1.

When in Trouble
Protective Function (What is Error Code ?)
1
<List of error code No.>
Attribute Attribute
Protective function Protective function
3 3

11 0 0
12 0 39 1
2

13
0 6-4
40 0 4
6-11
2
1 41 0
42 0 4
0

Preparation
14 43 0
1 44 0
6-5
0 45 0
15
1 47 0
0 1
48 0
16
1 6-6
49 0

3
0 0
18 50
1 1 6-12
0 0
21
1 1
6-7

Connection
23 0 2
0 51
24 3
1 4
25 0 5
0 0
26
1 55 1
0 6-8 2 4
27 1 0
70
2 1
28 0 72 0
6-13

Setup
0 80 0
29 1 87 0 Compulsory alarm input protection
2 0
0 1
31 92
2 6-9
3
0
1
5
2 1
3 93 2

Adjustment
33 3
4
5 8
6 0 6-14
94
7 2
6-10 95
34 0
97 0
36
37 Other
number
6
38 0 Drive prohibition input protection
When in Trouble

Note History...The error will be stored in the error history.

Can be cleared...To cancel the error, use the alarm clear input (A-CLR).
If the alarm clear input is not effective, turn off power, remove the cause of the error and then turn on
power again.
Immediate stop...Instantaneous controlled stop upon occurrence of an error.
(Setting of “Pr.5.10 Sequence at alarm” is also required.)
*1 When Err16.0 “Overload Protection 1”is activated, error can be cleared about 10 seconds after the occurrence.
*2 When Err40.0 “Absolute System Down Error protection,” or Err42.0 “Absolute Overspeed Protection” occurs, the
7
error is unable to be cleared unless Absolute Clear is performed.
Supplement

*3 Immediate stop refers to alarms which result in an immediate stop when setting is made to 4 to 7 in Pr5.10 “Sequence
at alarm” are shown. For the detail of an immediate stop, see 6-5-4 “Sequence at alarm.”
*4 Err 16.0 “Overload protection,”can be switched to responsive/non-responsive by switching bit 11 of “Function
expansion setting 2” of Pr 6.47. Set to non-responsive at time of shipment.

6-3
 6 1. When in Trouble
When in Trouble Protective function (Detail of error code)

Protective
Causes Measures
function Main Sub
Under voltage 11 0 Voltage between P and N of converting Measure L1C-L2C line voltage of connector
protection of unit of control power supply has fallen and terminal block
control power down and dropped below speci�ed value.
supply

1) Low power supply voltage. Occurrence 1) Increase the capacity of power supply
of momentary power failure. voltage. Change the power supply.
2) Power capacity shortage…Due to rush 2) Increase the power capacity.
current at the main power-on, power
supply voltage has fallen down.
3) Servo driver failure (circuit failure) 3) Replace with new servo driver.
Over-voltage 12 0 Voltage between P and N of the Measure the voltage between lines of
protection converter portion of the control power connector (L1, L2 and L3).
supply has exceeded the speci�ed value

1) Power supply voltage has exceeded 1) Enter correct voltage. Remove a phase-
the permissible input voltage. Voltage advancing capacitor.
surge due to the phase-advancing
capacitor or UPS (Uninterruptible
Power Supply) have occurred.
2) Disconnection of the regeneration 2) Measure the resistance of the external
discharge resistor resistor connected between terminal P - B
of the driver. Replace the external resistor
if the value is ∞.
3)External regeneration resistor is not 3) Change the speci�ed regeneration
appropriate and could not absorb the resistance value to wattage.
regenerative energy.
4) External regeneration discharge
resistor is not appropriate and could 4) Change to the one with speci�ed
not absorb the regeneration energy. resistance and wattage.
5) Failure of servo driver (failure of the
circuit) 5) Check that Pr0.16.
Main power 13 0 Instantaneous power failure has occurred Measure the voltage between lines of
supply between L1 and L3 for longer period than connector (L1, L2 and L3).
under- the preset time with Pr5.09 (Main power
voltage off detecting time) while Pr5.08 (LV trip
protection selection at the main power-off) is set
to 1. Or the voltage between P and N of
(PN)
the converter portion of the main power
Main power 1 supply has fallen below the speci�ed
supply value during Servo-ON.
under-
voltage
1) Power supply voltage is low. 1) Increase the power capacity. Change the
protection
Instantaneous power failure has power supply. Remove the causes of the
(AC) occurred shutdown of the magnetic contactor or the
main power supply, then re-enter the power.
2) Instantaneous power failure has 2) Set up the longer time to Pr5.09 (Main
occurred. power off detecting time). Set up each
phase of the power correctly.
3) Lack of power capacity...Power supply 3) Increase the power capacity. For the capacity,
voltage has fallen down due to inrush refer to P.2-10, "Driver and List of Applicable
current at the main power-on. Peripheral Equipments" of Preparation.
4) Phase lack...3-phase input driver has 4) Connect each phase of the power supply
been operated with single phase input. (L1, L2 and L3) correctly. For single phase,
100 V and 200 V driver, use L1 and L3.
5) 5) Replace the driver with a new one.

• P.2-12... “System Con�guration and Wiring” • P.4-6 to P.4-85... “Details of parameter”

6-4
1. When in Trouble
Protective function (Detail of error code)
1

Protective
Causes Measures
function Main Sub

14 0 Current through the converter portion has

Over-current exceeded the speci�ed value.
protection 1) Failure of servo driver (failure of the 1) Turn to Servo-ON, while disconnecting the 2
circuit, IGBT or other components) motor. If error occurs immediately, replace
with a new driver.

Preparation
2) Short of the motor wire (U, V and W) 2) Check that the motor wire (U, V and W) is
not shorted, and check the branched out
wire out of the connector. Make a correct
1 wiring connection.
IPM error 3) Earth fault of the motor wire 3) Measure the insulation resistance between
protection motor wires, U, V and W and earth wire. In
IPM: case of poor insulation, replace the motor. 3
Intelligent 4) Burnout of the motor 4) Check the balance of resister between
Power Module each motor line, and if unbalance is found,

Connection
replace the motor.
5) Poor contact of the motor wire. 5) Check the loose connectors. If they are, or
pulled out, �x them securely.
6) Welding of contact of dynamic braking 6) Replace the servo driver. Do not use
relay due to frequent servo ON/OFF Servo-ON/Servo-OFF as a means of
operations. staring/stopping the operation.
7) Timing of pulse input is same as or 7) Enter the pulses 100 ms or longer after 4
earlier than Servo-ON. Servo-ON.
8) Blowout of thermal fuse due to 8) Replace the driver.
overheating dynamic brake circuit.

Setup
(Only F and G frames)
9) Power Modulef overheat protection 9)Increase capacity of servo driver and motor.
Set up longer acceleration/deceleration
time.Reduce the load.

Over-heat
15 0 Temperature of the heat sink or power
device has been risen over the speci�ed
5
protection temperature.
1) Ambient temperature has risen over 1) Improve the ambient temperature and

Adjustment
the speci�ed temperature. cooling condition.
2) Over-load 2) Increase the capacity of the driver
and motor. Set up longer acceleration/
deceleration time. Lower the load.

1 When encoder overheating prtection

Encoders detection is valid by the setting value 6
abnormal of bit 11 Pr6.10,(Invaild initial set value)
Over-heat The temperature of encoder has 1) Improve the ambient temperature of
When in Trouble

protection exceeded an encoder overheat abnormal servomotor and the cooling condition.
level. 2) Increase capacity of servo driver and
1) The ambient temperature of motor.Set up longer acceleration/
servomotor is high. deceleration time.Reduce the load..
2) Overload

7
Supplement

Note • When protective function marked with in the protective function table is activated, it can-
not be disabled by the alarm clear input (A-CLR). To return to the normal operation, turn off
power, remove the cause, and then turn on power again.

6-5
 1. When in Trouble
Protective function (Detail of error code)

Protective
Causes Measures
function Main Sub

Over-load 16 0 Torque command value has exceeded Check that the torque (current) does not
protection the over-load level set with Pr5.12 oscillates nor uctuate up an down very
(Setup of over-load level) and resulted in much on the analog outoput and via
overload protection according to the time communication. Check the over-load alarm
characteristics (described later) display and load factor with the analog
outoput and via communication..
1) Load was heavy and actual torque has 1) Increase the capacity of the driver
exceeded the rated torque and kept and motor. Set up longer acceleration/
running for a long time. deceleration time. Lower the load.
2) Oscillation and hunching action due to 2) Make a re-adjustment.
poor adjustment.
Motor vibration, abnormal noise.
Inertia ratio (Pr0.04) setup error.
3) Miswiring, disconnection of the motor. 3) Make a wiring as per the wiring diagram.
Replace the cables.
4) Machine has collided or the load has 4) Remove the cause of distortion. Lower the
gotten heavy. Machine has been load.
distorted.
5) Electromagnetic brake has been kept 5) Measure the voltage between brake
engaged. terminals. Release the brake
6) While wiring multiple axes, miswiring 6) Make a correct wiring by matching the
has occurred by connecting the motor correct motor and encoder wires.
cable to other axis.
• The over-load protection time characteristics are described on P.6-14.

Caution Once this error occurs, it cannot be cleared at least for 10 sec.

Torque 1 Torque saturation has continued for the • Check operation of the driver.
saturation time set in Pr6.57 Torque saturation error • Refer to Measures described for Err16.0.
anomaly protection detect time.
protection

18 0 Regenerative energy has exceeded the Check the load factor of the regenerative
Over- capacity of regenerative resistor. resistor from the front panel or via communi-
regeneration cation.
load Do not use in the continuous regenerative
1) Due to the regenerative energy during brake application.
protection deceleration caused by a large load 1) Check the running pattern (velocity
inertia, converter voltage has risen, monitor). Check the load factor of the
and the voltage is risen further due to regenerative resistor and over-regeneration
the lack of capacity of absorbing this warning display. Increase the capacity
energy of the regeneration discharge of the driver and the motor, and loosen
resistor. the deceleration time. Use the external
regenerative resistor.
2) Regenerative energy has not been 2) Check the running pattern (speed monitor).
absorbed in the speci�ed time due to a Check the load factor of the regenerative
high motor rotational speed. resistor. Increase the capacity of the driver
and the motor, and loosen the deceleration
time. Lower the motor rotational speed.
Use an external regenerative resistor.
3) Active limit of the external regenerative 3) Set up Pr0.16 to 2.
resistor has been limited to 10 % duty.

Caution Install an external protection such as thermal fuse without fail when
you set up Pr0.16 to 2. Otherwise, regenerative resistor loses the
protection and it may be heated up extremely and may burn out.

Note • When protective function marked with in the protective function table is activated, it can-
not be disabled by the alarm clear input (A-CLR). To return to the normal operation, turn off
power, remove the cause, and then turn on power again.
• P.4-6 to P.4-85... “Details of parameter”

6-6
1. When in Trouble
Protective function (Detail of error code)
1

Protective
Causes Measures
function Main Sub

18 1 Regenerative driver transistor on the Replace the driver.

Regenerative servo driver is defective.
transistor 2
error
protection

Preparation
21 0 Communication between the encoder Make a wiring connection of the encoder as
and the driver has been interrupted per the wiring diagram. Correct the miswiring
in certain times, and disconnection of the connector pins.
detecting function has been triggered.

3
1 Communication error has occurred in • Secure the power supply for the encoder
data from the encoder. Mainly data of DC4.90 V to 5.25 V)...pay an attention

Connection
error due to noise. Encoder cables are especially when the encoder cables are
connected, but communication data has long.
some errors. • Separate the encoder cable and the motor
cable if they are bound together.
23 0 Data communication between the • Connect the shield to FG.
encoder is normal, but contents of data
are not correct. 4
Mainly data error due to noise. Encoder
cables are connected, but communication
data has some errors.

Setup
Position 24 0 Deviation pulses have exceeded the
deviation setup of Pr0.14.
excess 1) The motor movement has not followed 1) Check that the motor follows to the position
protection the command. command pulses. Check that the output
toque has not saturated in torque monitor.
Make a gain adjustment. Set up maximum
5
value to Pr0.13 and Pr5.22. Make a
encoder wiring as per the wiring diagram.

Adjustment
Set up the longer acceleration/deceleration
time. Lower the load and speed.
2) Setup value of Pr0.14 (Position 2) Set up a larger value to Pr0.14.
deviation excess setup) is small.

Speed 1 The difference between the internal • Increase the setup value of Pr6.02.
deviation positional command speed and actual • Lengthen the acceleration/deceleration 6
excess speed (speed deviation) exceeds the time of internal positional command speed,
protection setup vale of Pr6.02. or improve the follow-up characteristic by
When in Trouble

Note) If the internal positional command adjusting the gain.

speed is forcibly set to 0 due to • Disable the excess speed deviation
instantaneous stop caused by the detection (Pr6.02 = 0).
command pulse inhibit input (INH) or
CW/CCW over-travel inhibit input, the
speed deviation rapidly increases at this
moment. Pr6.02 setup value should have
suf�cient margin because the speed
7
deviation also largely increases on the
Supplement

rising edge of the internal positional

command speed.

6-7
 1. When in Trouble
Protective function (Detail of error code)

Protective
Causes Measures
function Main Sub

25 0 • Position of load by the external scale • Check the connection between the motor
Hybrid and position of the motor by the and the load.
deviation encoder slips larger than the setup • Check the connection between the external
excess error pulses with Pr3.28 (Setup of hybrid scale and the driver.
protection deviation excess) at full-closed control. • Check that the variation of the motor
position (encoder feedback value) and
the load position (external scale feedback
value) is the same sign when you move the
load.
• Check that the numerator and denominator
of the external scale division (Pr3.24 and
3.25) and reversal of external scale direction
(Pr3.26) are correctly set.
• During full closed control, numerator • Do not change command division/
of command division/multiplication is multiplication during full closed control.
changed or switched over.

Over-speed 26 0 The motor rotational speed has exceeded • Do not give an excessive speed command.
protection the setup value of Pr5.13. • Check the command pulse input frequency
and division/multiplication ratio.
2nd Over- 1 The motor rotational speed has exceeded • Make a gain adjustment when an overshoot
speed the setup value of Pr6.15. has occurred due to a poor gain adjustment.
protection • Make a wiring connection of the encoder as
per the wiring diagram.

Command 27 0 The frequency of command pulse input is Check the command pulse input for
pulse input more than 1.2 times the setting in Pr5.32. frequency.
frequency
error
protection

Absolute 1 Absolute encode multi-rotation clear has Con�rm whether absolute encode multi-
clear been executed when a block operation rotation clear has when a block operation
abnormal was enabled (Pr 6.28 is non 0). was enabled.(Note) This is a safety measure
protection and is not an abnormality.

Command 2 Division and multiplication ratio which are • Set the command division and multiplication
pulse set up with the command pulse counts ratio to a value as small as possible e.g.
multiplier per single turn and the1st and the 4th between 1/1000 and 1000.
error numerator/denominator of the electronic • Check the setup value of electronic gear.
protection gear are not appropriate. • If possible, use the line driver I/F.
The command pulses per 0.167 ms • Set Pr5.32 (setting of max. command pulse
multiplied by the command division and input) to a value less than 1000 and enable
multiplication ratio exceeds 3000 Mpps. digital �lter.
The command pulse input uctuates.
Noises mixed with the command pulse
input cause counting error.

Limit of 28 0 The output frequency of pulse • Check the setup values of Pr0.11 and 5.03.
pulse replay regeneration has exceeded the limit. • To disable the detection, set Pr5.33 to 0.
protection

6-8
1. When in Trouble
Protective function (Detail of error code)
1

Protective
Causes Measures
function Main Sub

Deviation 29 0 Position deviation value of the encoder • Check that the motor follows the position
counter pulse standard has exceeded 230-1 command.
over ow (1073741823). • Check that the output toque has not 2
protection saturated on torque monitor.
• Make a gain adjustment.

Preparation
• Maximize Pr0.13 “The 1st torque limit setup”
and Pr5.22 “The 2nd torque limit setup”.
• Make a connection of the encoder as
described in the wiring diagram.

Counter 1 The value of absolute encoder (absolute • Con�rm the operating range of absolute
over ow
error
external scale) position [pulse units]
/ electronic gear ratio has exceeded
encoder (absolute external scale) position
and review the electronic gear ratio.
3
protection 1 ±231(2147483648), in position information
initialization process after closing control

Connection
power supply under absolute mode when
block operations is valid

Counter 2 Value of positioning deviation has • Con�rm that motor rotates in accordance
over ow exceeded±230-1(1073741823) in pulse with the positioning command.
error units. Or the value ofpositioning deviation • Con�rm that output torque has not saturated
protection 2 has exceeded ±230 (1073741824) in by the torque monitor. 4
command units. • Adjust gain.
• Set Pr.0.13 “1st torque limit setting” and
Pr5.22 “2ndtorque limit setting” to maximum.

Setup
• Connect encoder connection wiring as per
the wiring diagram.

31 0 Safety function has detected an error. In case of the repeated occurrence, because
Safety failure is possible, replace the servo driver.
function
error
2 Return to a dealer for investigation (repair). 5
protection

Adjustment
33 0 Input signals (SI1, SI2, SI3, SI4, SI5) are Allocate correct function to each connector
I/F overlap assigned with two functions. pin.
allocation
error 1
protection

I/F overlap
1 Input signals (SI6, SI7, SI8, SI9, SI10)
are assigned with two functions.
6
allocation
When in Trouble

error 2
protection

2 Input signals (SI1, SI2, SI3, SI4, SI5) are

I assigned with unde�ned number.

7
Supplement

Note • When protective function marked with in the protective function table is activated, it can-
not be disabled by the alarm clear input (A-CLR). To return to the normal operation, turn off
power, remove the cause, and then turn on power again.

6-9
 1. When in Trouble
Protective function (Detail of error code)

Protective
Causes Measures
function Main Sub

33 3 Input signals (SI6, SI7, SI8, SI9, SI10) Allocate correct function to each connector
are assigned with unde�ned number. pin.

4 Output signals (SO1, SO2, SO3) are

assigned with unde�ned number.

5 Output signals (SO4, SO5, SO6) are

assigned with unde�ned number.

6 Counter clear function is assigned to a

Counter clear signal number other than SI7.
allocation
error

7 Command pulse inhibit input function is

assigned to a signal number other than
SI10.

Motor 34 0 The motor has exceeded the motor

working range working range set to Pr5.14 “Allowable
setup error motor operating range setting” against
protection the position command input range.
1) Gain is not appropriate. 1) Check the gain (balance between position
loop gain and speed loop gain) and inertia
ratio.
2) Pr5.14 setup value is low. 2) Increase the setup value of Pr5.14. Or,
Set Pr5.14 to 0 to disable the protective
function.

36 0 Data in parameter storage area has been • Set up all parameters again.
EEPROM damaged when reading the data from • If the error persists, replace the driver (it
parameter 1 EEPROM at power-on. may be a failure.) Return the product to the
error dealer or manufacturer.
protection

37 0 Data for writing con�rmation to EEPROM Replace the driver. (it may be a failure).
EEPROM has been damaged when reading the Return the product to a dealer or
check code 1 data from EEPROM at power-on. manufacturer.
error
2
protection

38 0 Both positive and negative direction drive • Check that there is no error in the switches,
Drive prohibition inputs (POT and NOT) have wires and power supply connected to the
prohibition been turned ON at Pr5.04 “Over-travel positive direction/negative direction drive
input inhibition input setting” =0. prohibition input. Check particularly that
protection Either positive direction drive prohibition start-up of the power supply for the control
input or negative direction drive signal (DC12 to 24 V) is not slow.
prohibition input has been turned ON at
Pr5.04=2.

6-10
1. When in Trouble
Protective function (Detail of error code)
1

Protective
Causes Measures
function Main Sub

Analog 39 0 The voltage more than the value set • Correctly set Pr4.24 “Analog input 1 (AI1)
input 1 (AI1) in Pr4.24 “Analog input 1 (AI1) excess excess setup.”
excess setup” has been applied to analog input Check the connection of I/F connector. 2
protection 1. • Set Pr4.24 to 0 and disable the protective
function.

Preparation
Analog 1 The voltage more than the value set • Correctly set Pr4.24 “Analog input 1 (AI1)
input 2 (AI2) in Pr4.27 “Analog input 2 (AI2) excess excess setup.”
excess setup” has been applied to analog input Check the connection of I/F connector.
protection 2. • Set Pr4.24 to 0 and disable the protective
function.

Analog 2 The voltage more than the value set • Correctly set Pr4.24 “Analog input 1 (AI1)
3
input 3 (AI3) in Pr4.30 “Analog input 3 (AI3) excess excess setup.”Clear the absolute encoder
excess setup” has been applied to analog input �rst to excute the alarm clear.

Connection
protection 3. Check the connection of I/F connector.
• Set Pr4.24 to 0 and disable the protective
function.

Absolute 40 0 The power supplies and battery powers After connecting the power supply for the
system to absolute encoder were shut down, and battery, clear the absolute encoder.
down error the built-in capacitor voltage dropped • If you use the incremental system 4
protection Pr 0.15 "sets the absolute encoder " is set
below speci�ed value.
to 1.

Setup
Caution Once this error occurs, the alarm cannot be cleared until the absolute
encoder is reset.

41 0 Multi-turn counter of the absolute • Set Pr0.15 to 2 to ignore the multi-turn

Absolute encoder has exceeded the speci�ed counter over.
counter value. • Limit the travel from the machine origin 5
over error within 32767 revolutions.
protection

Adjustment
Absolute 42 0 When using absolute encoder
over-speed 1) During a power failure, when only 1) Check the driving from outside in a power
error battery power is supplied, the motor outage and the rotational speed at the time,
protection and operate to make it below speci�ed
rotational speed has exceeded the
value.
speci�ed value.
2) During normal operation, for some 2) Because the mode was switched to a
6
reason, the power of encoder has been power failure mode during normal activity
When in Trouble

shut down, and the rotational speed has • Check the encoder-side power supply
exceeded the speci�ed value. voltage (5 V±5 %).
• Check the connection of connector CN2.
The alarm cannot be cleared until the
absolute encoder is reset.
• If you use the incremental system
Pr 0.15 "sets the absolute encoder " is set
to 1.
7
Caution Once this error occurs, the alarm cannot be cleared until the absolute
Supplement

encoder is reset.

6-11
 1. When in Trouble
Protective function (Detail of error code)

Protective
Causes Measures
function Main Sub

43 0 An error has been detected at Replace the motor.

Encoder initialization time of serial incremental
initialization encoder.
error
protection 1

44 0 Absolute encoder has detected a single Replace the motor.

turn counter error.
Serial incremental encoder has detected
an error in the incremental counter value
of single turn counter.
(between z-phase signals)

45 0 Absolute encoder has detected a multi- Replace the motor.

Absolute turn counter error. • If you use the incremental system
multi-turn Serial incremental encoder has detected Pr 0.15 "sets the absolute encoder " is set
counter error an error in the incremental counter to 1.
protection/ values between CS signals.
incremental
counter error
protection 1

47 0 When power is turned on, absolute Arrange so as the motor does not run at
Absolute encoder has been rotated at the speci�ed power-on.
status error value or above.
protection 1

Incremental 48 0 Missing pulse of Z-phase of serial Replace the motor.

encoder Z incremental encoder has been detected.
phase error Failure of encoder.
protection

Incremental 49 0 CS signal logic error of serial incremental Replace the motor.

Encoder CS encoder has been detected.
signal error Failure of encoder.
protection

50 0 Communication between the external • Make a wiring connection of the external

scale and the driver has been interrupted scale as per the wiring diagram.
in certain times, and disconnection • Correct the miswiring of the connector pins.
detecting function has been triggered.

1 Communication error has occurred in • Secure the power supply for the external
data from the external scale. Mainly data scale of DC5±5 % (4.75 V to 5.25 V)...pay
error due to noise. External scale cables attention especially when the external scale
are connected, but communication date cables are long.
has some error. • Separate the external scale cable and the
motor cable if they are bound together.
• Connect the shield to FG...refer to wiring
diagram.

Note • When protective function marked with in the protective function table is activated, it can-
not be disabled by the alarm clear input (A-CLR). To return to the normal operation, turn off
power, remove the cause, and then turn on power again.

6-12
1. When in Trouble
Protective function (Detail of error code)
1

Protective
Causes Measures
function Main Sub
51 0 Bit 0 of the external scale error code Remove the causes of the error, then clear
External (ALMC) has been turned to 1. the external scale error from the front panel.
scale status Check the speci�cations of the external And then, shut off the power to reset. 2
0 error scale.
protection 1

Preparation
1 Bit 1 of the external scale error code
External (ALMC) has been turned to 1.
scale status Check the speci�cations of the external
1 error scale.
protection 1

2 Bit 2 of the external scale error code 3

External (ALMC) has been turned to 1.
scale status Check the speci�cations of the external
2 error

Connection
scale.
protection 1

3 Bit 3 of the external scale error code

External (ALMC) has been turned to 1.
scale status Check the speci�cations of the external
3 error
scale.
protection 1 4
4 Bit 4 of the external scale error code
External (ALMC) has been turned to 1.
scale status Check the speci�cations of the external

Setup
4 error
scale.
protection 1

5 Bit 5 of the external scale error code Remove the causes of the error, then clear
External (ALMC) has been turned to 1. the external scale error from the front panel.
scale status
5 error
Check the speci�cations of the external
scale.
And then, shut off the power to reset.
5
protection 1

55 0 A-phase wiring in the external scale is Check the A-phase wiring connection.

Adjustment
A-phase defective, e.g. discontinued.
wiring error
protection

1 B-phase wiring in the external scale is Check the B-phase wiring connection.
B-phase defective, e.g. discontinued.
wiring error
protection 6
2 Z-phase wiring in the external scale is Check the Z-phase wiring connection.
When in Trouble

Z-phase defective, e.g. discontinued.

wiring error
protection

70 0 • Turn off the power once, then re-enter.

• If error repeats, this might be a failure.
protection
Stop using the products, and replace the
1 motor and the driver. Return the products to 7
the dealer or manufacturer.
protection
Supplement

Thermal 72 0 Thermal protector error is detected

protector
error

6-13
 1. When in Trouble
Protective function (Detail of error code)

Protective
Causes Measures
function Main Sub

80 0 While ensuring Modbus execution right, • Set Pr5.40 ”Modbus communication timeout
Modbus communication against own axis period” to 0 to be disabled or to appropriate
has not been received for more than the time.
set time. • Check the connection of Modbus
communication.

Forced 87 0 Forced alarm input (E-STOP) is applied. Check the wiring of forced alarm input
alarm input (E-STOP).
protection

Encoder data 92 Initialization process of internal position • Secure encoder power supply voltage at
recovery information has not conducted normally DC5V±5% (4.75 to 5.25V). Care must be
abnormal under absolute and semi-closed control taken when the encoder lines are lengthy.
protection mode. • If motor wires and encoder wires are
bundled together, separate them.
• Connect shield to FG.

External • Secure external scale power supply voltage

scale data of 5 VDC±5% (4.75 to 5.25 V). Please take
recovery error extra care in case the cable connecting the
protection external scale is long.
• In case the motor line and the external
scale connecting cable are bundled together,
separate them.
• Connect shield to FG. Refer to external
scale connecting diagram

Multi-rotation At continuous rotating absolute encoder • Please con�rm the set values of
upper limit function, there was a disagreement parameters.
value between the upper-limit value of encoder • Reclose the control power supply when this
multi-turn data and the upper-limit value occurs immediately after closing the control
of driver parameter multi-turn data. power supply. (This is not an abnormality.)

Parameter 93 1) Electronic gear ratio exceeds the • Check the setting value of the parameter.
setup error 1 allowable range. 1) When a block operation was enabled
2) When a block operation was (Pr 6.28 is non 0), Electronic gear ratio
enabled(Pr 6.28 is non 0), Modbus must be in the range 1/1000 to 8000.
connection was disabled (Pr 5.37 is 0). 2) When a block operation was enabled
(Pr 6.28 is non 0), Modbus connection was
disabled (Pr 5.37 is 0).

Note • When protective function marked with in the protective function table is activated, it can-
not be disabled by the alarm clear input (A-CLR). To return to the normal operation, turn off
power, remove the cause, and then turn on power again.

6-14
1. When in Trouble
Protective function (Detail of error code)
1

Protective
Causes Measures
function Main Sub

Block data 93 1)Velocity, acceleration and deceleration 1)Set a value other than zero for velocity,
setting error were set to 0, and a block operation acceleration and deceleration.
protection was started. 2
2)A conditional branch command has not 2)Check whether the conditional branch
been supported for comparison command or the comparison purpose does

Preparation
not have any problems.
3)A designated block data command has 3)Check whether the block data does not
been unde�ned. have any problems.Check whether the
4)Also, block data setup has some error. block number designated does not have
any problems.
4)Check whether the block data setup does
not have any problems. 3
Parameter External scale ratio has exceeded the • Please con�rm the set values of parameters.
setting error allowable range (1/160000 to 160000 • Use external scale ratio in the range of 1/40

Connection
protection 2 times) to 1280 times

External Set value for Pr3.23 “External scale • Set Pr3.23 to match the type of the
scale type selection” and the connected serial connected external scale
connection communication type external scale type
error to not match.
protection 4
Parameter Block operation origin offset (Pr60.49) • Please con�rm the set values of parameters.
setting error has been set outside the range in
protection 6

Setup
absolute mode origin offset valid setting
(Pr60.48 bit 1 =1) under in�nite rotation
absolute mode when block operation is
valid (Pr6.28 ≠ 0).

Block 94 1)During the execution of movement 1)Check whether the block operation
operation system command (During the execution sequence does not have any problems. 5
error of position command creation process),
protection a new movement system command

Adjustment
has been executed.
2)During block operation, a new block 2)Check whether the host sequence does not
number was designated to start. have any problems.
3)Although it was servo-off, a block 3)Check whether the host sequence does not
operation was started. have any problems.

Return to
origin
Abnormal condition has occurred during
block operation return to origin.
Check for abnormalities in various sensor
installation status.
6
error
When in Trouble

protection

95 The motor and the driver has not been Replace the motor which matches to the
Motor matched. driver.
automatic
recognition
error
protection
7
97 0 Block operation is set to enabled, when Check the setting of Pr 0.01”control mode
Control other than Position control (Pr0.01 = 0) setting” and Pr 6.28 “Special function
Supplement

mode or full-closed control (Pr0.01 = 6) selection”

setting error
prtection

6-15
 1. When in Trouble
Protective function (Detail of error code)

Protective
Causes Measures
function Main Sub

Other Control circuit has malfunctioned due to • Turn off power once, and turn on again.
Other error No. excess noise or other causes. • Even so, if an error indication appears
Some error has occurred inside of the and an error occurs, failure is possible.
driver while triggering self-diagnosis Discontinue the use and replace the motor
function of the driver. and servo driver. Return to a dealer for
investigation (repair).

6-16