Trouble Case

Page
Troubleshooting .......................................................... 144
What are Protective Functions? ............................................................ 144
Details of Protective Functions ............................................................. 145
Software limit function ...........................................................................148
Protective Functions ................................................... 154
Trouble Case

143
Troubleshooting
What are Protective Functions?
The driver has various protective functions. If any of these functions activate, the motor stops immediately under
trip condition, and simultaneously the “Servo Alarm Output” (ALM) will turn OFF (reset).

Counteractions against motor trip

• When the motor trips, status display LED (STATUS) on the upper part of the front panel of the servo driver turns
red, and alarm code LED (ALM CODE) blinks. You cannot activate Servo-ON on longer.
If you are using the console, alarm code No. is displayed on the 7 segment LED display of the console and you
cannot activate Servo-ON.
• You can release the tripped condition by keeping the alarm clear input (A-CLR) CN X5 pin 3 ON for 120 ms or
longer.
• If the overload protective function activate, the alarm can be cleared according to Alarm Clear (A-CLR) signal
after elapse of 10 sec or more since alarm output. If the driver power is switched OFF, the overload time limit
characteristic (OVERLOAD) is cleared.
• The above alarms can be cleared even with the “PANATERM®”.
• Furthermore, the above alarms can be cleared even with the console.
• If any of *-marked functions in “Table of Protective Functions” acts, Alarm Clear Input (A-CLR)” is unable to be
reset (cleared). In such a case, after switching OFF the driver power, search and remove the cause and thereaf-
ter re-switch ON the same power for resetting the alarm.

Checking LED Status

(1) Status LED (STATUS)
Status LED
Content
color
STATUS ALM CODE Green Power ON. The driver power is switched ON.
This LED blinks (1 sec) against alarm output. (LED in blinking
Orange indicates overload/ over-regeneration/abnormal rotation of cooling
fan.) This is not displayed on the LED display unit of the console.

Red Alarm output

(2) Alarm Code LED (ALM CODE)

This LED blinks against alarm output. (Normally OFF)
Alarm code No. is expressed by blinking frequency in orange and red.
For alarm code No., see the next page.
Orange: 10 digit, Red: 1 digit
(Ex.) In the case Overload Alarm (Alarm code No.16) was output and the driver stopped
Orange LED blinks once and red one blinks 6 times.
1 sec. 0.5 sec. 0.5 sec. 0.5 sec. 0.5 sec. 0.5 sec.

Orange Red Red Red Red Red Red 2 sec.

1 sec. 0.5 sec. 0.5 sec. 0.5 sec. 0.5 sec. 0.5 sec. 0.5 sec. later

144
 [Trouble Case]

Details of Protective Functions

Protective Alarm
Cause Action
Functions code No.
Power 11 During Servo-ON, voltage between P-N of the Measure the line voltage of the connector CN X1
voltage converter of the main power supply has dropped (L1, L2, L3).
shortage below a specified value.
protection (1) Supply voltage is low. Momentary trip has (1) Increase the supply voltage. Replace the
(LV) occurred. Voltage source capacity is short. power supply. After removing a cause of the
Supply voltage drops as a result of shutoff of drop of the electromagnetic contactor of power
the main power supply. The main power supply, power on again.
supply is de-energized.
(2) Insufficient voltage source capacity ---Supply (2) Increase the voltage source capacity. For
voltage has dropped due to inrush current voltage source capacity, refer to “List of Driver
generated when the main power supply was and Compatible Peripheral Equipment” on
turned on. Page 26.
(3) Lack of phase --- The driver that has a
requirement for three-phase input is run at (3) Correctly connect respective phases of supply
single phase. voltage (i.e., L1, L2, and L3). Use L1 or L3 in
(4) Failure of the driver (the circuit failed.) the case of requirement for single-phase input.
(4) Replace the failed driver with new one (i.e.,
driver that is running on other axis).
Over- 12 Supply voltage exceeds allowable input voltage Measure the line voltage of the connector CN X1
voltage range. The P-N voltage of the converter unit (L1, L2, and L3). Solve the problem and supply
protection exceeds a specified value. Supply voltage is high. correct voltage. Remove the phase-advanced
(OV) Voltage surged due to the phase-advanced condenser.
condenser or UPS (uninterruptible power supply).
(1) Disconnection of a regenerative resistor (1) Using a tester, measure an ohmic value of the
external regenerative resistor. When it is ∞, it
is disconnected. Replace the regenerative
resistor.
(2) Regenerative energy cannot be absorbed due to (2) Change to a resistor of specified ohmic value
improper selection of an external regenerative and rated power.
resistor.
(3) Failure of the driver (the circuit failed.) (3) Replace the failed driver with new one (i.e.,
driver that is running on other axis).
Over- 14 The current running through the converter
current and exceeds a specified value.
ground (1) Failure of the driver (Defective circuit, IGBT (1) If a failure occurs immediately after you
fault component, etc.) remove the motor wire and activate Servo-ON,
protection replace the driver with a new one (that is
(OC) running).
(2) Short circuit of motor wires U, V, W (2) Check if U, V, or W is not shorted, in particular,
whether of the lead wire of the connector has
any branched out wire. Connect the motor
wires correctly.
(3) Earth fault of the motor wire (3) Measure insulation resistance between the
motor wires U, V, W and earthing conductors
of the motor. In case of bad insulation,
replace the motor.
(4) Burnout of the motor (4) Measure respective line resistance of the
motor. If they are unbalanced, replace the
motor.
(5) Poor contact of the motor wires (5) Check for falling out of connector pins for
connection of U, V, and W. Securely fix
loosened or fallen out pins.
(6) The relay for dynamic brake is melted and (6) Replace the driver. Do not start or stop the
Trouble Case

stuck due to frequent Servo-ON/OFF motor by turning Servo ON and OFF.

operation
(7) The motor is not compatible with the driver. (7) Check a part number (capacity) of the motor
and driver on the nameplate. Change to the
motor right for the driver.
(8) Timing of the pulse input and Servo-ON is (8) Waiting 100ms or longer after turning on
same or the former is faster. Servo-ON, activate pulse.
Refer to “Timing Chart” on Page 32 of
Preparation edition.
Internal 15 The resistor inside the driver was abnormally Check ambient temperature and cooling
resistor overheated. conditions of the driver. Improve the surroundings
heating appropriate to use conditions of the driver. Check
protection operating sound of the relay at power-on. If you
(ROH) hear no operating sound, replace the driver.

145
Troubleshooting
Protective Alarm
Cause Action
Functions code No.
Overload 16 When an integration value of a torque command On the waveform graphic screen of PANATERM®,
Protection exceeds the set overload level, overload protection check if torque (current) waveform widely
(OL) is activated based on time limiting characteristics. oscillates up and down. Check load factor and
overload warning display.
(1) Operation lasted long with more load and (1) Increase the capacity of the motor and driver.
effective torque than rating. Extend acceleration/deceleration time.
Reduce load.
(2) Oscillation or hunting operation due to poorly (2) Readjust gains.
adjusted gain. Vibration of the motor, and
abnormal sound.
(3) Incorrectly wired motor wires (U, V, W) and (3) Connect motor wires as per the wiring
disconnection. diagram. Replace cables.
(4) The machine collides, or suddenly gets heavy. (4) Free the machine of any tangle. Reduce the
The machine is entangled. load.
(5) The electromagnetic brake keeps on running. (5) Measure voltage of the brake terminal.
Release the brake.
(6) When more than one driver is used, motor wire (6) Correctly connect motor and encoder wiring to
is incorrectly connected to other axis. eliminate a mismatch between the wires and axes.

Time (sec)
Overload Protection Time-limiting Characteristics
100

MUMA 50W, 100W

MUMA 200W, 400W

10

1
100 115 150 200 250 300 350 400 450
Torque (%)

*Regenerative 18 Regenerative energy exceeds the capacity of the Check the load factor of the regenerative resistor
resistor regenerative resistor. in monitor mode. You must not use the driver for
overload the purpose of continuous damping of
protection regeneration.
(REG) (1) The converter voltage increases due to energy (1) Check an operating pattern (waveform
regenerated during deceleration resulting from graphic). Check the load factor of the
high load inertia. In addition, it further rises, regenerative resistor and display of over-
as the regenerative resistor cannot absorb regeneration warning. Increase capacity of
energy enough. the motor and driver and slow down
deceleration time. Use an external
regenerative resistor.
(2) Because of high rotation speed of the motor, (2) Check an operating pattern (waveform graphic).
the regenerative resistor cannot absorb Check the load factor of the regenerative resistor
regeneration within specified deceleration and display of over-regeneration warning. Increase
time. capacity of the motor and driver and slow down
deceleration time. Reduce rotation speed of the
motor. Use an external regenerative resistor.
(3) The operating limit of the external resistor is (3) Set Pr6c to 2.
limited to 10% duty.
<Note> When you set Pr6C to 2, be sure to install an external safeguard such as a temperature
fuse, etc.
Otherwise, protection of regenerative resistor is lost, causing abnormal heat generation and
burnout of the regenerative resistor.
*Encoder 21 Due to communication breakdown between the Connect the encoder cable as per the wiring
communication encoder and driver, the encoder cable diagram. Correct wrong connections of the
error disconnection detecting function is activated. connector pins, if any.
protection <Caution>
If the above condition occurs before power-on, be
careful as the motor aut omatic recognition
abnormality protection (alarm code No.95) will be
activated when you power on again.

146
 [Trouble Case]
Protective Alarm Cause Action
Functions code No.
*Encoder 23 Data from the encoder results in communication Ensure that the supply voltage of the encoder is
communi- error, which is mainly caused by noise. Although DC5V±5% (4.75 to 5.25V). Be careful, in
cation data the encoder cable is connected correctly, data particular, when the encoder cable is long. If it is
error results in communication error. bundled with the motor wire, separate them.
protection <Caution> Connect the shield to FG --- See the encoder
If the above condition occurs before power-on, be wiring diagram.
careful as the motor automatic recognition
abnormality protection (alarm code No.95) will be
activated when you power on again.
Position 24 The position deviation pulse exceeds the position (1) Check that the motor rotates in accordance
over- over-deviation set-up, Pr63. with the position command pulse. Using the
deviation (1) The motor operation does not respond to a torque monitor, ensure that output torque is
protection command. not saturated. Adjust gains. Maximize torque
limit set-up Pr5E. Correct encoder wires as
per the wiring diagram. Extend acceleration/
deceleration time. Alleviate load and slow
down speed.
(2) The position over-deviation set-up Pr63 is low. (2) Increase Pr63.
Over- 26 (1) The rotation speed of the motor exceeds a (1) Decrease the speed to prevent over-speed
velocity specified value. command from being issued. Set dividing/
protection multiplier ratio so that input frequency of a
(OS) command pulse is 500 kpps or less. In the
event of overshoot due to poorly adjusted
gains, readjust them. Connect encoder wires
as per wiring diagram.
(2) Torque limit switching input selection Pr06 is (2) If you select torque limit switching input, set
set to 2, and 1st and 2nd over-speed level set- Pr70 and Pr73 to a value within the use range
up Pr70, Pr73 are set to 0. speed of the motor.
Command 27 The dividing/multiplier ratio set with the numerator Using Pr46 and Pr47, reduce the multiplier ratio.
pulse of 1st and 2nd command ratio Pr46 and Pr47 is Set the dividing/multiplier ratio so that the
multiplier not appropriate. command pulse frequency will not exceed the
error maximum input pulse of 500 kpps or less.
protection
Deviation 29 A value of the deviation counter exceeds 227 Check that the motor rotates in accordance with
counter (134217728). the position command pulse. Using the torque
overflow monitor, ensure that output torque is not
protection saturated. Adjust gains. Maximize torque limit
set-up Pr5E. Correct encoder wires as per the
wiring diagram. Extend acceleration/deceleration
time. Alleviate load.
Software 34 The motor operation exceeds the motor
limit operational range set in Pr26 (Software limit
protection setting) for the position command range.
(1) The gain is not appropriate. (1) Check the gain (the balance between the
position loop gain and the speed loop gain)
and the inertia ratio.
(2) The value set in Pr26 is too small. (2) Increase the set value in Pr26.
Set Pr26 to “0” in order to disable the
protection function.
*EEPROM 36 Data in the parameter storage area is corrupt Reset all the parameters.
parameter when it is read from EEPROM upon power-on. If the error persists, the driver may have failed.
error Replace it. Then, return it to the sales agent for
protection inspection (repair).
*EEPROM 37 EEPROM write check data is corrupt when it is The driver may have failed. Replace it. Then,
check code read from EEPROM upon power-on. return it to the sales agent for inspection (repair).
error
Trouble Case

protection
Overtravel 38 Both CW and CCW overtravel inhibit input turn off. Check if limit switches, electric wires, and power
inhibit input supply for CW/CCW overtravel inhibit input are
protection normal. Especially, check whether the power
supply for control signal (DC12 to 24V) rises
without delay. Check setting of Pr04 and correct
wiring.
*ABS 1- 44 The encoder detected abnormality of a single-turn The motor may have failed. Replace it. Then,
rotation counter. return it to the sales agent for inspection (repair).
counter The encoder is defective.
error
protection
*ABS multi- 45 The encoder detected abnormality of a multi-turn The motor may have failed. Replace it. Then,
rotation counter. return it to the sales agent for inspection (repair).
counter The encoder is defective.
error
protection

147
Troubleshooting
Protective Alarm
Cause Action
Functions code No.
*Encoder Z- 48 Missing phase Z pulse of 2500 [P/r] 5-serial The motor may have failed. Replace it. Then,
phase error encoder is detected. return it to the sales agent for inspection (repair).
protection The encoder is defective.
*Encoder 49 The abnormal logic of CS signal of 2500 [P/r] 5- The motor may have failed. Replace it. Then,
CS signal serial encoder is detected. return it to the sales agent for inspection (repair).
error The encoder is defective.
protection
*Motor auto 95 (1) The motor is not compatible with the servo 1) Change the motor to a new motor compatible
recognition driver. with the servo driver.
error (2) The encoder is not connected at power-on. 2) Check connection of the encoder.
protection <Cautions>
Before power-on, if (1) the encoder wire is
disconnected, or (2) data from the encoder results
in communication error, be careful as the motor
automatic recognition abnormality protection
(alarm code No.95) will be activated when you
power on again.
In case of (1) and (2) above, take action for alarm
codes No.21 and No.23.
*LSI setup 96 Setting of LSI does not complete successfully due Take countermeasure against noise.
error to excessive noise.
protection
*Other Nos. The self-diagnostic function of the driver is Power off and on again. If the display still
trouble and other activated and some abnormality occurs in the appears and the error is repeated, the motor and
error than the driver. driver may have failed. Shut down the power and
above The control circuits malfunction due to excessive replace them. Then, return them to the sales
noise. agent for inspection (repair).
<Remarks>
• Load factor and regenerative resistor load factor can be checked in the monitor mode of PANATERM® or console.
• Power voltage shortage protection (Alarm Code No. 11), EEPROM parameter error protection (Alarm code
No. 36), EEPROM check code error protection (Alarm code No. 37), Overtravel inhibit input protection
(Alarm code No. 38), Motor auto recognition error protection (Alarm code No.95) and LSI setup error
protection (Alarm code No.96) are not memorized in “Alarm History”.
• If other trouble/error occurs, STATUS LED and Alarm LED (ALM Code) could eventually turn ON simulta-
neously in 4 different modes given below, instead of blinking (flashing) as staged in the above Table.
STATUS LED Alarm Code LED Alarm content
Red Red
Red Orange
Other trouble/error
Orange Red
Orange Orange

Software limit function

(1) Outline
If the motor operation exceeds the motor operational range set in Pr26 (Software limit protection) for the position
command range, then the alarm can be stopped with the software limit protection (error code No. 34).
Using this function prevents the load from colliding with the edges of the machine due to the oscillation of the motor.

(2) Scope
This function can operate under the following conditions:
Conditions under which the software limit functions
Control mode Position control mode Pr02 = 0: High-speed response position control Pr02 = 2: Highly-functional position control
(1) Servo must be turned ON.
(2) Pr26 (Software limit setting) must be set to a value other than “0”.
(3) The motor’s operational range must be within 2147483647 for both CCW and CW since the position command parameter range
was reset to “0”.
Once the condition in (3) has been breached, then the software limit protection will be disabled until the condition for which the (5)
Position command parameter range is cleared is met.
If condition (1) or (2) is not met, then the position command parameter range will be cleared to “0”.

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 [Trouble Case]
(3) Notes
• This function is not protection for abnormal position commands
• When the software limit protection is activated, the motor will slow down and then stop in accordance with Pr68 (Sequence for
alarm).
• Some loads may collide with the with edges of the machine while the motor is slowing down. Set the Pr26 range allowing for this
slow-down operation.
• The software limit protection is disabled when the PANATERM frequency characteristics are functioning, or in the trial (JOG) opera-
tion.

(4) Examples of operations

(1)When a position command is not inputted (servo ON)
The motor’s operational range is the travel distance range set on both sides of the motor in Pr26 because no position commands
are inputted. If the load is within in the ranges where Err34 occurs (hatched areas) due to the vibration of the motor, then the
software limit protection will be activated.

Motor Load

Pr26 Pr26
Motor’s
operational
Range where Err34 occurs range Range where Err34 occurs

(2) When moving rightward (servo ON)

When a position command to move the load rightward is inputted, the motor’s operational range will be expanded as per the
commanded and will be expanded beyond the top and bottom limits of the range set in Pr26.

Motor Load

Pr26 Position command range Pr26

Range where Err34 occurs Motor s operational range Range where Err34 occurs

(3)When moving leftward (servo ON)

When a position command to move the load leftward is inputted, the motor’s operational range will be expanded further.

Motor Load
Trouble Case

Pr26 Position command range Pr26

Range where Range where
Err34 occurs Motor s operational range Err34 occurs

(5) Conditions for which the position command range is cleared

The position command range will be cleared to “0” under the following conditions:
The power is turned ON.
The position deviation is cleared.
Normal auto tuning is started or completed.

149
Troubleshooting
Checkpoints
Ensure that status
(STATUS) LED turns
neither red nor orange.
Ensure that the
connector is firmly
fixed. STATUS ALM CODE
Ensure that LED is not blinking.

Ensure that supply x6 Host

voltage hasn’t Controller
changed.
Ensure that correct
voltage is supplied.
Ensure that x5 Make sure that wiring
connections are
tightly attached. to CN X5 is correct
and securely attached.
Ensure that the motor
generates no abnormal x4 Make sure that wiring
sound. to CN X4 is correct
and securely attached.
Ensure that the x3
electromagnetic brake
is not working.
x1

Machine

Motor

Ensure that the

hookup is not loose.
Make sure that connections are firmly attached (disconnection, contact)
Ensure that wiring is correct.

The motor does not rotate

Category Cause Action

Parameters The control mode is not correctly Check the value of the control mode setting Pr02.
selected. 0… High velocity positioning control
1… Internal velocity control
2… High function positioning control
The torque limit of the parameter is set Check the value of the torque limit set-up Pr5E.
to 0. Change it to a pre-shipment default of 300.
The motor does not run because the Check the value of the ZEROSPD/TC input selection Pr06, and
zero speed clamp is open (OFF). change it to 0.
Zero clamp function is enabled when it is set to 1. Otherwise,
change the setting to 1 and enable the zero speed clamp input.
Then, correct wiring connections so that the zero speed clamp
input can turn ON successfully.
The internal speed setting parameter Check settings of Pr53 to Pr56.
hasn’t been entered. Set desired rotation speed.
Wiring The circuit for CW/CCW overtravel Check the value of Pr04. If it is 0, connect between CN X5 pins
inhibit input of CN X5 is open. 8 and 13, and 7 and 13.
Servo-ON signal of CN X5 has not been Short circuit (ON) between the connector CN X5 pins 2 and 13.
activated.
The deviation counter input of CN X5 is Open (OFF) between the connector CN X5 pins 4 and 13.
turned ON (shorted).
Command input connection is wrong Connect so that the photocoupler inside the driver is turned
when pulse input form of CW and CCW OFF on the side in which pulse is not input (See Pages 73 to
is selected in the position control mode. 81).
Installation The motor output shaft is heavy and Power OFF and disconnect the motor from the installation.
does not turn. Turn the motor shaft by hand to see if it can rotate. If the motor
is provided with electromagnetic brake, turn the shaft by hand
while applying voltage to the brake (DC24V). If the motor shaft
does not rotate, ask the sales agent of the motor for repair.

150
 [Trouble Case]
The rotation is not stable (the rotation is not smooth)

Category Cause Action

Adjustment Poor gain adjustment Increase the value of the 1st velocity loop gain Pr11. Insert a
1st torque filter Pr14 and increase the value of Pr11 again.
Position command (pulse row Check how the motor is running, by using the waveform graphic
command) is unstable. function of PANATERM ®. Check the wiring and connectors for
poor contact. Also check the controller.
Wiring The following input signals of CN X5
are chattering.
(1) Servo-ON signal (1) Using the I/O signal status display function, check wiring
and connection between the connector CN X5 pins 2 and
13. Modify the wiring and connection so that Servo-ON
signal successfully turns ON. Check the controller.
(2) Deviation counter input signal (2) Using the I/O signal status display function, check wiring
and connection between the connector CN X5 pins 4 and
13. Modify the wiring and connection so that the deviation
counter input successfully turns ON. Check the controller.
(3) Zero speed clamp signal (3) Using the I/O signal status display function, check wiring
and connection between the connector CN X5 pins 5 and
13. Modify the wiring and connection so that the zero speed
clamp input successfully turns ON. Check the controller.
(4) Internal command speed selection 1 (4) Using the I/O signal status display function, check wiring
and 2 input signals and connection between the connector CN X5 pins 4 and
13, and 6 and 13. Modify the wiring and connection so that
the internal command speed selection 1/2 input successfully
turn ON. Check the controller.

Trouble Case

151
Troubleshooting
Positioning Accuracy is poor

Category Cause Action

System The position commands (amount of Count the number of feedback pulses either by repeatedly
command pulse) are not correct. reciprocating for a fixed distance and using the monitoring
function of PANATERM®, or by using the monitor mode of
feedback pulse of the console. If the count does not return to
the same value, adjust the controller. Take action to reduce
noise on the command pulse.
Reading of the positioning completion By using the waveform graphic function of PANATERM®,
signal occurs at the edge. monitor a deviation when positioning completion signal is
generated. Read the signal from the controller at a midpoint of
the time span, and not at the edge.
The shape and width of the command If the command pulses are deformed or narrowed, adjust the
pulses do not meet the requirements. pulse generating circuit. Review the action against noise.
The deviation counter clear input CL Not only take action against noise from external DC power
(CN X5 pin 4) is superposed with noise. supply, but also do not wire any unused signal line.
Adjustment The position loop gain is small. Check amount of position deviation either by using the
monitoring function of PANATERM® or in the monitor mode of
the console.
Increase the value of Pr10 so as not to cause oscillation, and
check it.
Parameter The setting of positioning completion Decrease the value of the In-position range Pr60 so that the
range is too high. completion signal will not cause chattering.
The command pulse frequency exceeds Lower the command pulse frequency. Change the dividing/
500 kpps. multiplier ratio of the numerator of 1st/2nd command pulse ratio
Pr46 to Pr47.
The incorrect dividing/multiplier ratio is Check whether repeatability is the same.
set.
The velocity loop gain is in proportional • Set the velocity loop integration time constant Pr12 and
control action under suspension. Pr1A below 999.
• Modify wiring and connection so that the second gain action
set-up Pr30 is 1, and connection between the gain switching
input connector CN X5 pins 5 and 13 is turned OFF. Check
the controller.
Wiring The following signal inputs of the
connector CN X5 are chattering.
(1) Servo-ON signals (1) Using the I/O status display function, check wiring and
connection between the connector CN X5 pins 2 and 13.
Modify the wiring and connection so that Servo-ON signal
successfully turns ON. Check the controller.
(2) Deviation counter clear input signals (2) Using the I/O status display function, check wiring and
connection between the connector CN X5 pins 4 and 13.
Modify the wiring and connection so that the deviation
counter clear input successfully turns ON. Check the
controller.
Installation Load inertia is high. Check overshot in halt condition, by using the waveform graphic
function of PANATERM®. Even when it is not corrected after
adjusting gains, increase capacity of the motor and driver.

152
 [Trouble Case]
Original position varies

Category Cause Action

System Phase Z is not detected when the Check if phase Z is superposed on proximity input (nearest
original position is calculated. point dog sensor). Initialize correctly according to the controller.
Speed to creep to the original position Decelerate the initialization speed in the vicinity of the original
is fast. position, or extend the initialization sensor.
Wiring Output of the original point proximity Using an oscilloscope, check input signal of the nearest point
sensor (nearest point dog sensor) is dog sensor of the controller. Review wiring around the nearest
chattering. point dog and take action to reduce and prevent noise.
Noise is superposed on the encoder Take various actions: Reduce noise (by installing a noise filter/
wire. inserting ferrite cores), shield I/F cable, use twist pair cable,
separate signal line from power line, etc.
Phase Z signal is not output. Using an oscilloscope, monitor phase Z signal to be entered
into the controller. Check that the connector CN X5 pin 14 is
connected to the ground of the controller. For non-isolated
open collector interface, connect the ground of the driver.
Replace the driver and controller. Ask for repair.
Wiring of phase Z output is incorrect. Check that the line driver is connected at both sides. If the
controller does not have a differential input, use CZ output
(open collector).

The motor has abnormal sound or vibration

Category Cause Action

Adjustment The gains are set high. Decrease the values of the position loop gain Pr10 and velocity
loop gain Pr11 to lower the gains.
A speed detection filter has changed. Increase the value of the speed detection filter Pr13 until the sound
reaches the allowable level, or reset it to a default setup of 4.

Installation Resonance between the equipment Readjust Pr14 (torque filter). Using the frequency characteristic
(machine) and the motor is generated. analysis program of the PANATERM®, check whether there is
any mechanical resonance. If so, set the notch frequency
Pr1D.
Motor bearing Drive the motor with no load to see if there is any sound or
vibration around the bearing. Replace the motor and check.
Ask for repair.
Electromagnetic sound, gear sound, Drive the motor with no load and check. Replace the motor and
braking sound, hub sound, rubbing check. Ask for repair.
sound from the encoder etc.
Trouble Case

153
Protective Functions
Overshooting/Undershooting The motor is overheated (burnout)

Category Cause Action

Adjustment Gains are poorly adjusted. Check gains using the waveform graphic function of
PANATERM®. Correctly adjust gains. Refer to Section on
Adjustment.
Installation Load inertia is high. Check gains using the waveform graphic function of
PANATERM®. Increase capacity of the motor and driver and
decrease inertia ratio. Use reduction gears.
The equipment (machine) has play and Modify coupling with the equipment (machine).
slip.
Ambient temperature and environment If the ambient temperature exceeds a specified value, install the
cooling fan to reduce the temperature.
The cooling fan stops. The air intake of Inspect the cooling fans of the equipment and the driver. As the
the fan is dirty. latter needs to be replaced, ask for repair.

Mismatch between the driver and motor Check the nameplates of the driver and motor. Referring to the
instruction manuals or catalogs, select a correct combination of
them.
The motor bearing is defective. Power off, turn the shaft of the motor independently, and check
if there is any rumbling sound. If so, replace the motor. Ask for
repair.
The electromagnetic brake keeps on Check voltage of the brake terminal. Apply power (DC24V) to
running (failure to release the brake). the power supply and release the brake.
The motor is defective (due to oil, Avoid high temperature/humidity, oil, dust, and iron powders.
water, etc.)
With the dynamic brake activated, the Check the operating pattern, use condition, and working
motor is rotated by external force. condition, and avoid this kind of operation.

Rotation speed does not increase to the set speed The speed (movement) is large or small
Category Cause Action
Adjustment The position loop gain is low. Adjust the value of the position loop gain Pr10 to approximately
100.
The dividing/multiplier are not Correct the values of the numerator of 1st command pulse ratio
appropriate. Pr46, multiplier of numerator of command pulse ratio 4A, and
denominator of command pulse ratio 4B. Refer to parameter
settings of each mode.

Parameter returns to the last value

Category Cause Action

Parameter A parameter value has not been written Refer to Writing to EEPROM of “Structure of Each Mode” on
into EEPROM prior to power-off of the Page 50 of Preparation edition.
driver.

When using PANATERM®, the message “communication port or driver cannot be detected” appears

Category Cause Action

Wiring The connector CN X6 is not connected Connect the communications cable (RS232C) to the connector
to the personal computer through the CN X6. Check that the communications cable is disconnected.
communications cable (RS232C).

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