Inovance IS620P Servo Drive

Inovance IS620P Servo Drive Fault Codes:

Fault Code and Meaning	Cause and Remedy
Er.101 Groups H02 and above parameters abnormal	Cause: Total number of function codes changed (software update), actual values exceed limits, instantaneous power voltage drops, power failure during parameter storage, frequent parameter writing, or faulty servo drive. Remedy: Restore default setting (H02-31 = 1), and write parameters again. Check control power voltage (220VAC: 198-264V; 380VAC: 342-528V). Increase power capacity or replace with large-capacitance power supply. Re-power the system, restore default settings. Change parameter writing method (avoid frequent updates from host). Set servo drive/motor model again and restore defaults after software upgrade. If fault persists after multiple power cycles/resets, replace the servo drive.
Er.102 Programmable logic configuration fault	Cause: The FPGA software version and MCU software version do not match, or hardware is damaged. Remedy: View MCU (H1-00) and FPGA (H1-01) versions; check if non-zero MSB numbers are consistent. Contact Inovance technical support to update matching software. If fault persists after power cycling, replace the servo drive.
Er.104 Programmable logic interruption	Cause: Access to MCU or FPGA times out, FPGA is faulty, communication abnormal, or internal operation timeout. (See internal codes in H0B-44). Remedy: If fault persists after powering on several times, replace the servo drive.
Er.105 Internal program abnormal	Cause: Total number of parameters is abnormal at EEPROM reading/writing, or parameter setting range is abnormal (often after update). Remedy: Restore default setting (H02-31 = 1) and power on the servo drive again. If fault persists after multiple power cycles, 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 cycle, and check if saved. If modification is not saved and fault persists, replace the servo drive.
Er.120 Product model matching fault	Cause: Rated motor current is larger than rated current of the servo drive, SN does not exist, or power class mismatch. Remedy: Ensure correct servo drive and 20-bit motor (-U2***) are used. Check H00-00 (Motor SN) equals 14000. Set servo drive SN correctly (refer to section 1.3). Replace unmatched product if power classes do not match.
Er.121 S-ON signal invalid	Cause: When servo drive is enabled internally, redundant external S-ON signal is valid. Remedy: Set DI function FunIN.1: S-ON (both hardware and virtual DI) to OFF.
Er.122 Product matching fault in absolute position mode	Cause: The motor in absolute position mode does not match or motor SN is set incorrectly. Remedy: Check if motor nameplate is multi-turn absolute encoder motor. Set H00-00 (Motor SN) correctly. Replace matching motor according to nameplate.
Er.130 Different DIs allocated with the same function	Cause: The same function is allocated to different DIs (hardware/virtual), or DI function No. exceeds limit. Remedy: Re-allocate parameters (Groups H03 and H17) to ensure unique DI functions. Re-connect control power or toggle S-ON/Reset to make changes take effect. If DI function number is invalid, restore default setting (H02-31 = 1).
Er.131 Number of DO functions exceeding the limit	Cause: The DO function No. exceeds the number of available DO functions. Remedy: Restore default setting (H02-31 = 1) and power on the servo drive again.
Er.136 Data check error or no parameter stored in the motor ROM	Cause: Servo drive/motor model mismatch, encoder cable issue (poor contact, scratch), or drive faulty. Remedy: Replace matched servo drive and motor. Ensure H00-00 = 14000 for IS620P series. Check encoder cable specification and connection. Do not bundle with power cables. Measure encoder signals (PS+, PS-, +5V, GND). If fault persists after power cycle, replace the servo drive.
Er.201 Overcurrent 2 (Hardware overcurrent)	Cause: References input too quickly at startup, regenerative resistor too small/shorted, motor cables loose/grounded/shorted, motor damaged, improper gain setting, or encoder wiring issue. Remedy: Wait for “rdy” before inputting reference; add reference filter time. Check connection between P+ and D (internal) or P+ and C (external). Ensure regenerative resistor resistance is not smaller than H02-21 (min value). Fasten loose UVW power cables. Check insulation resistance (MΩ-level) of motor cables. Replace motor if poor. Check for short circuits between UVW phases. Adjust gain to prevent oscillation (refer to Chapter 6). Re-weld or fasten encoder cable. If fault persists with motor disconnected, replace the servo drive.
Er.207 Shaft D/Q current overflow	Cause: Abnormal current feedback results in overflow of internal register of servo drive. Remedy: If the fault persists after you power on servo drive several times and restore default setting, replace the servo drive.
Er.208 FPGA system sampling operation timeout	Cause: MCU communication timeout (Chip damaged), Encoder communication timeout (loose cable, wiring incorrect, interference), Current sampling timeout, or High-accuracy AD conversion timeout. Remedy: Check internal fault code H0B-45 to identify specific cause. Use standard shielded twisted pair encoder cables provided by Inovance. Check if plugs at both ends of encoder are in good contact. Ensure motor cables and encoder cables are not bundled together. Separate heavy current from light current to reduce interference. Replace the servo motor or servo drive if hardware is damaged.
Er.210 Output short-circuit to ground	Cause: Servo drive detects motor phase current or bus voltage abnormal during self-check. Power output cables (UVW) short-circuited, Motor short-circuited to ground, or Servo drive is faulty. Remedy: Disconnect UVW cables; measure if they are short-circuited to ground. Re-connect or replace cables. Measure insulation resistance between UVW of servo drive and ground (PE). Replace servo motor if insulation is poor. If fault persists after removing power cables, replace the servo drive.
Er.220 Phase sequence incorrect	Cause: After angle auto-tuning, the drive finds the UVW phase sequence is inconsistent with that of the motor. Remedy: Perform the wiring again to ensure correct phase sequence. Perform angle auto-tuning again.
Er.234 Runaway	Cause: Torque reference direction is reverse to speed feedback. Causes include: Incorrect UVW phase sequence, Interference affecting rotor detection, Incorrect encoder type/wiring, or excessive load on vertical shaft. Remedy: Connect UVW cables according to the correct phase sequence. Re-power the servo system to reset rotor detection. Confirm motor model, encoder type, and encoder wiring (Ensure H00-00 = 14000 for IS620P). Check encoder cable for aging or corrosion; re-weld or replace. For vertical shafts: Reduce load, improve rigidity, or adjust brake parameters (H02-09 to H02-12).
Er.400 Main circuit overvoltage	Cause: DC bus voltage exceeds limit (420V for 220V drive; 760V for 380V drive). Causes include: Input voltage too high, Unstable power/lightning, Regenerative resistor failure, or Braking energy too high. Remedy: Check power input specification (Valid: 220-240V or 380-480V). Connect a surge suppressor if power is unstable. Check regenerative resistor connections (P(+) and C/D). Measure resistance. Adjust parameters H02-26 and H02-27 to match external resistor specifications. Increase acceleration/deceleration time. If DC bus voltage measurement is deviating significantly from reality, contact Inovance support.
Er.410 Main circuit undervoltage	Cause: DC bus voltage is lower than limit (200V for 220V drive; 380V for 380V drive). Causes: Unstable main power, Phase loss, Voltage dip, or Drive faulty. Remedy: Check input voltage specifications. Increase power capacity if voltage dips during operation. Check for phase loss (Single-phase applied to three-phase drive). Replace cables and connect main circuit correctly. If voltage reading is incorrect (e.g., H0B-26 shows low voltage despite good input), replace the servo drive.
Er.420 Power cable phase loss	Cause: Phase loss occurs on three-phase servo drive. The RST cables are not connected well. Single-phase power is applied to three-phase servo drive. Three-phase voltage is unbalanced or voltages of all three phases are too low. The servo drive is faulty. Remedy: Check whether RST cables are in good condition and connected securely. For 0.75kW drives: Single phase is allowed (Set H0A-00 = 2). Otherwise, ensure input voltage meets specifications (220V: 198-264V, 380V: 342-528V). Measure all three phases to ensure they are balanced and within range. If fault persists after power cycling main circuit multiple times, replace the servo drive.
Er.430 Control power undervoltage	Cause: Control power voltage is below level (220V drive: <190V; 380V drive: <350V). The control power is unstable or fails (L1C, L2C). The control power cables are in poor contact. Remedy: Re-power the servo drive. Keep power supply stable. Check input voltage (220V drive: 220-240V; 380V drive: 380-480V). Increase power capacity if needed. Re-connect or replace control power cables.
Er.500 Overspeed	Cause: Actual speed of servo motor exceeds overspeed level. UVW phase sequence is incorrect. The setting of H0A-08 is incorrect. Input reference is higher than overspeed level. Motor speed overshoots. The servo drive is faulty. Remedy: Connect UVW cables according to correct phase sequence. Reset overspeed level (H0A-08) according to actual mechanical requirement. Position control: Reduce pulse frequency or decrease electronic gear ratio. Speed/Torque control: Check speed limits and references are within range. Adjust the gain or mechanical condition (refer to Adjustment chapter). If fault persists after re-power, replace the servo drive.
Er.510 Pulse output overspeed	Cause: Output pulse frequency exceeds hardware limit (2 MHz). Output pulse frequency exceeds limit (when H05-38 = 0). Input pulse frequency exceeds limit or interference exists (when H05-38 = 1). Remedy: Decrease H05-17 (Encoder frequency-division pulses). Decrease input pulse frequency. Use STP cable and set filter parameters (H0A-24 or H0A-30) to prevent interference.
Er.610 Servo drive overload	Cause: Heat accumulation of the servo drive reaches the fault level. Parameter setting is incorrect (Drive SN, Gains). Servo drive load ratio is too large (Inertia excessive). Mechanical stuck issue. Locked rotor occurs in the motor. Remedy: Set H01-02 according to actual Drive SN. Adjust gain parameters. Use a drive model of higher power if average load ratio > 80%. Eliminate the mechanical stuck problem. Check H0A-33; if locked rotor, take actions for Er.630.
Er.620 Motor overload	Cause: Heat accumulation of the servo motor reaches the fault level. Wiring of motor and encoder is incorrect or poor. Load is too heavy (Effective torque > Rated torque). Acceleration/deceleration too frequent. Gain is improper (too high rigidity). Servo drive or motor model set incorrectly. Locked-rotor due to mechanical factors. Remedy: Connect wirings correctly based on diagram. Replace with larger motor/drive or reduce load/increase accel-decel time. Adjust gain parameters. Set servo drive model (H01-02) and motor model (H00-05) correctly. Eliminate mechanical factors blocking the motor.
Er.625 Brake applied abnormally	Cause: Output torque is < 70% of gravity load when brake protection is enabled and reference is 0. The motor brake is not released. Remedy: Check whether the motor brake signal is active. Check whether the brake switch is damaged. Perform wiring again or replace the motor.
Er.626 Brake released abnormally	Cause: Motor rotates for two revolutions while brake output signal is inactive. The motor brake is released unexpectedly. Remedy: Check whether the motor brake signal is active. Check whether the brake switch is damaged. Perform wiring again or replace the motor.
Er.630 Overheat protection of locked-rotor motor	Cause: Actual speed < 10 rpm but torque reaches limit for duration set in H0A-32. Power output phase (UVW) loss or incorrect sequence. UVW cable or encoder cable breaks. Motor rotor is locked due to mechanical factors. Remedy: Connect motor cables correctly. Check and replace wirings if broken. Eliminate mechanical factors causing the lock.
Er.650 Heatsink overheat	Cause: Power module temperature is higher than protection level. Ambient temperature is too high. Servo drive powered off to reset overload fault too quickly. The fan is damaged. Installation direction or clearance is improper. The servo drive is faulty. Remedy: Improve cooling conditions to reduce ambient temperature. Wait 30s before resetting overload faults. Increase drive capacity. Replace the servo drive (if fan is integral/damaged). Install servo drive according to mounting requirements. If fault persists 5 minutes after power-off/restart, replace servo drive.
Er.731 Encoder battery failure	Cause: Battery voltage of absolute encoder is lower than 3.0 V (Battery not connected or voltage too low). Remedy: Check whether battery is connected during power-off. Set H0D-20 = 1 to remove the fault. Measure the battery voltage; replace with a new battery of matching voltage.
Er.733 Encoder multi-turn counting error	Cause: Encoder multi-turn counting is wrong (The encoder is faulty). Remedy: Set H0D-20 = 1 to remove the fault. If Er.733 persists after power-on again, replace servo motor.
Er.735 Encoder multi-turn counting overflow	Cause: Encoder multi-turn counting overflows (Detected when H02-01 = 1). Remedy: Set H0D-20 = 1 and power on the system again.
Er.740 Encoder interference	Cause: The encoder Z signal suffers interference, resulting in too large change of electrical angle. Issues may include incorrect wiring, loose cables, external interference, or faulty encoder. Remedy: Check encoder wiring and re-connect according to the correct diagram. Check for excessive vibration; re-connect encoder cable securely. Ensure standard Inovance STP cables are used. Check grounding: Ensure servo motor and drive are well grounded; do not bundle motor and encoder cables together. Check if plugs at both ends are in good contact. Replace the encoder cable. If the fault persists after cable replacement, replace the servo motor.
Er.834 AD sampling overvoltage	Cause: AI sampling value is greater than 11.5 V (Input voltage too high, incorrect wiring, or interference). Remedy: Measure voltage input from AI; adjust input so it does not exceed 11.5 V. Check AI wiring according to the diagram. Use shielded twisted pair cable and shorten cable length. Increase AI filter time constant (AI1: H03-51, AI2: H03-56).
Er.835 High-accuracy AD sampling fault	Cause: High-accuracy AD circuit suffers interference. Remedy: Check AI wiring according to the correct wiring diagram. Use shielded twisted pair cable and shorten cable length.
Er.A33 Encoder data abnormal	Cause: Encoder internal parameters are abnormal (Cable break/loose or parameter read-write error). Remedy: Check wirings: Ensure no wire breakage or poor contact. If motor cables and encoder cables are bundled, separate them. If fault persists after several power cycles, replace the servo motor.
Er.A34 Encoder communication check abnormal	Cause: Error reading initial phase information of rotor. Mismatched drive/motor model or broken cable. Remedy: Verify servo drive and motor nameplates match (IS620P series drive with 20-bit servo motor). Check whether H00-00 (Motor SN) is 14000. Check if encoder cable is broken; replace cable and secure wirings.
Er.A35 Z signal lost	Cause: Z signal of 2500-PPR incremental encoder lost or edge of A/B signals changes simultaneously. Remedy: Use a new encoder cable and connect correctly. Check for poor contact; reconnect wirings or replace encoder cable. If fault persists, replace servo motor.
Er.B00 Position deviation being large	Cause: Position deviation is larger than the setting of H0A-10. Causes include phase loss, cable breaks, mechanical locks, low gain, or high pulse frequency. Remedy: Check UVW wiring: Ensure correct phase sequence and reliable connection. Check for cable breaks and replace if necessary. Eliminate mechanical factors (locked rotor). Adjust gains (H08-00 to H08-05) or perform auto-tuning. If input pulse frequency is high: Reduce frequency, decrease electronic gear ratio, or increase accel/decel time (H05-04/H05-06). Increase the threshold setting of H0A-10. If position reference is not 0 but feedback is 0, replace servo drive/motor.
Er.B01 Pulse input abnormal	Cause: Input pulse frequency is greater than H0A-09, or pulse suffers interference. Remedy: Reset H0A-09 according to actual requirement. If host computer output > 4 MHz, decrease it. Use STP cable for pulse input and separate from power cables. Ensure proper grounding of Host Computer to Servo Drive (GND or COM depending on input type). Increase pin filter time (H0A-24 or H0A-30).
Er.B02 Position deviation being too large in full closed-loop	Cause: Absolute position deviation exceeds H0F-08. Similar causes to Er.B00 (Phase loss, cable break, mechanical lock, gain issues). Remedy: Check UVW wiring and connections; reconnect or replace cables. Eliminate mechanical locking factors. Adjust position and speed loop gains manually or via auto-tuning. Reduce position reference frequency or electronic gear ratio. Increase accel/decel time parameters (H05-04, H05-06). Increase the threshold setting of H0F-08. If position reference exists but feedback is 0, replace servo drive/motor.
Er.B03 Electronic gear ratio setting exceeding limit	Cause: Any electronic gear ratio exceeds limit (0.001 x encoder resolution/10000 or 4000 x encoder resolution/10000). Parameter modification sequence is unreasonable. Remedy: If H05-02 = 0, check the ratios of H05-07/H05-09 and H05-11/H05-13. If H05-02 > 0, check the ratios of encoder resolution/H05-02. Ensure ratios are within the preceding limit. Reset the fault or re-power on the system.
Er.B04 Fully closed-loop function parameter setting error	Cause: When full closed-loop function is used and position reference source is internal, switchover between internal and external encoder feedback is enabled incorrectly. Remedy: Check whether H0F-00 = 2. In full closed-loop mode with internal position reference, only external encoder feedback can be used. Set H0F-00 to 1 only.
Er.D03 CAN communication interrupted	Cause: CAN communication timed out. The slave station or master station is offline. Remedy: Check communication cable connection between slave and master. Check communication baud rate (H0C-08) of the slave; ensure it matches the master. Check wirings of the master PLC. Check CAN communication card indicator status.
Er.110 Setting error of frequency-division pulse output	Cause: Number of frequency-division pulses does not match threshold decided by encoder specification (H05-38 = 0). Remedy: For incremental encoder, pulses cannot exceed resolution (20-bit = 1048576 P/r, 2500-PPR = 10000 P/r). For absolute encoder, pulses cannot exceed one fourth of encoder resolution. Reset H05-17 (Encoder frequency division pulses) correctly according to specification.
Er.601 Homing timeout	Cause: Home is not found within time set in H05-35. Remedy: If hardware DI is used, check FunIN.31 (HomeSwitch) allocation and wiring. Check if H0B-03 receives level change manually. If virtual DI is used, check VDI settings. Increase homing time set in H05-35. Check distance to home switch and increase high-speed searching speed (H05-32) if too slow.
Er.730 Encoder battery warning	Cause: Battery voltage of absolute encoder is lower than 3.0 V. Remedy: Measure battery voltage. Replace with a new battery of matching voltage.
Er.831 AI zero drift too large	Cause: When input voltage of AI is 0 V, sampling voltage of servo drive is greater than 500 mV. Remedy: Use shielded twisted pair cable and shorten cable length. Increase AI filter time constant (H03-51 for AI1, H03-56 for AI2). Disconnect AI cable; if sampling value in group H0B still exceeds 500 mV, replace the servo drive.
Er.900 DI emergency braking	Cause: Logic of DI set for FunIN.34: EmergencyStop is valid (triggered). Remedy: Check whether logic of DI set for FunIN.34 is valid. Check the running mode. Clear DI braking valid signal on the prerequisite of ensuring safety.
Er.909 Motor overload warning	Cause: Accumulative heat of 60Z series (200W/400W) motor reaches warning level. Causes include wiring issues, heavy load, frequent accel/decel, or improper gain. Remedy: Check and correct wirings between drive and motor/encoder. Reduce load or replace with larger servo drive/motor. Increase acceleration/deceleration time. Adjust gain to reduce vibration/noise. Verify correct motor model settings (H00-05) and drive model (H01-02). Eliminate mechanical locked-rotor factors. If fault persists after re-power, replace servo drive.
Er.920 Regenerative resistor overload	Cause: Accumulative heat of regenerative resistor is greater than the setting value. Remedy: Check wiring of external resistor (P and C terminals) or jumper (P and D). Set H02-25 correctly (1=Natural cooling, 2=Forced cooling). Select proper regenerative resistor size. Check if main circuit input voltage exceeds specification (220V/380V). Select larger servo drive if load inertia is too large.
Er.922 Resistance of external braking resistor too small	Cause: H02-27 (resistance setting) is smaller than H02-21 (allowed minimum value). Remedy: Connect an external regenerative resistor matching the servo drive between P and C. Set H02-27 to the resistance of the selected regenerative resistor.
Er.939 Motor power cable breaking	Cause: Actual phase current < 10% rated, speed is small, but internal torque reference is very large. Remedy: Check the motor power cable connection. Reconnect wirings. If necessary, replace a new cable.
Er.941 Parameter modification taking effect only after re-power-on	Cause: Modification of some parameters takes effect only after servo drive is powered on again. Remedy: Re-power on the servo system.
Er.942 Parameter storage too frequent	Cause: Number of parameters being modified simultaneously/frequently to EEPROM exceeds 200. Remedy: Check host controller writing operations. Set H0C-13 to 0 for parameters that do not need to be stored in EEPROM.
Er.950 Forward limit switch warning	Cause: Logic of DI set for FunIN.14: P-OT (forward limit switch) is valid. Remedy: Send a reverse reference or rotate motor away from limit. Make logic of the forward overshoot switch terminal invalid on the prerequisite of ensuring safety.
Er.952 Reverse limit switch warning	Cause: Logic of DI set for FunIN.15: N-OT (reverse limit switch) is valid. Remedy: Send a forward reference or rotate motor away from limit. Make logic of the reverse overshoot switch terminal invalid on the prerequisite of ensuring safety.
Er.980 Encoder internal fault	Cause: Encoder algorithm error occurs. Remedy: If the fault persists after you power on servo drive several times, replace servo motor.
Er.990 Power input phase loss warning	Cause: Three-phase servo drive running under single-phase power while phase loss protection is enabled. Remedy: If connected to three-phase power, troubleshoot as Er.420 (power cable phase loss). If intentionally running on single-phase power, set H0A-00 to 0 to disable warning.
Er.994 CAN address conflict	Cause: CAN address conflict occurs; H0C-00 allocated repeatedly. Remedy: Allocate servo shaft address of slaves. Ensure allocation of H0C-00 is not repeated.
Er.602, Er.220, Er.A40, Er.111 Internal Faults	Cause: Internal system errors (Angle auto-tuning, Phase sequence, Motor auto-tuning, or Internal parameters). Remedy: Contact Inovance for technical support.