Inovance IS620N Servo Drive

Inovance IS620N Servo Drive Fault Codes:

Fault Code and MeaningCause and Remedy
Er.101
Parameter abnormal
Cause:

The total number of parameters changes or values in group 2002h exceed limits (often after software update). Other causes include: Control power voltage drops, instantaneous power failure, excessive parameter writing frequency, or the servo drive is faulty.



Remedy:

  • Restore the default setting (2002-20h = 1), and write the parameters again.

  • Check control power (L1C, L2C). Ensure voltage is within specs (220V drive: 198-264V; 380V drive: 342-484V).

  • Increase power capacity or replace with large-capacitance power supply.

  • If power failure occurred during storage: Power on again, restore default settings, and write parameters again.

  • If writing frequency limit exceeded: Change the parameter writing method (from host controller) and write again.

  • If software upgraded: Set servo drive/motor model again and restore default settings.

  • If fault persists after restoring defaults multiple times, replace the servo drive.
Er.102
Programmable logic configuration fault
Cause:

The FPGA software version and the MCU software version do not match, or the hardware is damaged resulting in communication failure.



Remedy:

  • View MCU (2001-01h) and FPGA (2001-02h) versions via operating panel.

  • Contact Inovance technical support to update software to make versions match.

  • If fault persists after power cycling, replace the servo drive.
Er.103
FPGA software version too early
Cause:

The FPGA version in 2001-02h is earlier than 0112.0 (when MCU is 0101.7 or later).



Remedy:

  • Update the software to make the versions match.

  • If the fault persists after power cycling, replace the servo drive.
Er.104
Programmable logic interruption fault
Cause:

Access to MCU or FPGA times out. (Internal fault codes can be viewed in 200B-2Eh).



Remedy:

  • If the fault persists after the servo drive is powered off and on several times, replace the servo drive.
Er.105
Internal program abnormal
Cause:

The total number of parameters is abnormal at EEPROM reading/writing operation, or data range is abnormal (often after software update).



Remedy:

  • Check causes according to the method of Er.101.

  • Restore the default setting (2002-20h = 1), and power on the system again.

  • If fault persists, replace the servo drive.
Er.108
Parameter storage fault
Cause:

Parameter values cannot be written to or read from EEPROM.



Remedy:

  • Modify a parameter, power on the drive again, and check if modification is saved.

  • If modification is not saved and fault persists after power cycling, replace the servo drive.
Er.120
Product model matching fault
Cause:

The motor model and drive model do not match or parameter setting is incorrect.



Remedy:

  • Set 200D-01h (Motor SN) correctly according to the motor nameplate.

  • View drive model in 2001-03h and ensure it matches the nameplate.

  • Use matching products according to the Servo System Configuration.
Er.121
Invalid S-ON command
Cause:

When some auxiliary functions are used, a redundant S-ON signal is given.



Remedy:

  • Turn off the S-ON signal from the host controller.
Er.122
Product matching fault in absolute position mode
Cause:

The motor does not match in absolute position mode or the motor SN is set incorrectly.



Remedy:

  • Set 200D-01h (Motor SN) correctly according to the motor nameplate.

  • Ensure the motor is a multi-turn absolute encoder motor.
Er.130
Different DIs allocated with the same function
Cause:

The same function is allocated to different DIs, the DI function No. exceeds limits, or the function is not supported.



Remedy:

  • Allocate group 2003h and 2007h parameters correctly (ensure no duplicate non-zero functions).

  • Turn control power off/on or toggle S-ON/Reset to effect changes.

  • Restore default settings (2002-20h = 1) if MCU program is updated.

  • Do not set a DI function No. not included in the DI/DO function definitions table.
Er.131
DO function No. exceeding the number of functions
Cause:

The DO function No. exceeds the number of DO functions.



Remedy:

  • Restore the default setting (2002-20h = 1), and power on the system again.
Er.136
Data check error or no parameter stored in the motor ROM
Cause:

When reading parameters from encoder ROM, the drive detects no parameters are saved or values are inconsistent. Mismatch between drive and motor.



Remedy:

  • Use matched servo drive and servo motor (Inovance IS620N series).

  • Use the recommended encoder cable. Ensure reliable connection.

  • Check signals PS+, PS-, +5V, and GND at both ends of cable.

  • Never bundle encoder cable and power cables together.

  • If fault persists after power cycling, replace the servo drive.
Er.200
Overcurrent 1

Er.201
Overcurrent 2
Cause:

Er.200: Any phase feedback current is larger than the overcurrent threshold.

Er.201: Hardware overcurrent is detected.



Remedy:

  • Check reference input timing (wait for “rdy”). Add reference filter time or increase accel/decel time.

  • Check Regenerative Resistor:

    • If internal (2002-1Ah=0): Check jumper between P and D.

    • If external (2002-1Ah=1/2): Check wiring between P and C. Verify resistance values.



  • Fasten loose power cables or motor UVW cables.

  • Check grounding: Measure insulation resistance between UVW and PE (should be MΩ-level). Replace motor if insulation is poor.

  • Check for short circuits or burrs in motor cables; connect correctly.

  • Check if motor is damaged (unbalanced resistance). Replace if necessary.

  • Carry out gain adjustment if motor oscillates or makes shrill noise.

  • Check encoder cable (aging, corrosive, loose). Re-weld or replace.

  • If fault persists after cables are disconnected and power cycled: Replace the servo drive.
Er.207
Shaft D/Q current overflow
Cause: Abnormal current feedback results in overflow of the internal register of the servo drive.



Remedy:

  • If the fault persists after the servo drive is powered off and powered on again for several times, replace the servo drive.
Er.208
FPGA sampling operation timeout
Cause: Internal sampling or communication timeout (Check internal sub-code 200B-2Eh).



Remedy:

  • Subcode 1208 (MCU timeout): The internal chip is damaged. Replace the servo drive.

  • Subcode 2208 (Encoder timeout): Check encoder wiring, connectors, and cable length. Use shielded twisted pair. Replace servo motor if encoder is faulty.

  • Subcode 3208 (Current sampling timeout): Check for large equipment generating interference. Separate heavy current from light current. Replace servo drive if chip is damaged.

  • Subcode 4208 (AD conversion timeout): High-accuracy AI interference. Use twisted shielded cables and shorten distance.

  • Subcode 0208 (FPGA timeout): Remove the preceding causes listed above.
Er.210
Output to-ground short-circuit
Cause: The servo drive detects motor phase current or bus voltage abnormal during self-check at power-on.



Remedy:

  • Disconnect motor cables and measure if drive power cables are shorted to ground. Re-connect or replace cables.

  • Measure insulation resistance between UVW and PE. Replace motor if insulation is poor.

  • Remove power cables; if fault persists after power cycling, replace the servo drive.
Er.220
Phase sequence incorrect
Cause: After angle auto-tuning, the UVW phase sequence is inconsistent with that of the motor.



Remedy:

  • Perform the wiring again and then perform angle auto-tuning.
Er.234
Runaway
Cause: Torque reference direction is reverse to speed feedback, or speed feedback is reverse to reference in position/speed mode.



Remedy:

  • Check UVW sequence and connect cables according to the correct sequence.

  • If Er.234 occurs immediately at power-on (initial phase error): Power on the servo drive again.

  • Ensure matching Drive and Motor (Check parameters like 2000-01h). Correct motor model and encoder settings.

  • Check encoder cable wiring (aging/loose). Re-weld or replace.

  • Vertical Axis: Reduce load, improve stiffness, or shield this fault (if safety permits).
Er.400
Main circuit overvoltage
Cause: DC bus voltage exceeds threshold (220V drive > 420V; 380V drive > 760V).



Remedy:

  • Measure input voltage. Replace or adjust power supply to be within specifications.

  • If supply is unstable/lightning affected: Connect a surge suppressor.

  • Check Braking/Regenerative Resistor:

    • Internal: Check jumper P and D.

    • External: Check wiring P and C. Select resistor with correct resistance/power. Set parameters 2002-1Bh and 2002-1Ch.



  • If resistance is too large/absorption insufficient: Connect new external resistor of recommended value between P and C.

  • If abrupt accel/decel: Increase acceleration/deceleration time.

  • If bus voltage sampling deviation is large (measured vs displayed): Contact Inovance technical support.

  • If fault persists after power cycling: Replace the servo drive.
Er.410
Main circuit undervoltage
Cause: The DC bus voltage between P⊕ and ⊖ is lower than the overvoltage threshold.

(220V drive < 200V; 380V drive < 380V).

Potential causes include unstable power supply, instantaneous power failure, voltage drops, or phase loss.



Remedy:

  • Measure input voltage (RST) to ensure it is within specifications (220V drive: 198-264V; 380V drive: 342-484V).

  • Improve power capacity if voltage drops during operation.

  • Check if single-phase power is being used for a three-phase drive (Phase loss).

  • Check if main circuit wiring is correct and reliable.

  • If fault persists after power cycling multiple times, replace the servo drive.
Er.420
Main circuit phase loss
Cause: Phase loss occurs on the three-phase servo drive, or input power is unbalanced.

Could be due to loose cables, single-phase power applied to 3-phase drive, or faulty drive.



Remedy:

  • Check if power cables (RST) are connected securely.

  • Replace cables if damaged.

  • If using single-phase input on 0.75kW drives, set parameter 200A-01h = 2 (Inhibit faults).

  • If input voltage is too low or unbalanced, adjust power capacity.

  • If fault persists, replace the servo drive.
Er.430
Control power undervoltage
Cause: The voltage of the control power (L1C, L2C) is below the threshold (190V for 220V drive; 380V for 380V drive).



Remedy:

  • Check if control power is cut off or if instantaneous failure occurred.

  • Measure input voltage of L1C and L2C cables to ensure they meet specifications.

  • Check for poor contact in control power cables; reconnect or replace them.

  • Improve power capacity if voltage is unstable.
Er.500
Motor overspeed
Cause: The actual speed of the servo motor exceeds the overspeed threshold.

Issues may include incorrect UVW phase sequence, incorrect threshold settings, or input reference being too high.



Remedy:

  • Check UVW cabling phase sequence and connect correctly.

  • Check overspeed threshold (200A-09h). Reset according to mechanical requirement.

  • Position Mode: Decrease gear ratio or position reference increment.

  • Speed Mode: Decrease target velocity or gear ratio.

  • Torque Mode: Set speed limit smaller than overspeed threshold.

  • Adjust gain or mechanical conditions if motor overshoots.

  • If fault persists after power cycling, replace servo drive.
Er.510
Pulse output overspeed
Cause: When pulse output function is used, the output pulse frequency exceeds the hardware limit (1 MHz).



Remedy:

  • Decrease parameter 2005-12h (Encoder frequency-division pulses).

  • Ensure output pulse frequency is below the limit within the required speed range.
Er.610
Servo drive overload
Cause: Heat accumulation of the servo drive reaches the fault level.

Commonly caused by poor wiring, heavy load, or improper gain settings.



Remedy:

  • Check wiring between servo drive, motor, and encoder. Use recommended cables.

  • Check if load is too heavy (Average load ratio > 100%). Use larger capacity drive if needed.

  • Increase acceleration/deceleration time.

  • Adjust gain if motor vibrates or produces abnormal noise.

  • Verify servo drive/motor model settings (2000-06h and 2001-03h).

  • Eliminate mechanical binding/locking factors.
Er.620
Motor overload
Cause: Heat accumulation of the motor reaches the fault level.



Remedy:

  • Reduce load or increase acceleration/deceleration time.

  • Check for mechanical interference causing heavy load.

  • Check if motor brake is released correctly.

  • Replace servo drive if fault persists after cooling and restart.
Er.630
Motor rotor locked
Cause: The actual motor speed is lower than 10 RPM but the torque reference reaches the limit for a specific duration.



Remedy:

  • Check for Phase Loss or incorrect UVW sequence. Correct wiring.

  • Check for broken encoder cables or UVW cables.

  • Check running reference (pulse counter/speed ref) in commissioning software.

  • Eliminate mechanical locking factors blocking the motor.
Er.650
Heatsink overheat
Cause: Temperature of the power module is higher than the protection threshold.



Remedy:

  • Measure ambient temperature; improve cooling conditions.

  • Ensure proper clearance between drives.

  • Check if fan is working; replace drive if fan is damaged.

  • Do not reset overload faults repeatedly without cooling down (wait 30s).

  • If fault persists 5 minutes after power-off restart, replace servo drive.
Er.731
Encoder battery failed
Cause: The battery voltage of the absolute encoder is lower than 3.0 V.



Remedy:

  • Check battery connection.

  • Set 200D-15h = 1 to remove the fault (after fixing connection).

  • Replace with a new battery of matching voltage.
Er.733
Encoder multi-turn counting error
Cause: The encoder multi-turn counting is incorrect.



Remedy:

  • Set 200D-15h = 2 to remove the fault.

  • If fault persists after power-on, replace the motor.
Er.735
Encoder multi-turn counting overflow
Cause:

The encoder multi-turn counting overflows (detected when 2002-02h = 1).



Remedy:

  • Set 200D-15h = 1 to remove the fault.
Er.740
Encoder interference
Cause:

The encoder Z signal suffers interference, resulting in too large change of corresponding electrical angle of Z signal.



Remedy:

  • Check the encoder wiring and connect the cable correctly.

  • Re-connect the encoder cable securely if loose.

  • Check for on-site vibration or damage to the encoder.

  • Use cables recommended by Inovance (STP cable). Do not bundle motor and encoder cables together.

  • Ensure servo motor and drive are well grounded.

  • Replace the encoder cable.

  • Replace the motor if the encoder is faulty.
Er.770
External encoder scale fault
Cause:

When fully closed-loop or customized pulse input is used, the level difference between signals (A+/A-, B+/B-, Z+/Z-) does not meet requirements.



Remedy:

  • If frequency-division output is not forbidden: Set H05-38 to 2.

  • Measure level difference; adjust level to meet specifications (>2V).

  • Note: When using external encoder without Z signal, pull up Z+ to above 2V and make Z- grounded.
Er.A33
Encoder data abnormal
Cause:

Internal parameters of the encoder are abnormal.



Remedy:

  • Check connection of the encoder cable (incorrect connection, wire break, or poor contact).

  • Separate motor cables and encoder cables if bundled.

  • Power cycle the drive; if fault persists, replace the servo motor.
Er.A34
Encoder communication check abnormal
Cause:

After power-on, an error occurs in reading the rotor’s initial phase information from the 2500-PPR incremental encoder.



Remedy:

  • Ensure the servo drive model matches the motor model (Check nameplates).

  • Check if encoder cable is broken or insecure; replace or reconnect securely.
Er.A35
Z signal lost
Cause:

Z signal of the 2500-PPR incremental encoder gets lost or AB signal edges change simultaneously.



Remedy:

  • Use a new encoder cable and connect correctly.

  • Replace the servo motor if the fault persists after cable replacement.
Er.B00
Position deviation excess
Cause:

The position deviation is larger than the setting of 6065h in position control mode.



Remedy:

  • Check UVW wiring/phase sequence; correct wiring or replace cables.

  • Eliminate mechanical factors locking the motor rotor.

  • Adjust position loop and speed loop gains (manually or auto-tuning).

  • Decrease position reference increment or gear ratio.

  • Increase the value of 6065h (Following error window).

  • If position reference is not 0 but feedback is 0, replace drive or motor.
Er.B01
Position reference excess
Cause:

The position reference increment of adjacent synchronization periods is excessive.



Remedy:

  • Decrease the target position reference increment.

  • Assign the current position value to the target position (607Ah) before mode switchover or servo ON.

  • Set synchronization offset parameter to 0 (if host is AM600) or check communication.

  • Check that maximum motor speed/profile speed settings are not too small.
Er.B02
Position deviation exceeding threshold in fully closed-loop
Cause:

The absolute value of position deviation in fully closed-loop exceeds 200F-09h.



Remedy:

  • Check UVW wiring and connections; repair if broken or incorrect.

  • Eliminate mechanical factors causing rotor lock.

  • Adjust servo drive gains (manual or auto-tuning).

  • Decrease position reference increment or gear ratio (CSP, PP, HM modes).

  • Increase the value of 200F-09h.

  • If position reference is not 0 but feedback is 0, replace drive or motor.
Er.B03
Electronic gear ratio setting exceeding limit
Cause:

Any electronic gear ratio exceeds limit.



Remedy:

  • Set the gear ratio within the required range.

  • Reset the fault or power on the system again.
Er.B04

Parameter setting error with fully closed-loop function
Cause:


When the fully closed-loop function is used and the position reference source is internal position reference, switchover between internal encoder feedback and external encoder feedback is enabled (Check if 200F-01h = 2).



Remedy:



  • In fully closed-loop mode, when the position reference source is internal position reference, only external encoder feedback can be used.

  • Ensure 200F-01h is set to 1.
Er.110

Setting error of frequency-division pulse output
Cause:


When using the encoder frequency-division output function (2005-27h = 0), the number of encoder frequency-division pulses does not match the threshold determined by the encoder specification.



Remedy:



  • For incremental encoders: frequency-division pulses per revolution must not exceed encoder PPR (20-bit = 1048576 P/r, 2500-PPR = 10000 P/r).

  • For absolute encoders: frequency-division pulses must not exceed 1/4 of the encoder resolution.

  • Re-set the frequency-division pulses per revolution in 2005-12h according to the specification.
Er.601

Homing timeout
Cause:


When using the homing function, home is not found within the time set in 2005-24h.



Remedy:



  • If home switch fails: Check DI function FunIN.31 (HomeSwitch) and wiring. Manually change DI logic and observe 200B-04h.

  • If search time is too short: Increase the time set in 2005-24h.

  • If search speed is too small: Check distance to home switch and increase 6099-01h (Speed during search for switch).

  • If home switch setting is improper: Check if limit signals at two sides are active simultaneously. Set the position of the hardware switch properly.
Er.730

Encoder battery warning
Cause:


The battery voltage of the absolute encoder is lower than 3.0 V.



Remedy:



  • Measure the battery voltage.

  • Use a new battery of matching voltage.
Er.900

DI emergency braking
Cause:


The logic of DI (including hardware DI and VDI) allocated with FunIN.34: EmergencyStop is valid/triggered.



Remedy:



  • Check the running mode.

  • Clear the DI braking signal on the prerequisite of ensuring safety.
Er.909

Motor overload warning
Cause:


Accumulative heat of 60Z series 200 W and 400 W motors reaches the warning threshold.



Remedy:



  • Wiring issues: Connect wirings correctly according to the diagram. Use cables recommended by Inovance.

  • Load too heavy: Use a servo drive of larger capacity/matching motor. Reduce load and increase acceleration/deceleration time.

  • Accel/Decel too frequent: Increase the acceleration/deceleration time.

  • Improper Gain: Check for vibration/noise and adjust the gain.

  • Wrong Model Set: View servo drive nameplate and set the correct model in 2001-03h.

  • Locked-rotor (Mechanical): Eliminate mechanical factors causing heavy load.

  • Drive Faulty: Replace the servo drive.
Er.920

Regenerative resistor overload
Cause:


The accumulative heat of the regenerative resistor exceeds the setting value.



Remedy:



  • Connection issues: Check cable connection. If resistance is ∞, replace cable or resistor. If using internal resistor, check jumper between P⊕ and D.

  • Incorrect Setting (2002-1Ah): Set 2002-1Ah correctly (1 for External natural, 2 for External forced cooling).

  • Resistor too large: Select proper resistor according to specification table (6.1.7).

  • Wrong Resistance Setting: Set 2002-1Ch according to the actual resistance used.

  • Input Voltage High: Replace or adjust power supply to match specifications (220V or 380V ranges).

  • Inertia too large: Select larger external resistor and set 2002-1Bh correctly. Or select larger servo drive.

  • High Speed/Duty: Reduce load, increase accel/decel time, or increase motor running period.

  • Drive Faulty: Replace the servo drive.
Er.922
Resistance of the external regenerative resistor too small
Cause:


The resistance of the external regenerative resistor (2002-1Ch) is smaller than the permissible minimum resistance (2002-16h).



Remedy:

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

  • Check if the measured value is smaller than 2002-16h.

  • If yes, connect an external regenerative resistor matching the servo drive specifications.

  • Set 2002-1Ch (Resistance of external regenerative resistor) to the actual value.
Er.939
Motor power cable breaking
Cause:


The actual phase current is smaller than 10% of the rated current, and motor speed is small while internal torque reference is very large.



Remedy:

  • Check connection of motor power cables.

  • Reconnect the motor power cables.

  • Replace the cables with new ones if necessary.
Er.941
Parameter modification taking effect only after power-on again
Cause:


Parameters with the effective condition “power-on again” have been modified.



Remedy:

  • Power off and then power on the servo drive again.
Er.942
Parameter storage too frequent
Cause:


The number of parameters modified and stored to EEPROM exceeds 200 times.



Remedy:

  • Check if the host controller performs frequent and fast parameter modification.

  • For parameters that do not need to be stored in EEPROM, set 200C-0Eh to 0 before operation.
Er.950
Positive limit switch warning
Cause:


The logic of the Digital Input (DI) allocated with FunIN.14 (P-OT Positive limit switch) is valid.



Remedy:

  • Check the running mode.

  • Ensure safety, then send a reverse reference or rotate the motor to move away from the limit switch.

  • Make the logic of the DI with the positive limit switch function invalid.
Er.952
Negative limit switch warning
Cause:


The logic of the Digital Input (DI) allocated with FunIN.15 (N-OT Negative limit switch) is valid.



Remedy:

  • Check the running mode.

  • Ensure safety, then send a reverse reference or rotate the motor to move away from the limit switch.

  • Make the logic of the DI with the negative limit switch function invalid.
Er.980
Encoder internal fault
Cause:


An encoder algorithm error occurred.



Remedy:

  • Power off and power on the servo drive several times.

  • If the warning persists, the encoder is faulty. Replace the servo motor.
Er.990
Power input phase loss warning
Cause:


Single-phase power is applied to a three-phase drive (allowed for <1kW), but the warning (200A-01h) is enabled.



Remedy:

  • If connected to three-phase power: Rectify wiring (treat as Er.420 Power cable phase loss).

  • If single-phase input is intended: Set 200A-01h to 0 to disable the warning.
Er.998
Homing mode setting incorrect
Cause:


The homing mode set in 0x6098h is incorrect or not supported (15/16/31/32).



Remedy:

  • View the setting of 6098h.

  • Set 6098h correctly.
Internal Faults

Er.602: Angle auto-tuning failure

Er.220: Phase sequence incorrect

Er.A40: Motor auto-tuning failure

Er.111: Internal parameter abnormal

Cause:


Various internal system failures.



Remedy:

  • Contact Inovance for technical support.
Er.D09
Software upper/lower limit setting incorrect
Cause:


The lower limit of software position is larger than the upper limit.



Remedy:

  • View settings of 607D-01h and 607D-02h.

  • Set 607Dh correctly.

  • Ensure 607D-1h < 607D-2h.
Er.D10
Home offset setting incorrect
Cause:


The home offset is set outside the software position lower/upper limit.



Remedy:

  • View settings of 607D-01h, 607D-02h, and 607Ch.

  • Set 607D correctly.

  • Ensure 607D-01h ≤ 607Ch ≤ 607D-02h.
Er.E08
Synchronization loss
Cause:


The master’s synchronization signal is abnormal during communication.



Remedy:

  • Use shielded twisted pair cables for communication.

  • Ensure the servo drive is well grounded.

  • Check the Ethernet port and network connection status.

  • Identify synchronization performance of the host.

  • Increase the permissible interruption loss times (200C-2Dh) of the slave.

  • Check the network status switchover program of the host.
Er.E11
The XML configuration file is not burnt
Cause:


The device configuration file is missing, or the slave ID scanned by the host is empty.



Remedy:

  • Burn the device configuration file.

  • If the issue persists, replace the servo drive.
Er.E12
Network initialization failure
Cause:


FPGA firmware not burnt, equipment configuration file not burnt, or hardware fault.



Remedy:

  • Check if 2001-02h is 01XX.Y; burn FPGA firmware if needed.

  • Burn the equipment configuration file.

  • Replace the servo drive.
Er.E13
Synchronization cycle setting incorrect
Cause:


The synchronization cycle is not an integral multiple of 125 us or 250 us.



Remedy:

  • Modify the synchronization cycle to an integral multiple of 125 us or 250 us.
Er.E15
Synchronization cycle error being large
Cause:


The synchronization cycle error exceeds the threshold.



Remedy:

  • Measure synchronization cycle via oscilloscope.

  • Increase 200C-2Dh and test.

  • If fault persists, set 200C-2Ch to 2.