the wiring of the encoder connector
pins. Take note that the encoder cable shall be connected
to X6.
• Make sure that the encoder power supply voltage is 5
VDC ±5% (4.75 to 5.25 V). When using a long
encoder cable, particular attention is required.
• If the motor cable and encoder cable are bundled
together, separate them.
• Connect the shield cable to the FG terminals. (See the
encoder connection diagram.)
1) Make sure that the motor runs according to the
command . Check the torque monitor to make sure
that the output torque is not saturated. Adjust the
gain. Set Servo parameter No.5E (1st torque limit)
and Servo parameter No.5F (2nd torque limit) to the
maximum value. Connect the encoder cable
according to the wiring diagram. Prolong the
acceleration/deceleration time. Reduce the load, and
lower the speed.
2) Increase the setting of Servo parameter No. 70.
• Check the connection between the motor and the
load.
• Check the connection between the external scale
and the servo amplifier.
• Check whether the change of motor position
(encoder feedback value) and the change of load
position (external scale feedback value) have the
same sign (+/-) when the load is driven.
Check whether the numerator and denominator of external
scale ratio (Servo parameter No.74, 75 and 76) are set
correctly.
• Do not apply an excessive speed command.
• If overshoot occurred due to improper gain adjustment,
adjust the gain properly.
• Connect the encoder cable according to the wiring
diagram.
• Secure the power voltage of 5VDC±5% (4.75 to 5.25V)
for the external scale. The attention should be paid to
this matter especially when using a long external scale
connection cable.
• In case the motor cable and external scale connection
cable are bundled together, make sure to split them.
• Connect the shield to FG. Refer to the connection
chart of the external scale.
27
• Make sure that the motor runs according to the position
command .
• Check the torque monitor to make sure that the output
torque is not saturated.
• Adjust the gain.
• Set Servo parameter No.5E (1st torque limit) and Servo
parameter No.5F (2nd torque limit) to the maximum
value.
• Connect the encoder cable according to the wiring
diagram.
No. SR-DSV09485
Countermeasure
- 79 -
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