AL13 - Resolver ABS Battery Voltage Drop (BLV):
The battery voltage has dropped to 3.4 V or less.

Actions to take:

    Replace the battery. If alarm AL24 has not been triggered, the reference point will remain in the memory.

AL14 - Brake Fault (BERR):

Possible causes:

    [1] Dynamic brake: Although the brake output is ON, the brake confirmation signal may not have been received.
    [2] Holding brake: Even after the brake output is ON, the brake confirmation signal continues to be received.

Actions to take:

    Check the connections of the dynamic or holding brake, ensuring that the cables and components are functioning correctly.

AL15 - Overcurrent Detection (OCS):
The motor current has exceeded 120% of the current limit.

Possible causes:

    [1] The motor may be mechanically locked.
    [2] There may be a short circuit in the U, V, or W phases of the motor.
    [3] Parameter UP02 (motor selection) may be set incorrectly.

Actions to take:

    Ensure the motor can move freely.
    Check the U, V, and W phases for short circuits.
    Ensure that parameter UP02 is set correctly.

AL16 - Speed Amplifier Saturation (VAS):
The speed amplifier has saturated, and the motor has been running at maximum current for more than 3 seconds.

Possible causes:

    [1] The motor may be mechanically locked.
    [2] The load inertia is high, and the acceleration/deceleration is sharp.
    [3] Parameter UP02 (motor selection) may be set incorrectly.

Actions to take:

    Check that the motor is moving freely.
    Review the load and acceleration/deceleration settings.
    Check and correct parameter UP02.

AL17 - Motor Overload (MOL):
The motor temperature, calculated based on the actual load, has exceeded 110%.

Possible causes:

    [1] The load may be too heavy for the motor power.
    [2] The operating cycle may be too short for the motor capacity.
    [3] Parameter UP02 (motor selection) may be set incorrectly.

Actions to take:

    Balance the load and motor power.
    Adjust the operating cycle according to the motor capacity.
    Check and correct parameter UP02.
    Ensure the motor has cooled down sufficiently before restarting, or the motor may burn out.

AL18 - Instant Thermal Overload (POL):
The output current has exceeded 120% of the motor's rated current, triggering this protection.

Possible causes:

    [1] The motor may be mechanically locked.
    [2] The load may be too heavy for the motor power.
    [3] Parameter UP02 (motor selection) may be set incorrectly.

Actions to take:

    Ensure the motor can move freely.
    Check the load and motor power.
    Verify and adjust parameter UP02.

AL19 - Resolver Phase Error (RESERR):
There has been an incorrect count in the resolver feedback counter.

Possible causes:

    [1] There may be a contact failure in the resolver cable.
    [2] The resolver cable may be too close to the motor drive cable and affected by noise.
    [3] The grounding wire between the motor and amplifier may be broken.

Actions to take:

    Check the resolver cable and fix any connection issues.
    Place the cable away from motor drive cables.
    Check and replace the grounding wire if it is broken.

AL20 - Overspeed (OSPD):
The motor speed has exceeded 120% of the maximum speed.

Possible causes:

    [1] The servo adjustment may be incorrect, causing the axis to accelerate uncontrollably.
    [2] An excessively large command may have been given.
    [3] There may be a contact failure in the resolver cable.
    [4] The resolver cable may be too close to the motor drive cable and affected by noise.
    [5] The grounding wire between the motor and amplifier may be broken.

Actions to take:

    Reconfigure the servo settings using auto-tuning.
    Check and, if necessary, reduce the command value.
    Inspect the resolver cable and ensure proper connections.
    Ensure the resolver cable is placed away from motor drive cables.
    Check and replace the grounding wire if it is broken.