Er.136 - Data Check Error or Parameters Not Stored in Motor ROM

Fault Code Description: Er.136 indicates that the servo drive cannot find any data while reading parameters from the motor's encoder ROM, or the values read are inconsistent with the expected values.

Causes:

    Servo drive model does not match the servo motor model:
- This error may occur if the models of the servo drive and servo motor are not compatible.

    No parameters in encoder ROM or data check error:
- There may be contact issues, faulty connections, or incompatible cables in the encoder wiring, leading to data check errors.

    Servo drive failure:
- There could be a hardware issue in the servo drive.

Troubleshooting and Solutions:

    Servo drive model does not match the servo motor model:
- Troubleshooting Method: Check the labels of the servo motor and servo drive. Ensure that the equipment being used is an Inovance IS620P series servo drive and a 20-bit servo motor. Also, check if the H00-00 parameter is set correctly.
- Solution: If there is a mismatch, replace the servo drive or the motor with the correct model. For Inovance IS620P series drives with a 20-bit servo motor, ensure that the H00-00 parameter is set to 14000.

    No parameters in encoder ROM or data check error:
- Troubleshooting Method: Verify that the encoder cable meets Inovance's standard configuration. Check for scratches, breaks, or poor contact in the cable. Measure the PS+, PS-, +5V, and GND signals at both ends and check for signal consistency.
- Solution: If the cable is damaged or incompatible, use a new encoder cable. Tighten the cable connections and ensure a reliable connection. Remember not to run encoder cables together with power cables (RST, UVW).

    Servo drive failure:
- Troubleshooting Method: Restart the servo drive several times. If the error persists, there may be a hardware fault in the servo drive.
- Solution: The servo drive may need to be replaced.

Summary: Er.136 error is caused by mismatches between the servo drive and motor, issues with the encoder cable, or hardware failures in the servo drive. The solution is to verify the compatibility of the servo motor and drive, check the encoder cable, and replace it or the servo drive if necessary.

Er.201 and Er.202 - Overcurrent 2

Fault Code Description: Er.201 indicates that a hardware-related overcurrent situation has been detected. This error can occur for several reasons during the operation of the motor or servo drive, and typically, the overcurrent protection circuit is activated to ensure safe system operation.

Causes:

    Reference input was given when the servo drive was not fully started or too early:
- This error occurs if the reference signal is provided before the servo drive is fully operational.

    Regenerative resistor is too small or short-circuited:
- Internal or external regenerative resistors may not meet the required specifications, or there may be a short circuit.

    Motor cables are loose or poorly connected:
- If the UVW cables connecting the servo drive and motor are loose, this error can occur.

    Motor cables are grounded:
- If there is an insulation fault between the motor cables and the ground, an overcurrent situation may occur.

    Motor UVW cables are short-circuited:
- A short circuit may have occurred between the motor cables.

    Motor is damaged:
- If the resistance between the motor cables is imbalanced, the motor may be damaged.

    Incorrect gain setting and motor vibration:
- Incorrect gain settings may cause the motor to vibrate or produce abnormal noise.

    Encoder cable is improperly connected, corroded, or loose:
- If the encoder cable is not properly connected, corroded, or loose, this error may occur.

    Servo drive failure:
- If the motor cables are connected properly but the error persists, the servo drive may be faulty.

Troubleshooting and Solutions:

    Reference input was given too early:
- Troubleshooting Method: Check if the reference signal was given before the "rdy" status was displayed.
- Solution: Wait until the servo drive reaches the "rdy" status before giving the reference signal. You may also consider adding a reference filtering time or increasing the acceleration/deceleration time.

    Regenerative resistor is too small or short-circuited:
- Troubleshooting Method: If using an internal regenerative resistor (H02-25 = 0), check if the cable between P and D is properly connected. If using an external regenerative resistor (H02-25 = 1/2), measure the resistance between P and C.
- Solution: If the resistor is too small, choose a new regenerative resistor that meets the specifications. If necessary, adjust the regenerative resistor parameters (H02-26 and H02-27).

    Motor cables are loose:
- Troubleshooting Method: Check if the UVW cables of the motor and servo drive are securely connected.
- Solution: Tighten any loose cables and ensure a secure connection.

    Motor cables are grounded:
- Troubleshooting Method: Measure the insulation resistance between the UVW motor cables and the ground.
- Solution: If the insulation is poor, replace the motor.

    Motor UVW cables are short-circuited:
- Troubleshooting Method: Disconnect the motor cables and check for a short circuit.
- Solution: Reconnect the cables properly and repair them if necessary.

    Motor is damaged:
- Troubleshooting Method: Measure the resistance between the motor cables and check for any imbalance.
- Solution: If there is an imbalance, replace the motor.

    Incorrect gain setting and motor vibration:
- Troubleshooting Method: Check if the motor is vibrating or making loud noises. Use the Inovance servo commissioning software to analyze the feedback current.
- Solution: Adjust the gain settings to prevent motor vibration.

    Encoder cable is improperly connected:
- Troubleshooting Method: Check if the encoder cable is properly connected or corroded.
- Solution: Reconnect the encoder cable, solder it, or use a new cable.

    Servo drive failure:
- Troubleshooting Method: Disconnect the motor cables and restart the servo drive. If the error persists, the drive may be faulty.
- Solution: Replace the servo drive.

Summary: The Er.201 fault code results from various technical issues that can cause the motor to draw excessive current. To resolve this, check the motor connections, inspect the regenerative resistors, and ensure that the motor is operating properly. If the error persists, the servo drive may need to be replaced.

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