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Common troubleshooting
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Er fault alarm group

Note: 'ECAT code' refers to the fault code 0x603F (axis 1) or 0x683F (axis 2) written in the PDO dictionary after the servo slave station alarms. "Display Code" is the alarm code displayed by the driver keypad.
Display Code ECAT code Fault name Can it be reset Reason for malfunction
ER.001 0XFF01 Emergency stop alarm yes The emergency stop signal input of the driver has EMG or DI terminal input
ER.002 0XFF02 Axis 1 overcurrent no Motor code error encoder cable does not correspond to motor UVW short circuit to ground short circuit, power module drive undervoltage, driver to ground short circuit damage (caused by one phase of UVW not being grounded). Clear the alarm after powering on again
ER.003 0XFF03 Axis 2 overcurrent no
ER.004 0XFF04 External busbar disconnection yes Not connected to the DC bus, communication between driver modules is abnormal, check the top IBUS
ER.005 0XFF05 Axis 1 overload yes Motor code error, motor brake not opened, motor load stalling, motor phase loss, motor selection too small, load too heavy, etc
ER.006 0XFF06 Axis 2 overload yes
ER.007 0XFF07 Axis 1 motor initialization in progress yes The motor encoder is not connected, the encoder cable is abnormal (wiring error), the encoder protocol is abnormal (the motor encoder protocol corresponding to the motor code does not match the actual connected encoder), the current sampling is abnormal, etc
ER.008 0XFF08 Axis 2 motor initialization in progress yes
ER.009 0XFF09 Axis 1 three-phase current abnormality yes The motor is not connected, the motor is out of phase, the motor phase sequence is incorrect, the motor code is set incorrectly, the power supply voltage of the driver is low, the load exceeds the allowable value at high motor speed, and the drive gain parameter is abnormal
ER.010 0XFF0A Axis 2 three-phase current abnormality yes
ER.011 0XFF0B DC bus undervoltage yes Poor input contact of the main circuit of the driver due to low grid voltage, etc
ER.012 0XFF0C DC bus overvoltage yes Not connected to the braking resistor. The resistance of the braking resistor is too high, and the load feedback energy is too large
ER.013 0XFF0D Axis 1 position command too large yes The increment of the main station position command is too large, the unit setting of the main station encoder is incorrect, the synchronization period (Px. 50) is set incorrectly, the driver is not set to absolute value type, resulting in the loss of reference point after power on, and the electronic gear parameter setting is incorrect
ER.014 0XFF0E Axis 2 position command too large yes
ER.015 0XFF0F Drive overheating yes The ambient temperature is too high, the installation environment is not adequately ventilated, and the drive fan is damaged
ER.016 0XFF10 Failed to write EEPROM yes Incorrect parameter settings, EEPROM abnormal
ER.017 0XFF11 Read EEPROM failed yes EEPROM abnormality
ER.018 0XFF12 The position deviation of axis 1 is too large yes The position gain setting is too small, the speed gain parameter setting is unreasonable, the load is too heavy, the position deviation alarm threshold setting is too small, the motor is stuck, the motor line sequence is incorrect, the motor torque limit is too small, etc
ER.019 0XFF13 The position deviation of axis 2 is too large yes
ER.020 0XFF14 Axis 1 encoder error yes Encoder communication abnormality, unreliable encoder wiring, encoder interference
ER.021 0XFF15 Abnormal speed measurement of axis 1 yes Abnormal speed measurement, encoder interference, encoder abnormality
ER.022 0XFF16 Axis 1 encoder initialization in progress yes Encoder not connected, unreliable encoder wiring
ER.024 0XFF18 External bus error yes External module alarm input
ER.027 0XFF1B EEPROM parameter verification error yes EEPROM abnormality

Alarm processing scheme

  • Q
    Er.001 emergency stop alarm
    A
    ① Controller connected to external EMG emergency stop port of driver
    The effective conditions for EMG function: PE-18 is set to 1, PE-31 and PE-34 are set to 06, the control system sends an emergency stop command signal, and the driver executes the command to trigger an emergency stop alarm.

    ② Controller not connected to driver EMG emergency stop port
    Check if the value of driver parameter PE-18 is 0, set PE-18 to 1, PE-37 to 0, and PE-31 to 34 to 0
  • Q
    Er.002 Axis 1 overcurrent alarm; Er.003 is an overcurrent alarm for shaft 2
    A
    ① Motor code (PE-02, PF-02) error
    Check the motor code. If you are unsure about the motor code, you can contact the technical support personnel of Motong.

    ② Is the encoder cable of shaft 1 connected to the encoder port of shaft 2 Check if the encoder cable is plugged into the wrong port. The encoder port (ECD1) must correspond to the power line (UVW) port of shaft 1.

    ③ Motor or power line (UVW) three-phase short circuit
    Use a multimeter to measure whether the resistance between phases U and V, U and W, and V and W is equal. If there is a difference in resistance Within 20%, continue to use a multimeter to measure whether the resistance between the three phases (UVW) and the ground wire is infinite. If the alarm still appears after confirming that there are no abnormalities, it is necessary to return to the factory for testing.

    ④ Telegram overcurrent
    Check whether the power line and encoder line are damaged or have poor contact. If not, they need to be returned to the factory for inspection.
  • Q
    Er.004 External busbar disconnected
    A
    ① Abnormal communication between driver modules
    Check if the black IBUS wire on the top of the drive is loose or if there is poor terminal contact. Re plug or replace the IBUS wire< br>
    ② Not connected to the braking resistor
    Check d0-16 (current bus voltage), d0-17 (lowest historical voltage after motor enable), and d0-18 (highest historical voltage after motor enable). When the highest bus voltage reaches 390V, a braking resistor needs to be connected< br>
    ③ Bus voltage reaches 395V
    Check if the input voltage is within a reasonable range (187V to 242V)< br> Damage caused by failure to connect or inappropriate specifications of the braking resistor< br> There is a brake resistor connected, but the maximum voltage reaches 395V and needs to be returned to the factory for testing< br>
  • Q
    Er.005 axis 1 overload; Er.006 axis 2 overload
    A
    ① Brake not turned on
    Check if the external 24V switch power supply and wiring are normal. If the wiring is normal, turn on the enable button, but the brake is still not open. Use a multimeter to measure the voltage between B+and B -. If it is 24V, replace the motor; If it is 0V, the driver needs to be replaced< br>
    ② Motor code error
    Check the motor code. If you are unsure about the motor code, you can contact the technical support personnel of Motong< br>
    ③ Encoder cable reversed
    Is the encoder cable of shaft 1 connected to the encoder port of shaft 2< br>
    ④ Motor stalling
    Release the load on the motor shaft and control the motor operation separately. If it cannot be driven, please replace the motor; If the motor can be driven normally, please Check if the mechanical structure of the reducer is stuck< br>
    ⑤ Motor power line wiring error
    Is the UVW three-phase phase sequence of the motor power line connected incorrectly< br>
    ⑥ Motor zero point loss
    Check if the zero point of the motor is normal.
  • Q
    Er.007 is the initialization of axis 1 motor; Er.008 initializes axis 2
    A
    ① Encoder wiring error
    Check if the motor encoder connector is loose, if the 1394 plug spring is normal, if the encoder wire is a twisted shielded wire, and if the diameter of a single wire is correct Is it equal to or greater than 0.3mm2< br>
    ② Motor malfunction
    Check if the three-phase motor is normal and if there is a short circuit to ground< br>
    ③ Driver malfunction
    The drive needs to be reset to factory settings, with PE-03 set to 0100 after disabling the enable. If the alarm persists after PE-03 returns to 0000 and the power is turned off and restarted, it needs to be returned to the factory for testing.
  • Q
    Er.009 indicates abnormal current in axis 1 motor; Er.010 indicates abnormal current of shaft 2 motor
    A
    ① The motor power line is not connected
    Check if the motor power line is connected< br>
    ② UVW three-phase wiring sequence incorrect
    Connect the wires in the correct sequence for UVW three-phase wiring< br>
    ③ Loose or disconnected power line docking terminal
    Re plug and unplug the power line port, and use a multimeter to measure whether the two ends of the UVW are conductive< br>
    ④ Motor code setting error
    Check the motor code. If you are unsure about the motor code, you can contact the technical support personnel of Motong< br>
    ⑤ Internal fault of drive
    Swap the power line and coding line of the same power motor for testing. If shaft 1 still alarms, the driver needs to be replaced< br>
    ⑥ Exceeding the maximum speed of the motor
    Monitor the motor speed. If the maximum speed of the motor is exceeded, the control system parameters need to be adjusted< br>
    ⑦ Are PE-21 and PF-21 too large Modify PE-57 and PF-57 notch frequencies based on waveform

    ⑧ Abnormal bus voltage
    It is necessary to check whether the input voltage is within a reasonable range (187V~242V)< br>
    ⑨ Motor zero point loss
    Check if the zero point of the motor is normal.
  • Q
    Er.011 DC bus undervoltage
    A
    ① The on-site power grid supply voltage is too low. Measure the AC voltage between L1 and L2 with a multimeter to see if it is below 195V, and monitor do-16 d0-17
    The voltage value of d0-18 requires the addition of a transformer or voltage regulator in case of unstable voltage.
  • Q
    Er.012 DC bus overvoltage
    A
    ① The resistance of the braking resistor is too high, resulting in a long energy release time Suggested braking resistor specifications: 20R, 800W

    ② The on-site power grid supply voltage is too high
    Measure the AC voltage between L1 and L2 with a multimeter to see if it is higher than 240V, monitor the voltage values of do-16 d0-17 d0-18, and ensure that the voltage is too high In high cases, transformers or voltage regulators need to be added < br>
    ③ The power supply voltage is normal, but the bus voltage exceeds 400V The reverse connection of the encoder wires 0V and 5V caused it.
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