Inovance SV660N Drive

Inovance SV660N Drive Fault Codes:

Fault Code and MeaningCause and Remedy

E101.0


System parameter error

Cause:

The total number of parameters changes (often after software update) or values in groups 2002h and above exceed limits. Specific causes include:

  • Control circuit voltage drops instantaneously.

  • Power failure occurred while saving parameters.

  • Write operations exceeded the limit.

  • Software was updated.

  • The servo drive is faulty.




Remedy:


  • Voltage issues: Check L1C/L2C input. Restore system parameters to default (2002-20h = 1) and rewrite. Enlarge power supply capacity if needed.

  • Power failure during save: Power cycle the drive, restore defaults, and write parameters again.

  • Write limit exceeded: Change the write mode in the host controller. If faulty, replace drive.

  • Software update: Reset servo drive/motor model, restore system parameters to default (2002-20h = 1).

  • Faulty drive: If fault persists after restore and power cycles, replace the servo drive.

E101.1


Parameter error in group 2000h/2001h

Cause:

The total number of parameters changes, or values in groups 2000h or 2001h exceed the limit (generally after software update).



Remedy:


  • General parameters: Set the servo drive model (2001-0Bh) to a wrong value first, perform a power cycle, then set it to the correct value and perform a power cycle again.

  • Serial-type motor params: Write the serial-type motor parameters again using the software tool.

  • If faulty: If the fault persists after the above steps, replace the servo drive.

E101.2


Address error in read/write

Cause:

The total number of parameters changes after software update, leading to address error in read/write operations (access address exceeds limit).



Remedy:


  • Restore default settings.

E102.0


Logic configuration fault

Cause:

The FPGA- or MCU-related hardware is damaged, leading to communication failure. The FPGA may be faulty or unprogrammed.



Remedy:


  • Check if FPGA has been upgraded/programmed successfully.

  • Power off and on several times.

  • If fault persists, replace the servo drive.

E102.8


Software version mismatch

Cause:

The software version of MCU or FPGA is wrong or they do not match.



Remedy:


  • Check MCU version (H01-00) and FPGA version (H01-01).

  • Update the FPGA or MCU software to make them match.

  • Contact Inovance for technical support.

E104.1


MCU operation timeout

Cause:

The access to MCU times out. Could be due to faulty FPGA, abnormal communication handshake, or access timeout between HOST and coprocessor.



Remedy:


  • Power cycle the drive.

  • If fault persists, replace the servo drive.

E104.2


Current loop operation timeout

Cause:

The MCU torque interrupt scheduling time is detected to be abnormal. (Reported only in commissioning stage).



Remedy:


  • Power cycle the drive.

  • If fault persists, replace the servo drive.

E104.4


Command update timeout

Cause:

Encoder communication time is set improperly or command calculation time is too long.



Remedy:


  • Hide unnecessary functions.

  • If fault persists, replace the servo drive.

E108.0 / E108.1 / E108.2 / E108.3


Parameter EEPROM Errors (Read/Write/Check)

Cause:

Parameter values cannot be written to or read from EEPROM, or the data check fails.



Remedy:


  • Modify a certain parameter.

  • Power off and on the servo drive again.

  • Check if the modification is saved.

  • If the modification is not saved and fault persists, replace the servo drive.

E120.0


Unknown encoder type

Cause:

The encoder type detected during initialization does not comply with requirements.



Remedy:


  • Check if encoder model is correct. Replace the encoder if needed.

  • If using an ISMH1 series motor with 20-bit encoder: Check H00-00 (Motor code) and set H00-00 to 14000.

E120.1


Unknown motor model

Cause:

The motor model defined by H00-00 does not exist.



Remedy:


  • Check H00-00 (Motor code).

  • Set H00-00 properly.

E120.2


Unknown drive model

Cause:

The servo drive model defined by H01-10 does not exist.



Remedy:


  • Check H01-10 (Servo drive model).

  • Set H01-10 properly.

E120.5


Motor and drive current mismatch

Cause:

Rated output of servo drive is far higher than rated current of the motor, or internal scaling value is abnormal.



Remedy:


  • Replace with a servo drive of lower rated output or a motor with higher rated current.

  • If drive model is correct but current sampling coefficient is too large: Replace the servo drive.

E120.6


FPGA and motor model mismatch

Cause:

Motor model set improperly, or the motor encoder is not supported by the current FPGA version.



Remedy:


  • Check whether the motor encoder is supported by FPGA version (H01-01).

  • Update the program or replace the motor.

E122.0


Multi-turn absolute encoder setting error

Cause:

Motor does not match in absolute position mode or motor code is set improperly.



Remedy:


  • Check motor nameplate (must be multi-turn absolute).

  • Reset 2000-01h (H00-00) according to the nameplate.

  • Replace with a matching motor if necessary.

E122.1


Different DIs assigned with same function

Cause:

The same function is assigned to different DIs, or DI function No. exceeds maximum setting.



Remedy:


  • Assign different DI functions in groups 2003h and 2017h. Restart control circuit power or use “RESET” signal.

  • If Function No. exceeds limit: Restore system parameters to default (2002-20h = 1) and power cycle.

E122.2


Different DOs assigned with same function

Cause:

The DO function No. exceeds the maximum setting number allowed.



Remedy:


  • Check DO function numbers in 2004-01h, 2004-03h, 2004-05h.

  • Set the correct DO function numbers.

E122.3


Upper limit in rotation mode invalid

Cause:

Upper limit of mechanical single-turn position exceeds 2^31 in absolute position rotation mode.



Remedy:


  • Reset the mechanical gear ratio, upper limit of mechanical single-turn position, and electronic gear ratio.

  • Ensure the value does not exceed 2^31.

E136.0


Encoder parameter error

Cause:

When reading encoder ROM, no parameters are found or they are inconsistent. Causes include:

  • Motor/Drive mismatch.

  • Cable interference/Poor contact.

  • Drive failure.




Remedy:


  • Check nameplates; replace with mutually matching drive and motor.

  • Use Inovance provided encoder cable. Ensure secure connections.

  • Route encoder and power cables separately to avoid interference.

  • If fault persists, replace the servo drive.

E136.1


Encoder communication error

Cause:

Encoder cable disconnected or communication error due to interference.



Remedy:


  • Check if encoder cables are connected properly.

  • Check H0B-28 (should be 0).

  • Check if motor model, MCU software, and FPGA software are set correctly.

E140.1


Encryption chip check failure

Cause:

Key of encryption chip is incorrect; failure in decrypting Renesas chip.



Remedy:


  • Check software version.

  • Power off and on.

  • If fault persists, contact Inovance for maintenance.

E150.0


STO signal input protection

Cause:

The STO (Safe Torque Off) function is active.



Remedy:


  • If STO function is intentionally activated, no action needed. Clear fault when terminal is back to normal.

  • Check if STO 24V power supply is stable.

  • Tighten loose cables.

  • If fault persists after fixing causes, replace the servo drive.
E140.1
Encryption chip check failure
Cause:

The key of the encryption chip is incorrect, causing failure in decrypting the Renesas chip.



Remedy:

  • Check the software version. Check whether the encryption program is programmed in the servo drive.

  • Check whether the encryption chip works properly.

  • Power off and on the servo drive again. If the fault persists, contact Inovance for maintenance.
E150.0
STO signal input protection
Cause:

The STO input protection applies (safety state). The STO function is active.



Remedy:

  • Check whether the STO function is activated. There is no need to take any corrective actions. After the STO terminal is back to normal, clear the fault using the fault reset function.

  • Check whether the STO power supply is normal (Check if 24 V power supply is stable; tighten loose cables).

  • If the fault persists after preceding causes are rectified, replace the servo drive.
E150.1
STO signal input error
Cause:

The single-channel input of STO is invalid.

1. The STO power supply is abnormal.

2. The STO input resistor is abnormal.

3. The STO function fails.



Remedy:

  • Check whether the 24 V power supply for the STO is stable. Tighten cables that are loose or disconnected.

  • If caused by resistor drift (signal sent after power cut), replace the servo drive.

  • If fault persists, replace the servo drive.
E150.2
Buffer 5 V supply voltage error
Cause:

The MCU monitors the 5 V power supply of the PWM Buffer to detect overvoltage or undervoltage. The 5 V power supply of the Buffer is abnormal.



Remedy:

  • Check the 5 V power supply.

  • Replace the servo drive.
E150.3
STO upstream optocoupler detection failure
Cause:

Short circuit occurs on the optocoupler of the upstream hardware circuit of STO (STO1 or STO2).



Remedy:

  • Switch off the 24 V power supply and power on the servo drive again to see if E150.0 is reported.

  • Replace the servo drive.
E150.4
PWM Buffer detection failure
Cause:

An error occurs on the PWM Buffer integrated circuit during initialization detection upon power-on (the PWM signal cannot be blocked).



Remedy:

  • Check if the fault persists after the servo drive is powered off and on several times.

  • Replace the servo drive.
E201.0
Phase-P overcurrent
Cause:

An excessively high current flows through the positive pole of the DC-AC circuit.

1. Gains are set improperly, leading to motor oscillation.

2. The encoder is wired improperly, aging, or connected loosely.

3. The servo drive is faulty.



Remedy:

  • Modify motor parameter values, current loop parameters, or speed loop parameters to stop oscillation.

  • Re-solder, tighten, or replace the encoder cable.

  • Switch off S-ON, rotate shaft manually and check value of 200B-12h (H0B-17).

  • Check if resistance of external regenerative resistor is too small or short-circuited.

  • Replace with a matching regenerative resistor and rewire.

  • Replace the servo drive.
E201.1
Phase-U overcurrent
Cause:

A current higher than the threshold is collected in the phase-U current.

1. Motor cables are in poor contact, grounded, or short-circuited.

2. The motor is damaged due to over-temperature.



Remedy:

  • Tighten cables that are loose or disconnected.

  • Replace the motor in case of poor insulation (measure resistance between U/V/W and PE).

  • Connect motor cables correctly (check for short circuits/burrs).

  • Replace the motor if resistance among phases is unbalanced.
E201.2
Phase-V overcurrent
Cause:

A current higher than the threshold is collected in the phase-V current.

1. Motor cables are in poor contact, grounded, or short-circuited.

2. The motor is damaged due to over-temperature.



Remedy:

  • Tighten cables that are loose or disconnected.

  • Replace the motor in case of poor insulation.

  • Connect motor cables correctly.

  • Replace the motor if phase resistance is unbalanced.
E201.4
Phase-N overcurrent
Cause:

An excessively high current flows through the negative pole of the DC-AC circuit.

1. Gains are set improperly.

2. Encoder wired improperly/aging.

3. Overcurrent on regenerative resistor.

4. Servo drive faulty.



Remedy:

  • Adjust the gains.

  • Re-solder, tighten or replace the encoder cable.

  • Replace with a regenerative resistor of matching resistance/model. Perform wiring again.

  • Replace the servo drive.
E208.0
MCU position reference updated frequently
Cause:

Locate fault cause through internal code (200B-2Eh).

1. MCU communication times out (Internal code 1208).

2. FPGA operation times out (Internal code 0208).



Remedy:

  • Replace the servo drive (Internal integrated circuit damaged).
E208.2
Encoder communication timeout
Cause:

The servo drive fails to receive data fed back by the encoder in three consecutive cycles.



Remedy:

  • Check whether the motor model is correct.

  • Check whether the encoder cable is proper (connected loosely, too long, interference).

  • Check whether the encoder version (H00-04) is set properly.

  • If servo drive operates improperly, replace it.
E208.3
Current sampling fault
Cause:

Phase-U and phase-V current sampling is abnormal. Ambient devices generating disturbance or internal circuit damaged.



Remedy:

  • Check whether servo drive and motor are grounded and shielded properly.

  • Install magnetic ring on the motor power cables and encoder cable.

  • Replace the servo drive.
E208.4
FPGA current loop operation timeout
Cause:

The operating time of the current loop exceeds the interval threshold.



Remedy:

  • Disable some unnecessary functions to reduce the operating load of the current loop.
E210.0
Output short-circuited to ground
Cause:

An abnormal motor phase current or bus voltage is detected during auto-inspection upon power-on.

1. Power cables (U/V/W) short-circuited to ground.

2. Motor short-circuited to ground.

3. Servo drive is faulty.



Remedy:

  • Re-connect or replace the servo drive power cables.

  • Replace the motor (measure insulation resistance).

  • Replace the servo drive.
E234.0
Runaway Protection
Cause:

Torque/Speed reference direction is opposite to feedback direction.

1. U/V/W cables connected in wrong phase sequence.

2. Initial phase detection error.

3. Encoder model wrong or wiring incorrect.

4. Encoder aging/loose.

5. Gravity load too large.

6. Improper stiffness parameter settings.



Remedy:

  • Connect the U/V/W cables in the correct phase sequence.

  • Power off and on the servo drive again.

  • Replace with mutually matching drive/motor. Ensure encoder parameter 2000-01h is set correctly (e.g., to 14000 for 20-bit).

  • Re-solder, tighten or replace the encoder cable.

  • Reduce load, increase stiffness, or hide fault (for gravity load issues).

  • Set a proper stiffness level to avoid excessive vibration.
E400.0
Main circuit overvoltage
Cause:

The DC bus voltage between P⊕ and N⊖ exceeds the overvoltage threshold (420V for 220V drive; 760V for 380V drive).

1. Voltage input too high.

2. Power supply unstable/lightning.

3. Regenerative resistor fails.



Remedy:

  • Replace or adjust the power supply to the specified range.

  • Connect a surge protection device. If fault persists, replace servo drive.

  • If resistance is infinite, resistor is disconnected internally.

  • If built-in resistor used: Ensure jumper between P⊕ and D is present.

  • If external resistor used: Remove jumper between P⊕ and D. Connect external resistor between P⊕ and C.

  • Set parameters 2002-1Bh (Power) and 2002-1Ch (Resistance) correctly.
E410.0

Main circuit undervoltage
Cause:

The DC bus voltage between P⊕ and N⊖ is lower than the undervoltage threshold.

(220 V drive threshold: 200 V / 380 V drive threshold: 380 V).



Remedy:

  • Unstable power supply: Check specifications. Measure input voltages (L1, L2). Ensure they are within range (220V drive: 198-264V). Increase power supply capacity.

  • Instantaneous power failure: Ensure power supply stability.

  • Voltage drops during operation: Check if main circuit power is shared with other devices causing drops. Increase capacity.

  • Wiring issue: Check if 3-phase drive is connected to single-phase leading to phase loss. Replace/connect cables correctly (R, S, T).

  • Drive faulty: If bus voltage detection deviates greatly from measured value or fault persists after power cycle, replace the servo drive.
E420.0

Phase loss
Cause:

Phase loss occurs on the three-phase servo drive.



Remedy:

  • Improper cabling: Check if 3-phase input cables are connected properly. Replace/reconnect cables.

  • Single-phase usage: If single-phase is used for a 3-phase drive (allowed for 0.75kW models), set parameter 200A-01h to 2 to inhibit phase loss warning. Replace/adjust power supply if voltage is out of range.

  • Unbalanced power: Measure voltages of all three phases. If unbalanced or too low, replace/adjust power supply.

  • Drive faulty: If fault persists after power cycling, replace the servo drive.
E430.0

Control circuit power supply undervoltage
Cause:

Control circuit voltage is below threshold (220V drive: <190V; 380V drive: <350V).



Remedy:

  • Unstable power: Check if control circuit (L1C, L2C) is experiencing power-off or failure. Power cycle the drive. Increase power supply capacity.

  • Poor contact: Check if control cables are well connected. Re-connect or replace cables.
E500.0

Motor overspeed
Cause:

The actual speed of the motor exceeds the overspeed threshold.



Remedy:

  • Wrong phase sequence: Check U/V/W sequence consistency between drive and motor. Connect correctly.

  • Improper parameter: Check if Overspeed threshold (200A-09h) is set too low. Reset according to mechanical requirements.

  • Input reference too high: Check gear ratios, position/speed references, and profile velocities in the controller settings. Reduce target speed, speed limits, or gear ratios.

  • Overshoot: Check if motor speed overshoots via software tool. Adjust gains or mechanical operating conditions.

  • Drive faulty: If fault persists after power cycle, replace the servo drive.
E500.1

Speed feedback overflow
Cause:

The FPGA speed measurement overflows.



Remedy:

  • Abnormal feedback: Check encoder version (H00-04).

  • Cable issue: Replace abnormal encoder cable.

  • Interference: Re-connect grounding/shielded cable or install a magnetic ring to reduce disturbance.
E500.2

FPGA position feedback pulse overspeed
Cause:

The MCU detects excessive pulse increment fed back by FPGA.



Remedy:

  • Parameter setting: Modify value of H0A-70 (Overspeed threshold). Default is 0. Set to max motor speed.

  • Communication: Check if communication between drive and encoder is disturbed.
E602.0

Angle auto-tuning error
Cause:

Unusual jitter occurs on the encoder feedback during angle auto-tuning.



Remedy:

  • Communication disturbance: Check the wiring of the encoder.
E602.2

Wrong U/V/W phase sequence detected
Cause:

A wrong U/V/W phase sequence is detected during angle auto-tuning.



Remedy:

  • Wiring error: Exchange cables of any two phases among U/V/W and perform auto-tuning again.
E605.0

Motor speed too high upon S-ON
Cause:

The motor speed exceeds the rated speed when the servo drive (Size A/B) is switched on.



Remedy:

  • Generating state: Reduce the motor speed before switching on the servo drive.
E620.0

Motor overload
Cause:

The accumulative heat of the motor reaches the fault threshold.



Remedy:

  • Wiring contact: Check wiring among drive, motor, and encoder. Connect according to diagram.

  • Load too heavy: Check effective torque and average load rate. Replace with higher capacity drive/motor or reduce load/increase cycle time.

  • Cycle too frequent: Calculate mechanical inertia ratio. Increase acceleration/deceleration time in individual operation cycle.

  • Improper gains: Check for vibration/noise. Adjust gains again.

  • Wrong model set: View drive/motor model in parameters. Read nameplate and set correct model.

  • Mechanical stall: Check if motor is stalled or reference is not 0 but speed is 0. Eliminate mechanical factors.

  • Drive faulty: If fault persists after power cycle, replace the servo drive.
E630.0

Motor stalled
Cause:

Actual motor speed is < 10 RPM but torque reference reaches limit for time defined in 200A-21h.



Remedy:

  • Output phase loss: Perform trial run without load. Connect cables again or replace them.

  • Parameter error: Check number of pole pairs (H00-28). Modify parameters and perform angle auto-tuning.

  • Communication jitter: Check EtherCAT/host communication lines for disturbance.

  • Mechanical stall: Check if any mechanical part is stuck or eccentric.
E640.0

IGBT over-temperature
Cause:

The IGBT temperature reaches the fault threshold defined by H0A-18.



Remedy:

  • Ambient temp too high: Improve cooling conditions to lower ambient temperature.

  • Overload reset loop: Wait 30s before resetting after overload. Increase drive capacity or accel/decel time.

  • Fan damaged: Check fan operation. Replace servo drive if fan fails.

  • Improper installation: Check installation direction and clearance. Re-install properly.

  • Drive faulty: If fault persists 5 mins after restart, replace the servo drive.
E640.1

Flywheel diode over-temperature
Cause:

The temperature of the flywheel diode reaches the fault threshold defined by H0A-18.



Remedy:

  • (See remedies for Over-temperature/Overload conditions above, or contact support).
E640.1
Flywheel diode over-temperature
Cause: The temperature of the flywheel diode reaches the fault threshold defined by H0A-18.

Potential causes include:

1. Ambient temperature too high.

2. Fan is damaged.

3. Improper installation clearance/direction.

4. Servo drive is faulty.



Remedy:

  • Improve cooling conditions to lower ambient temperature.

  • Change fault reset method: wait 30s before resetting.

  • Increase capacity of servo drive/motor or increase accel/decel time.

  • Replace servo drive if fan is damaged.

  • Re-install servo drive according to installation requirements.

  • If fault persists after power cycling (wait 5 mins), replace the servo drive.
E650.0
Heatsink over-temperature
Cause: The temperature of the servo drive power module is higher than the over-temperature threshold.

Potential causes include:

1. Ambient temperature too high.

2. Fan is damaged.

3. Improper installation.

4. Servo drive is faulty.



Remedy:

  • Improve cooling conditions.

  • Check if the fan works properly during operation.

  • Ensure proper installation clearance.

  • If fault persists 5 minutes after power-off/restart, replace the servo drive.
E660.0
Air-cooled motor over-temperature
Cause: The temperature of the air-cooled motor is too high.



Remedy:

  • Measure the temperature of the air-cooled motor.

  • Cool the motor down.
E661.0
Auto-tuned gains too low
Cause:

1. Auto-tuned gain values are wrong.

2. Internal gains reach the lower limit.

3. Excessive overshoot occurs during positioning.



Remedy:

  • Set the notch manually when vibration cannot be suppressed automatically.

  • Check if positioning threshold is too low; increase reference accel/decel time.

  • Modify electronic gear ratio or increase reference filter time constant.

  • Check if the machine suffers from periodic vibration.
E731.0
Encoder battery failure
Cause: The voltage of the absolute encoder battery is lower than 2.8 V.

1. Battery not connected during power-off.

2. Encoder battery voltage too low.



Remedy:

  • If not connected: Set 200D-15h (H0D-20) to 1 to clear the fault.

  • If voltage low: Use a new battery with matching voltage.
E733.0
Encoder multi-turn counting error
Cause: An encoder multi-turn counting error occurs (Encoder is faulty).



Remedy:

  • Set 200D-15h (H0D-20) to 2 to clear the fault.

  • If E733.0 persists after power cycle, replace the motor.
E735.0
Encoder multi-turn counting overflow
Cause: A multi-turn counting overflow occurs on the absolute encoder.

(Forward revolutions > 32767 or Reverse revolutions > 32768).



Remedy:

  • Set H0D-20 to 2 and power on again.

  • Perform homing if necessary.
E740.2
Absolute encoder error
Cause: Communication timeout occurs on the absolute encoder (Abnormal communication).



Remedy:

  • Check whether H00-00 (Motor code) is set properly.

  • Check whether the encoder cable is connected properly.

  • Check grounding of drive and motor. Install magnetic ring on encoder cable to reduce interference.
E740.3
Absolute encoder single-turn calculation error
Cause: An encoder fault occurs (Bit7 of H0B-28 is 1).



Remedy:

  • Check whether the encoder version (H00-04) is proper.

  • Check whether the encoder cable is proper.

  • Replace the motor.
E740.6
Encoder data write error
Cause: The attempt to write the encoder data fails (e.g., writing position offset after angle auto-tuning).



Remedy:

  • Replace with a new encoder cable.

  • If fault persists after cable replacement, replace the servo motor.
E755.0
Nikon encoder communication fault
Cause:

1. Encoder communication error detected after initialization.

2. Nikon encoder idled for a long time is powered on again.



Remedy:

  • Ensure the encoder cable is connected properly.

  • Take proper shielding measures in case of strong interference sources.
E765.0
Nikon encoder out of limit
Cause: Over-temperature, overspeed, or EEPROM access error is detected in the encoder.



Remedy:

  • Set H0D-21 to 1 to clear the fault.
E902.2
Torque reach setting invalid
Cause: The DO parameters set for torque reach in the torque control mode are invalid (2007-17h is equal to or less than 2007-18h).



Remedy:

  • Set 2007-17h (H07-22) to a value higher than 2007-18h (H07-23).
EA33.0
Encoder read/write check error
Cause: Encoder parameters are abnormal.



Remedy:

  • If Serial cable loose: Check for wrong connection or poor contact. Route motor and encoder cables separately.

  • If Read/Write error: If fault persists after power cycling, replace the servo motor.
EB00.0
Position deviation too large
Cause: The position deviation is larger than the setpoint of 6065h in the position control mode.

Potential causes:

1. U/V/W output phase loss or incorrect sequence.

2. Cable disconnected.

3. Motor stalled mechanically.

4. Gain values too low.

5. Position reference increment too large.

6. Setpoint of 6065h is too low.

7. Drive/Motor faulty.



Remedy:

  • Connect cables again (ensure correct phase sequence).

  • Eliminate mechanical factors causing stall.

  • Adjust gain values manually or perform auto-tuning.

  • Decrease position reference increment or Electronic Gear Ratio.

  • Increase the setpoint of 6065h.

  • If position reference is not 0 but feedback is 0, replace drive or motor.
EB00.1
Position deviation overflow
Cause: The position deviation is too large (Similar causes to EB00.0).



Remedy:

  • Connect cables again according to wiring diagram.

  • Eliminate mechanical factors.

  • Adjust gain values (1st gain H08-00…H08-02, 2nd gain H08-03…H08-05).

  • Decrease position reference increment or gear ratio.

  • Increase the setpoint of 6065h.

  • If position reference is not 0 but feedback is 0, replace drive or motor.
EB01.1
Individual position reference increment too large
Cause: The target position increment is too large.



Remedy:

  • Check if motor max speed fulfills application requirement.

  • Reduce target position reference increment (lower profile ref speed).

  • Check whether target position is aligned with current position feedback before enabling.

  • Check communication sequence of the host controller.
EB01.2
Position reference increment too large continuously
Cause: The target position increment exceeds the limit value N times consecutively.



Remedy:

  • Check if motor max speed fulfills application requirement.

  • Reduce target position reference increment.

  • Check alignment of target position and feedback.

  • Check communication sequence of the host controller.
EB01.2
Position reference increment too large continuously
Cause: The target position increment exceeds the limit value N times consecutively.



Remedy:

  • Check whether the maximum speed of the motor fulfills the application requirement. If yes, reduce the target position reference increment (lower the profile reference speed). If not, replace the servo motor.

  • Before switching the mode or enabling the servo drive, check whether the target position is aligned with current position feedback.

  • The communication sequence of the host controller is abnormal. Check the communication sequence of the host controller.
EB01.3
Command overflow
Cause: The target position is still in the process of transmission when the servo limit or software position limit signal is activated and the 32-bit upper/lower limit is reached.



Remedy:

  • Detect the servo limit signal (bit0 and bit1 of 60FD recommended) through the host controller.

  • Stop sending limit direction commands when an active servo limit signal is detected by the host controller.
EB01.4
Target position beyond upper/lower limit
Cause: The target position exceeds the upper/lower limit of the unit position in the single-turn absolute mode.



Remedy:

  • Set the target position to a value within the upper/lower limit.
EE09.0
Software position limit setting error
Cause: The lower limit of the software position limit is equal to or higher than the upper limit.



Remedy:

  • Set 607D-01h to a value lower than 607D-02h.
EE09.1
Home setting error
Cause: The home offset exceeds the upper/lower limit.



Remedy:

  • Set the home offset to a value within the software position limit (when encoder works in incremental, absolute linear, or single-turn absolute mode).

  • Set the home offset to a value within the mechanical single-turn upper/lower limit (when encoder works in rotation mode).
EE09.2
Gear ratio beyond the limit
Cause: The electronic gear ratio exceeds the limit: (0.001, 4000 x Encoder resolution/10000).



Remedy:

  • Set the gear ratio according to the preceding range.
EE09.3
No synchronization signal
Cause: The MCU does not receive the synchronization signal when the servo communication is switched to OP status.



Remedy:

  • Rectify improper configurations (Replace master such as Beckhoff or Omron PLC to compare).

  • Connect the IN and OUT ports in the correct sequence (IN/OUT connected reversely).

  • Contact Inovance for replacing the slave controller integrated circuit (Circuit damaged).

  • Contact Inovance for replacing the MCU integrated circuit (MCU pins damaged).
EE09.5
PDO mapping beyond the limit
Cause: The number of the mapping objects in TPDO or RPDO exceeds 10.



Remedy:

  • The number of mapping objects in TPDO or RPDO cannot exceed 10.
E121.0
S-ON command invalid
Cause: The S-ON signal is set repeatedly.



Remedy:

  • Switch off the S-ON signal sent from the host controller.

  • Switch off the redundant S-ON signal (if sent from DI and software tool simultaneously).
E600.0
Inertia auto-tuning failure
Cause: Vibration cannot be suppressed, values fluctuate dramatically, loose couplings, or large inertia.



Remedy:

  • Rectify the fault and perform inertia auto-tuning again.

  • For vibration that cannot be suppressed, enable vibration suppression function.

  • Ensure mechanical couplings are connected securely.

  • Increase the maximum operating speed, reduce the acceleration/deceleration time, and shorten the stroke of the lead screw during ETune operation.
E601.0
Homing warning
Cause: When using the homing function, the home is not found within the time defined by 2005-24h.



Remedy:

  • Check whether DI functions are set properly and check wiring. Perform homing correctly.

  • Increase the value of 2005-24h (H05-35) if time limit is too short.

  • Increase the value of 6099-01h if search speed is too low.
E601.1
Homing switch error
Cause: The homing switch is set improperly (signals at both sides activated).



Remedy:

  • Set the hardware switch position properly.
E601.2
Homing method setting error
Cause: The homing method (0x6098h) is set improperly.



Remedy:

  • Set 0x6098 to a value within the specified range based on the mode used.
E730.0
Encoder battery warning
Cause: The voltage of the absolute encoder battery is lower than 3.0 V.



Remedy:

  • Use a new battery with the matching voltage.
E900.0
Emergency stop
Cause: The logic of the DI assigned with FunIN.34 (EmergencyStop) is active.



Remedy:

  • Check the operating mode and clear the active DI braking signal without affecting the safety performance.
E902.0
DI setting invalid
Cause: DI function parameters are set to invalid values.



Remedy:

  • Set DI function parameters to valid values.
E902.1
DO setting invalid
Cause: DO function parameters are set to invalid values.



Remedy:

  • Set DO function parameters to valid values.
E902.2
Invalid setting for torque reach
Cause: The DO parameters set for torque reach in the torque control mode are invalid.



Remedy:

  • Set H07-22 to a value higher than that of H07-23.
E908.0
Model identification failure
Cause: The first two check bytes of model identification are incorrect.



Remedy:

  • Write the model identification parameter again.

  • Set H01-72 to 1 to hide the model identification function.
E909.0
Motor overload warning
Cause: The accumulative heat of the motor reaches the warning threshold (90% of maximum).



Remedy:

  • Connect cables according to the correct wiring diagram (check for poor contact).

  • Replace with a servo drive of higher capacity and matching motor, or reduce load/increase acc/dec time.

  • Increase the acceleration/deceleration time (if frequent acc/dec).

  • Adjust the gains again (if vibration/noise present).

  • Read the servo drive nameplate and set the servo drive model (H01-10) and motor model properly.

  • Eliminate mechanical factors (if motor is stalled).

  • Replace the servo drive if the fault persists after power off/on.
E920.0
Regenerative resistor overload
Cause: The accumulative heat of the regenerative resistor is too high and reaches the warning threshold (90%).



Remedy:

  • Replace with a new external regenerative resistor (if open circuit). Connect with proper cable.

  • Ensure terminals P+ and D are jumpered (when built-in resistor is used).

  • Set H02-25 (Regenerative resistor type) correctly based on hardware guide.

  • Select a proper regenerative resistor according to the SV660N specifications (if resistance too large).

  • Set H02-27 according to the resistance of the external regenerative resistor used.

  • Replace or adjust the power supply according to the specified range (Main circuit voltage out of range).
E922.0
Resistance of the external regenerative resistor too small
Cause: The value of 2002-1Ch (H02-27) is smaller than the value of 2002-16h (H02-21) (Permissible minimum resistance of regenerative resistor).



Remedy:

  • Measure the resistance of the external regenerative resistor between P⊕ and C.

  • If resistance is lower than H02-21: Replace with a resistor that matches the servo drive, then set H02-27 according to the new resistor.

  • If resistance is valid: Set 2002-1Ch (H02-27) according to the resistance of the currently used external regenerative resistor.
E924.0
Regenerative transistor over-temperature
Cause: The estimated temperature of the regenerative transistor is higher than H0A-49. Overload has occurred.



Remedy:

  • Control the usage of the regenerative transistor based on actual conditions.
E941.0
Parameter modifications activated at next power-on
Cause: Parameters have been modified whose “Effective time” is set to “Next power-on”.



Remedy:

  • Power off and on the servo drive again.
E942.0
Parameter saved frequently
Cause: The number of parameters modified at a time exceeds 200, or host controller executes modifications at a brief interval.



Remedy:

  • Check the operation mode.

  • For parameters that do not need to be saved in EEPROM, set 200E-02h (H0E-01) to 0.
E950.0
Forward overtravel warning
Cause: The logic of DI assigned with FunIN.14 (P-OT, positive limit switch) is active, or position feedback reaches positive software position limit.



Remedy:

  • Check operation mode and ensure safety.

  • Send a reverse run command or rotate motor to deactivate the P-OT DI logic.

  • Ensure servo drive references are proper to allow load travel within software position limits.
E952.0
Reverse overtravel warning
Cause: The logic of DI assigned with FunIN.15 (N-OT, negative limit switch) is active, or position feedback reaches negative software position limit.



Remedy:

  • Check operation mode and ensure safety.

  • Send a forward run command or rotate motor to deactivate the N-OT DI logic.

  • Ensure servo drive references are proper to allow load travel within software position limits.
EA41.0
Torque fluctuation compensation failure
Cause: The attempt to write torque fluctuation compensation parameter to the encoder fails. An encoder data read/write error occurs.



Remedy:

  • Check the wiring of the encoder.

  • If fault persists, contact Inovance technical support.
EE08.0
Synchronization (SYNC) signal loss
Cause: The SYNC signal is turned off when the EtherCAT network is in the OP state, or not generated due to hardware errors.



Remedy:

  • Check if SYNC signal cycle is 0 using oscilloscope tool.

  • Replace the servo drive.

  • Contact Inovance for maintenance.
EE08.1
Network status switchover error
Cause: When enabled, the EtherCAT network status switches from OP to other status (mal-operation of master or operator).



Remedy:

  • Check the network status switchover program of the host controller.
EE08.2
IRQ loss
Cause: Firmware version dependent issues (H01-00).



Remedy:

  • For MCU version 902.0 or earlier: Causes include all EE08.0…EE08.6 issues.

  • For MCU version 902.1 or later: This fault is no longer reported (differentiated into specific faults).
EE08.3
Network cable connected improperly
Cause: Physical connection unstable, strong vibration, or cable plug-in/out events.



Remedy:

  • Check if network cable is connected securely.

  • Check for site vibration.

  • Replace with a new network cable (use Inovance designated cable).

  • Check connection of network port via value change of H0E-29.
EE08.4
Data frame loss protection error
Cause: PDO data corrupted due to EMC interference or inferior network cable.



Remedy:

  • Check if servo drive is grounded properly and rectify EMC problems.

  • Ensure the network cable is the one designated by Inovance.

  • Check if network cable is connected properly.
EE08.5
Data frame transfer error
Cause: Upstream slave detected corrupted frame and marked it; downstream slave receives invalid data.



Remedy:

  • Check the upstream slave to locate the fault cause.
EE08.6
Data update timeout
Cause: The slave is in OP status and does not receive data frame for a long time.



Remedy:

  • Check operating load of the master CPU (increase communication time if excessive).

  • Check for link loss on the upstream slave.
EE11.0
ESI check error
Cause: The attempt to load the XML file fails during EtherCAT communication.



Remedy:

  • Check if XML version in H0E-96 is normal.

  • Program the XML file.
EE11.1
EEPROM read failure
Cause: The EtherCAT data in the EEPROM cannot be read.



Remedy:

  • Power cycle the drive several times.

  • If fault persists, replace the servo drive.
EE11.2
EEPROM update failure
Cause: Communication is normal but message in EEPROM is wrong or lost.



Remedy:

  • Power cycle the drive several times.

  • If fault persists, replace the servo drive.
EE12.0
EtherCAT external device error
Cause: The EtherCAT network cannot be initialized (FPGA firmware not programmed or hardware fault).



Remedy:

  • Check if 2001-02h is 09xx.Y. Program the FPGA firmware.

  • If drive is faulty, replace the servo drive.
EE13.0
Synchronization cycle setting error
Cause: The synchronization cycle is not an integer multiple of 125 µs or 250 µs.



Remedy:

  • Set the synchronization cycle in the controller to an integer multiple of 125 µs or 250 µs.
EE15.0
Synchronization cycle error too large
Cause: The synchronization cycle error of the controller exceeds the threshold.



Remedy:

  • Increase the value of 200E-21h.