75
Alarm number:
Alarm name
Reason
Confirmation method
The treatment measures
A.C80
：
Encoder
clearance
exception
(Abnormal setting of
upper limit value of
rotation number)
Encoder failure
-
Reconnect the power to the servo unit. It may
be a servo motor or a linear encoder fault
when an alarm still occurs. Replace the servo
motor or linear encoder.
Servo unit failure
-
Reconnect the power to the servo unit. When
an alarm still occurs, it is possible that the
servo unit has failed. Replace the servo unit
A.C90
：
Encoder
communication failure
Poor contact or wrong wiring of encoder
connector
Verify the status of the encoder connector. Insert the encoder connector again and
confirm the encoder wiring.
Encoder cable is broken, short-circuited,
or cable exceeding specified impedance
is used
Confirm the status of the encoder cable.
Use encoder cable of specified specification.
Corrosion caused by temperature,
humidity and gas; Short circuit caused by
water drops and cutting oil; Poor
connector contact caused by vibration
Confirm the use environment.
Improve the use environment and replace
cables. Even if this still cannot improve,
replace the servo drive.
Misoperation due to mutual interference
-
Correct
wiring
of
encoder
periphery
(separating encoder cable from servo motor
main loop cable, grounding treatment, etc.).
Servo drive failure
-
When connecting the servo motor to other
servo drives and turning on the control power
supply, if no alarm occurs, replace the servo
drive.
A.C91
：
Abnormal acceleration
of
encoder
communication position
data
Encoder cables are embedded, cladding
is damaged, and signal lines are
disturbed
Confirm the status of encoder cables and
connectors.
Confirm whether there is any problem in the
laying of encoder cable.
Verify that the encoder cable is tied
together or too close to the high current
wire
Confirm the setting status of encoder cable. Lay the encoder cable at a position not subject
to surge voltage.
The potential of FG changes due to the
influence of motor-side equipment
(welding machine, etc.)
Confirm the setting status of encoder cable. Ground the machine and shunt FG.
A.C92
：
Encoder
communication
timer
exception
The encoder's signal line is disturbed
-
Implement anti-interference countermeasures
for encoder wiring.
The encoder is subject to excessive
vibration impact
Confirm usage.
Reduce mechanical vibration. Install servo
motor or encoder correctly.
Encoder failure
-
Connect to the servo drive power supply
again. When an alarm still occurs, replace the
servo motor or encoder.
Servo drive failure
-
A.CA0
：
Encoder
parameter
exception
Encoder failure
-
Connect to the servo drive power supply
again. When an alarm still occurs, replace the
servo motor or encoder.
A.Cb0
：
Encoder
Echo check exception
Incorrect wiring and poor contact of
encoder
-
Confirm whether there is any problem with
encoder wiring.
Encoder
cables
have
different
specifications and are subject to
interference
-
Change the cable specification to double
stranded shielded wire or double stranded
unified shielded wire with core wire of more
than 0.12 mm
2
and tinned soft copper
stranded wire.
Encoder cable length is too long and is
disturbed.
-
The longest connection distance of encoder
cable is 50m.
The potential of FG changes due to the
influence of motor-side equipment
(welding machine, etc.)
Confirm the status of encoder cables and
connectors.
Ground the machine to prevent shunting to
encoder side FG.
The encoder is subject to excessive
vibration impact
Confirm usage.
Reduce mechanical vibration. Install servo
motor or linear encoder correctly.
Encoder failure
-
Connect to the servo drive power supply
again. When an alarm still occurs, replace the
servo motor or encoder.
Servo drive failure
-
Connect to the servo drive power supply
again. When an alarm still occurs, replace the
servo drive.
A.d00
：
Position deviation is too
large
(In the servo ON state,
the position deviation
exceeds
position
deviation is too large
warning value (Pn520))
U, V, W wiring of servo motor is incorrect Confirm the connection of servo motor main
loop cable.
Confirm whether the motor cable or encoder
cable has poor contact and other problems.
Position command speed too fast
Try to reduce the speed of the position
command before running.
Lower the position command speed or
command
acceleration,
or
adjust
the
electronic gear ratio.
Position command acceleration is too
large
Try to reduce the commanded acceleration
before running.
The acceleration of the position command is
reduced by the MECHATROLINK command.
Or select the position command filter
(ACCFIL) through the MECHATROLINK
command to smooth the acceleration of the
position command.
Relative to the operating conditions, the
warning value (Pn520) for excessive
position deviation is low
Verify that the warning value (Pn520) for
excessive position deviation is appropriate. Correctly set the value of parameter Pn520
Servo drive failure
-
Connect to the servo drive power supply
again. When an alarm still occurs, replace the
servo drive
A.d01
：
When the servo ON
Warning of excessive
position deviation
Position deviation in servo OFF exceeds
Pn526 (warning value of excessive
position deviation when servo ON) is set
to keep servo ON
Confirm the position deviation when servo
OFF.
When the servo ON is correctly set, the
warning value of position deviation is too large
(Pn526).
A.d02
：
When the servo ON
Position
caused
by
speed limit excessive
deviation alarm
When the servo is ON in the position
deviation accumulation state, the speed
limit is executed by the speed limit value
(Pn529) when the servo is ON. The
position command input in this state
exceeds the set value of the warning
value (Pn520) for excessive position
deviation
-
Set the correct position for excessive deviation
warning value (Pn520). Or set the speed limit
value (Pn529) at servo ON to the correct
value.
A.d10
：
Excessive
deviation
between motor and
load positions
The rotation direction of the motor is
opposite to the installation direction of
the external encoder
Confirm the rotation direction of the motor
and the installation direction of the external
encoder.
Turn the installation direction of the external
encoder in the opposite direction, or set the
rotation direction of "external encoder usage
method (Pn002 = n.X
)" to the opposite
direction.
Load position of workpiece table and
installation failure of external encoder
joint
Confirm the external encoder joint.
The mechanical bonding is carried out again
