25
Wrong speed loop gain
Adjust speed loop gain
Err.08
Motor stall
Same as above.
Same as above.
Err.09
Position over-proof
(out of tolerance)
Input pulse frequency too high or
accelerate/decelerate too fast
——
Relevant parameter setting not
appropriate
Motor model parameter (PA9) not match
Increase position loop gain and speed loop
gain (PA11, PA14), or increase position
over-proof threshold (PA53)
encoder line , motor power line
malfunction
Check encoder line , motor power line
Load inertia too high
Re-confirm load status, increase motor torque
output (PA48) , or replace a bigger servo
(If can be ignored)
Set PA54=1 can ignore this error
Err.10
Current deviation
Motor model parameter (PA9) not
match
Contact DORNA
Relevant parameter setting not
appropriate
Adjust current loop PID parameter, to achieve
faster current loop responsiveness
(If can be ignored)
PA113=8192 to ingore
Err.16
parameter mistake
Cannot read correct value from
EEPROM
Reset to factory default (EE-1)
Err.20
Power module
(IGBT) alarm
encoder line, motor power line
malfunction
Check encoder line , motor power line
Motor model parameter (PA9) not
match
Contact DORNA
parameter setting not appropriate
Adjust position loop gain and speed loop gain
(PA11, PA14)
Load inertia too high
Re-confirm load status, or replace a bigger
servo
Servo drive malfunction
Replace Servo drive
Err.21
Current-sensing
channel 1
malfunction
Internal
Current-sensing
circuit
broken
If error persists after rebooting servo, replace
Servo drive
Err.22
Current-sensing
channel 2
malfunction
Err.26
encoder AB pulse
lost
encoder line malfunction
Confirm encoder line model , Check
encoder wiring
encoder signal interference too high
Conduct appropriate encoder line cable
management and correct servo grounding
Motor model parameter (PA9)
not match
Contact DORNA
Internal encoder signal processing
circuit broken
Replace Servo drive
Motor encoder malfunction
Replace servo Motor
