Yaskawa Sigma 7 Servo Drive

Yaskawa Sigma 7 Servo Drive Fault Codes:

Fault Code and Meaning	Cause and Remedy
A.020 Parameter Checksum Error (Error in parameter data in SERVOPACK)	Cause: The power supply voltage suddenly dropped. Remedy: Measure the power supply voltage. Set the power supply voltage within the specified range, and initialize the parameter settings. Cause: The power supply was shut OFF while writing parameter settings. Remedy: Check the timing of shutting OFF the power supply. Initialize the parameter settings and then set the parameters again. Cause: The number of times that parameters were written exceeded the limit. Remedy: Check to see if the parameters were frequently changed from the host controller. The SERVOPACK may be faulty. Replace the SERVOPACK. Reconsider the method for writing the parameters. Cause: A malfunction was caused by noise from the AC power supply, ground, static electricity, or other source. Remedy: Turn the power supply to the SERVOPACK OFF and ON again. Implement countermeasures against noise. Cause: Gas, water drops, or cutting oil entered the SERVOPACK and caused failure of the internal components. Remedy: Check the installation conditions. The SERVOPACK may be faulty. Replace the SERVOPACK. Cause: A failure occurred in the SERVOPACK. Remedy: Turn the power supply to the SERVOPACK OFF and ON again. If the alarm still occurs, replace the SERVOPACK.
A.021 Parameter Format Error (Error in parameter data format)	Cause: The software version of the SERVOPACK that caused the alarm is older than the software version of the parameters specified to write. Remedy: Write the parameters from another SERVOPACK with the same model and the same software version, and then turn the power OFF and ON again. Cause: A failure occurred in the SERVOPACK. Remedy: The SERVOPACK may be faulty. Replace the SERVOPACK.
A.022 System Checksum Error (Error in parameter data in SERVOPACK)	Cause: The power supply voltage suddenly dropped. Remedy: Measure the power supply voltage. The SERVOPACK may be faulty. Replace the SERVOPACK. Cause: The power supply was shut OFF while setting a utility function. Remedy: Check the timing of shutting OFF the power supply. The SERVOPACK may be faulty. Replace the SERVOPACK. Cause: A failure occurred in the SERVOPACK. Remedy: Turn the power supply to the SERVOPACK OFF and ON again. If the alarm still occurs, replace the SERVOPACK.
A.024 System Alarm (Internal program error)	Cause: A failure occurred in the SERVOPACK. Remedy: The SERVOPACK may be faulty. Replace the SERVOPACK.
A.025 System Alarm (Internal program error)	Cause: A failure occurred in the SERVOPACK. Remedy: The SERVOPACK may be faulty. Replace the SERVOPACK.
A.030 Main Circuit Detector Error	Cause: A failure occurred in the SERVOPACK. Remedy: The SERVOPACK may be faulty. Replace the SERVOPACK.
A.040 Parameter Setting Error (Setting outside range)	Cause: The SERVOPACK and Servomotor capacities do not match each other. Remedy: Check the combination of capacities. Select a proper combination of SERVOPACK and Servomotor capacities. Cause: A failure occurred in the SERVOPACK. Remedy: The SERVOPACK may be faulty. Replace the SERVOPACK. Cause: A parameter setting is outside of the setting range. Remedy: Check the setting ranges of changed parameters. Set the parameters to values within the setting ranges. Cause: The electronic gear ratio is outside of the setting range. Remedy: The ratio must be within 0.001 to 64,000. Set the electronic gear ratio within the valid range. Cause: A pin number that does not exist on the SERVOPACK was allocated in Pn590 to Pn5BC. Remedy: Allocate pins that actually exist (Input: 003-014, Output: 023-031).
A.042 Parameter Combination Error	Cause: The speed of program jogging went below the setting range when the electronic gear ratio or Servomotor was changed. Remedy: Decrease the setting of the electronic gear ratio (Pn20E/Pn210). Cause: The speed of program jogging went below the setting range when Pn533 or Pn585 was changed. Remedy: Increase the setting of Pn533 or Pn585. Cause: The travel speed of advanced autotuning went below the setting range when the electronic gear ratio or Servomotor was changed. Remedy: Decrease the setting of the electronic gear ratio (Pn20E/Pn210).
A.04A Parameter Setting Error 2	Cause: For 4-byte parameter bank members, there are two consecutive members with nothing registered. Remedy: Change the number of bytes for bank members to an appropriate value. Cause: The total amount of bank data exceeds 64 (Pn900 × Pn901 > 64). Remedy: Reduce the total amount of bank data to 64 or less.
A.050 Combination Error (Capacities do not match)	Cause: The SERVOPACK and Servomotor capacities do not match each other. Remedy: Select a proper combination of the SERVOPACK and Servomotor capacities. Cause: A failure occurred in the encoder. Remedy: Replace the Servomotor or encoder. Cause: A failure occurred in the SERVOPACK. Remedy: The SERVOPACK may be faulty. Replace the SERVOPACK.
A.051 Unsupported Device Alarm	Cause: The motor parameter file was not written to the linear encoder. Remedy: Write the motor parameter file to the linear encoder. Cause: An unsupported Serial Converter Unit or encoder is connected to the SERVOPACK. Remedy: Check product specifications. Change to a correct combination of models.
A.070 Motor Type Change Detected	Cause: A Rotary Servomotor was removed and a Linear Servomotor was connected. Remedy: Set the parameters for a Linear Servomotor and reset the motor type alarm. Turn power OFF and ON again. Cause: A Linear Servomotor was removed and a Rotary Servomotor was connected. Remedy: Set the parameters for a Rotary Servomotor and reset the motor type alarm. Turn power OFF and ON again.
A.080 Linear Encoder Pitch Setting Error	Cause: The setting of Pn282 (Linear Encoder Scale Pitch) has not been changed from the default setting. Remedy: Check and correct the setting of Pn282.
A.0b0 Invalid Servo ON Command Alarm	Cause: The servo was turned ON after executing a utility function that supplies power to the motor. Remedy: Turn the power supply to the SERVOPACK OFF and ON again. Or, execute a software reset.
A.100 Overcurrent Detected	Cause: The Main Circuit Cable is not wired correctly or there is faulty contact. Remedy: Check and correct the wiring. Cause: There is a short-circuit or ground fault in a Main Circuit Cable. Remedy: Check for short-circuits across cable phases. Replace the cable. Cause: There is a short-circuit or ground fault inside the Servomotor. Remedy: Check for short-circuits across Servomotor phases. The Servomotor may be faulty. Replace the Servomotor. Cause: There is a short-circuit or ground fault inside the SERVOPACK. Remedy: The SERVOPACK may be faulty. Replace the SERVOPACK. Cause: The regenerative resistor is not wired correctly or there is faulty contact. Remedy: Correct the wiring. Cause: The dynamic brake was frequently activated, or a DB overload alarm occurred. Remedy: Change the SERVOPACK model, operating methods, or mechanisms so the dynamic brake is not used as frequently. Cause: The regenerative processing capacity was exceeded. Remedy: Recheck the operating conditions and load. Cause: The SERVOPACK regenerative resistance is too small. Remedy: Change the regenerative resistance to a value larger than the SERVOPACK minimum allowable resistance. Cause: A heavy load was applied while the Servomotor was stopped or running at a low speed. Remedy: Reduce the load applied to the Servomotor. Or, increase the operating speed. Cause: A malfunction was caused by noise. Remedy: Implement countermeasures against noise (e.g., correct FG wiring). Cause: A failure occurred in the SERVOPACK. Remedy: Turn power OFF and ON again. If alarm persists, replace the SERVOPACK.
A.101 Motor Overcurrent Detected	Cause: The Main Circuit Cable is not wired correctly or there is faulty contact. Remedy: Check and correct the wiring. Cause: Short-circuit or ground fault in Main Circuit Cable, Servomotor, or SERVOPACK. Remedy: Check wiring, motor phases, and SERVOPACK terminals. Replace faulty component (Cable, Motor, or SERVOPACK). Cause: A heavy load was applied while the Servomotor was stopped or running at a low speed. Remedy: Reduce the load applied to the Servomotor. Or, increase the operating speed. Cause: A malfunction was caused by noise. Remedy: Implement countermeasures against noise. Cause: A failure occurred in the SERVOPACK. Remedy: Turn power OFF and ON again. If alarm persists, replace the SERVOPACK.
A.300 Regeneration Error	Cause: The jumper between regenerative resistor terminals (B2 and B3) was removed. Remedy: Correctly connect a jumper between B2 and B3. Cause: The External Regenerative Resistor is not wired correctly, removed, or disconnected. Remedy: Correct the wiring of the External Regenerative Resistor. Cause: A failure occurred in the SERVOPACK. Remedy: Turn control power OFF and ON again (while main circuit is OFF). If alarm persists, replace the SERVOPACK.
A.320 Regenerative Overload	Cause: The power supply voltage exceeded the specified range. Remedy: Set the power supply voltage within the specified range. Cause: External regenerative resistance too small or continuous regeneration state. Remedy: Change the regenerative resistance value or capacity. Reconsider operating conditions. Cause: Continuous regeneration state because a negative load was continuously applied. Remedy: Reconsider the system including the servo, machine, and operating conditions. Cause: The setting of Pn600 or Pn603 is smaller than the capacity of the External Regenerative Resistor. Remedy: Correct the setting of Pn600 or Pn603. Cause: The external regenerative resistance is too high. Remedy: Change the regenerative resistance to a correct value or use a resistor of appropriate capacity. Cause: A failure occurred in the SERVOPACK. Remedy: The SERVOPACK may be faulty. Replace the SERVOPACK.
A.330 Main Circuit Power Supply Wiring Error	Cause: The regenerative resistor was disconnected when the SERVOPACK power supply voltage was high. Remedy: If using built-in resistor, replace SERVOPACK. If using external, replace External Regenerative Resistor. Cause: DC power supplied when AC input specified (or vice versa). Remedy: Correct the power supply setting to match the actual power supply. Cause: A failure occurred in the SERVOPACK. Remedy: The SERVOPACK may be faulty. Replace the SERVOPACK.
A.400 Overvoltage	Cause: The power supply voltage exceeded the specified range. Remedy: Set the AC/DC power supply voltage within the specified range. Cause: The power supply is not stable or influenced by a lightning surge. Remedy: Improve power supply conditions, install surge absorber, and cycle power. If alarm persists, replace SERVOPACK. Cause: The voltage for AC power supply was too high during acceleration or deceleration. Remedy: Set the AC power supply voltage within the specified range. Cause: The external regenerative resistance is too high for the operating conditions. Remedy: Select a regenerative resistance value appropriate for the conditions and load. Cause: The moment of inertia ratio or mass ratio exceeded the allowable value. Remedy: Increase the deceleration time, or reduce the load. Cause: A failure occurred in the SERVOPACK. Remedy: Turn control power OFF and ON again. If alarm persists, replace the SERVOPACK.
A.410 Undervoltage	Cause: The power supply voltage went below the specified range. Remedy: Set the power supply voltage within the specified range. Cause: The power supply voltage dropped during operation. Remedy: Increase the power supply capacity. Cause: A momentary power interruption occurred. Remedy: If Pn509 was changed, decrease the setting. Cause: The SERVOPACK fuse is blown out. Remedy: Replace the SERVOPACK and connect a reactor to the DC reactor terminals. Cause: A failure occurred in the SERVOPACK. Remedy: The SERVOPACK may be faulty. Replace the SERVOPACK.
A.510 Overspeed	Cause: The order of phases U, V, and W in the motor wiring is not correct. Remedy: Make sure that the Servomotor is correctly wired. Cause: A reference value that exceeded the overspeed detection level was input. Remedy: Reduce the reference value. Or, adjust the gain. Cause: The motor exceeded the maximum speed. Remedy: Reduce speed reference input gain, adjust servo gain, or reconsider operating conditions. Cause: A failure occurred in the SERVOPACK. Remedy: The SERVOPACK may be faulty. Replace the SERVOPACK.
A.520 Vibration Alarm	Cause: Abnormal oscillation was detected in the motor speed. Remedy: Reduce the motor speed. Or, reduce the setting of Pn100 (Speed Loop Gain). Cause: The setting of Pn103 (Moment of Inertia Ratio) is greater than actual or changed greatly. Remedy: Set Pn103 to an appropriate value. Cause: The vibration detection level (Pn312 or Pn384) is not suitable. Remedy: Set a suitable vibration detection level (Pn312 or Pn384).
A.521 Autotuning Alarm	Cause: The Servomotor vibrated considerably while performing the tuning-less function. Remedy: Reduce load so moment of inertia ratio is allowable. Or increase load level / reduce rigidity in tuning-less settings. Cause: The Servomotor vibrated considerably while performing custom tuning or EasyFFT. Remedy: Check the operating procedure of corresponding function and implement corrections.
A.550 Maximum Speed Setting Error	Cause: The setting of Pn385 (Maximum Motor Speed) is greater than the maximum speed. Remedy: Check the setting of Pn385, the upper limits of the maximum motor speed setting, and the encoder output resolution setting. Set Pn385 to a value that does not exceed the maximum motor speed.
A.710 Instantaneous Overload A.720 Continuous Overload	Cause: The wiring is not correct or there is a faulty contact in the motor or encoder wiring. Remedy: Check the wiring. Make sure that the Servomotor and encoder are correctly wired. Cause: Operation was performed that exceeded the overload protection characteristics. Remedy: Check the motor overload characteristics and operation reference. Reconsider the load and operating conditions. Increase the motor capacity. Cause: An excessive load was applied during operation because the Servomotor was not driven because of mechanical problems. Remedy: Check the operation reference and motor speed. Correct the mechanical problem. Cause: There is an error in the setting of Pn282 (Linear Encoder Scale Pitch). Remedy: Check and correct the setting of Pn282. Cause: There is an error in the setting of Pn080 = n.xxXx (Motor Phase Sequence Selection). Remedy: Set Pn080 to an appropriate value. Cause: A failure occurred in the SERVOPACK. Remedy: Replace the SERVOPACK.
A.730 and A.731 Dynamic Brake Overload (Excessive power consumption by dynamic brake)	Cause: The Servomotor was rotated by an external force. Remedy: Check the operation status. Implement measures to ensure that the motor will not be rotated by an external force. Cause: When the Servomotor was stopped with the dynamic brake, the rotational or linear kinetic energy exceeded the capacity of the dynamic brake resistor. Remedy: Check the power consumed by the DB resistor. Reduce the Servomotor reference speed. Decrease the moment of inertia ratio or mass ratio. Reduce the frequency of stopping with the dynamic brake. Cause: A failure occurred in the SERVOPACK. Remedy: Replace the SERVOPACK.
A.740 Inrush Current Limiting Resistor Overload	Cause: The allowable frequency of the inrush current limiting resistor was exceeded when the main circuit power supply was turned ON and OFF. Remedy: Reduce the frequency of turning the main circuit power supply ON and OFF. Cause: A failure occurred in the SERVOPACK. Remedy: Replace the SERVOPACK.
A.7A1 Internal Temperature Error 1 (Control Board Temperature Error)	Cause: The surrounding air temperature is too high. Remedy: Check surrounding temperature or SERVOPACK installation environment monitor. Decrease the surrounding temperature by improving installation conditions. Cause: An overload alarm was reset by turning OFF the power supply too many times. Remedy: Change the method for resetting the alarm. Cause: Excessive load or operation exceeded the regenerative processing capacity. Remedy: Use the accumulated load ratio to check the load. Reconsider the load and operating conditions. Cause: The SERVOPACK installation orientation is not correct or insufficient space. Remedy: Install the SERVOPACK according to specifications. Cause: A failure occurred in the SERVOPACK. Remedy: Replace the SERVOPACK.
A.7A2 Internal Temperature Error 2 (Power Board Temperature Error)	Cause: The surrounding air temperature is too high. Remedy: Decrease the surrounding temperature by improving installation conditions. Cause: An overload alarm was reset by turning OFF the power supply too many times. Remedy: Change the method for resetting the alarm. Cause: Excessive load or operation exceeded the regenerative processing capacity. Remedy: Reconsider the load and operating conditions. Cause: The SERVOPACK installation orientation is not correct. Remedy: Install the SERVOPACK according to specifications. Cause: A failure occurred in the SERVOPACK. Remedy: Replace the SERVOPACK.
A.7A3 Internal Temperature Sensor Error	Cause: A failure occurred in the SERVOPACK (error in temperature sensor circuit). Remedy: Replace the SERVOPACK.
A.7Ab SERVOPACK Built-in Fan Stopped	Cause: The fan inside the SERVOPACK stopped (foreign matter). Remedy: Check for and remove foreign matter inside the SERVOPACK. If alarm persists, replace the SERVOPACK.
A.810 Encoder Backup Alarm	Cause: The power to the absolute encoder was turned ON for the first time. Remedy: Set up the encoder. Cause: The Encoder Cable was disconnected and then connected again. Remedy: Check the encoder connection and set up the encoder. Cause: Power is not being supplied from control power supply or battery. Remedy: Replace the battery or implement measures to supply power to the encoder. Set up the encoder. Cause: A failure occurred in the absolute encoder. Remedy: If alarm occurs after setting up encoder again, replace the Servomotor. Cause: A failure occurred in the SERVOPACK. Remedy: Replace the SERVOPACK.
A.820 Encoder Checksum Alarm	Cause: A failure occurred in the encoder. Remedy: When Using an Absolute Encoder: Set up the encoder again. If alarm persists, replace Servomotor. When Using Single-turn/Incremental: The Servomotor or Linear encoder may be faulty. Replace them. Cause: A failure occurred in the SERVOPACK. Remedy: Replace the SERVOPACK.
A.830 Encoder Battery Alarm	Cause: The battery connection is faulty or a battery is not connected. Remedy: Check and correct the battery connection. Cause: The battery voltage is lower than the specified value (2.7 V). Remedy: Measure battery voltage. Replace the battery. Cause: A failure occurred in the SERVOPACK. Remedy: Replace the SERVOPACK.
A.840 Encoder Data Alarm	Cause: The encoder malfunctioned. Remedy: Turn power OFF and ON. If alarm persists, replace Servomotor or linear encoder. Cause: An error occurred in reading data from the linear encoder (improper mounting). Remedy: Correct the mounting of the linear encoder. Cause: Excessive speed occurred in the linear encoder. Remedy: Control motor speed within range specified by manufacturer. Cause: The encoder malfunctioned due to noise. Remedy: Correct wiring around encoder. Separate encoder cable from main circuit cable. Ground the encoder. Cause: The polarity sensor is not wired correctly or failed. Remedy: Correct wiring or replace the polarity sensor.
A.850 Encoder Overspeed	Cause: Servomotor speed was 200 min-1 or higher when control power was turned ON. Remedy: Reduce Servomotor speed to less than 200 min-1 and turn ON control power. Cause: A failure occurred in the encoder or SERVOPACK. Remedy: Turn power OFF and ON. If alarm persists, replace Servomotor, Linear Encoder, or SERVOPACK.
A.860 Encoder Overheated	Cause: The surrounding air temperature around the Servomotor is too high. Remedy: Reduce the surrounding air temperature of the Servomotor to 40°C or less. Cause: The Servomotor load is greater than the rated load. Remedy: Operate the Servo Drive so that the motor load remains within the specified range. Cause: A failure occurred in the encoder or SERVOPACK. Remedy: Turn power OFF and ON. If alarm persists, replace Servomotor/Linear Encoder or SERVOPACK.
A.861 Motor Overheated	Cause: Surrounding temperature too high or Load is greater than rated load. Remedy: Reduce surrounding temperature to 40°C or less. Reduce motor load. Cause: A failure occurred in the Serial Converter Unit or SERVOPACK. Remedy: Turn power OFF and ON. If alarm persists, replace Serial Converter Unit or SERVOPACK.
A.890 Encoder Scale Error	Cause: A failure occurred in the linear encoder. Remedy: Replace the linear encoder.
A.891 Encoder Module Error	Cause: A failure occurred in the linear encoder. Remedy: Turn power OFF and ON. If alarm persists, replace the linear encoder.
A.b33 Current Detection Error 3	Cause: A failure occurred in the current detection circuit. Remedy: Turn power OFF and ON. If alarm persists, replace the SERVOPACK.
A.bF0 to A.bF8 System Alarms 0 – 8	Cause: A failure occurred in the SERVOPACK. Remedy: Turn the power supply to the SERVOPACK OFF and ON again. If an alarm still occurs, the SERVOPACK may be faulty. Replace the SERVOPACK.
A.C10 Servomotor Out of Control	Cause: The order of phases U, V, and W in the motor wiring is not correct. Remedy: Check wiring. Make sure Servomotor is correctly wired. Cause: Error in setting of Pn080 (Motor Phase Sequence Selection). Remedy: Set Pn080 to an appropriate value. Cause: Failure in encoder or SERVOPACK. Remedy: Turn power OFF and ON. Replace Servomotor/Encoder or SERVOPACK if necessary.
A.C20 Phase Detection Error	Cause: The linear encoder signal level is too low. Remedy: Fine-tune the mounting of the scale head or replace the linear encoder. Cause: Count-up direction does not match forward direction of Moving Coil. Remedy: Change setting of Pn080. Correctly reinstall linear encoder or Moving Coil. Cause: Polarity sensor signal affected by noise. Remedy: Correct FG wiring and implement noise countermeasures.
A.C21 Polarity Sensor Error	Cause: Polarity sensor protruding from Magnetic Way, incorrect Pn282 setting, or wiring issue. Remedy: Correctly reinstall Moving Coil or Magnetic Way. Check Pn282 specifications and set correct value. Correct wiring of polarity sensor. Replace polarity sensor.
A.C22 Phase Information Disagreement	Cause: SERVOPACK phase information is different from linear encoder phase information. Remedy: Perform polarity detection.
A.C50 Polarity Detection Failure	Cause: Parameter settings (Pn282, Pn080) are incorrect. Remedy: Set parameters to correct values. Cause: Noise on the scale signal. Remedy: Check frame grounds and shielding. Implement noise countermeasures for Linear Encoder Cable. Cause: External force applied to Moving Coil (cable tension, etc.). Remedy: Reduce external force or increase Pn481 (Polarity Detection Speed Loop Gain). Cause: Linear encoder resolution is too low (> 100 µm). Remedy: Use a linear encoder with higher resolution (40 µm or less recommended). Or, increase Pn485 (Polarity Detection Reference Speed).
A.C51 Overtravel Detected during Polarity Detection	Cause: The overtravel signal was detected during polarity detection. Remedy: Wire the overtravel signals. Execute polarity detection at a position where an overtravel signal would not be detected.
A.C52 Polarity Detection Not Completed	Cause: The servo was turned ON when using an absolute linear encoder, Pn587 was set to n.0 (Do not detect polarity), and the polarity had not been detected. Remedy: When using an absolute linear encoder, set Pn587 to n.1 (Detect polarity).
A.C53 Out of Range of Motion for Polarity Detection	Cause: The travel distance exceeded the setting of Pn48E (Polarity Detection Range) in the middle of detection. Remedy: Increase the setting of Pn48E (Polarity Detection Range). Or, increase the setting of Pn481 (Polarity Detection Speed Loop Gain).
A.C54 Polarity Detection Failure 2	Cause: An external force was applied to the Servomotor. Remedy: Increase the setting of Pn495 (Polarity Detection Confirmation Force Reference). Increase the setting of Pn498 (Polarity Detection Allowable Error Range). (Note: Increasing the allowable error will also increase the motor temperature).
A.C80 Encoder Clear Error or Multiturn Limit Setting Error	Cause: A failure occurred in the encoder. Remedy: Turn the power supply to the SERVOPACK OFF and ON again. If an alarm still occurs, the Servomotor or linear encoder may be faulty. Replace the Servomotor or linear encoder. Cause: A failure occurred in the SERVOPACK. Remedy: Turn the power supply to the SERVOPACK OFF and ON again. If an alarm still occurs, the SERVOPACK may be faulty. Replace the SERVOPACK.
A.C90 Encoder Communications Error	Cause: There is a faulty contact in the connector or the connector is not wired correctly for the encoder. Remedy: Reconnect the encoder connector and check the encoder wiring. Cause: There is a cable disconnection or short-circuit in the encoder. Or, the cable impedance is outside the specified values. Remedy: Use the Encoder Cable within the specified specifications. Cause: Corrosion caused by improper temperature, humidity, gas, short-circuit by water/oil, or faulty contact due to vibration. Remedy: Improve the operating environmental. Replace the cable. If the alarm still occurs, replace the SERVOPACK. Cause: A malfunction was caused by noise. Remedy: Correct the wiring around the encoder by separating the Encoder Cable from the Servomotor Main Circuit Cable or by grounding the encoder. Cause: A failure occurred in the SERVOPACK. Remedy: Connect the Servomotor to another SERVOPACK, and turn ON the control power supply. If no alarm occurs, the SERVOPACK may be faulty. Replace the SERVOPACK.
A.C91 Encoder Communications Position Data Acceleration Rate Error	Cause: Noise entered on the signal lines because the Encoder Cable is bent or the sheath is damaged. Remedy: Check the Encoder Cable to see if it is installed correctly. Cause: The Encoder Cable is bundled with a high-current line or installed near a high-current line. Remedy: Confirm that there is no surge voltage on the Encoder Cable. Cause: There is variation in the FG potential because of the influence of machines on the Servomotor side, such as a welder. Remedy: Properly ground the machine to separate it from the FG of the encoder.
A.C92 Encoder Communications Timer Error	Cause: Noise entered on the signal line from the encoder. Remedy: Implement countermeasures against noise for the encoder wiring. Cause: Excessive vibration or shock was applied to the encoder. Remedy: Reduce machine vibration. Correctly install the Servomotor or linear encoder. Cause: A failure occurred in the encoder. Remedy: Turn the power supply to the SERVOPACK OFF and ON again. If an alarm still occurs, the Servomotor or linear encoder may be faulty. Replace the Servomotor or linear encoder. Cause: A failure occurred in the SERVOPACK. Remedy: Turn the power supply to the SERVOPACK OFF and ON again. If an alarm still occurs, the SERVOPACK may be faulty. Replace the SERVOPACK.
A.CA0 Encoder Parameter Error	Cause: A failure occurred in the encoder. Remedy: Turn the power supply to the SERVOPACK OFF and ON again. If an alarm still occurs, the Servomotor or linear encoder may be faulty. Replace the Servomotor or linear encoder. Cause: A failure occurred in the SERVOPACK. Remedy: Turn the power supply to the SERVOPACK OFF and ON again. If an alarm still occurs, the SERVOPACK may be faulty. Replace the SERVOPACK.
A.Cb0 Encoder Echoback Error	Cause: The encoder is wired incorrectly or there is faulty contact. Remedy: Make sure that the encoder is correctly wired. Cause: The specifications of the Encoder Cable are not correct and noise entered on it. Remedy: Use shielded twisted-pair cables with conductors of at least 0.12 mm² (stranded wire). Cause: The Encoder Cable is too long and noise entered on it. Remedy: Rotary Servomotors: The Encoder Cable wiring distance must be 50 m max. Linear Servomotors: The Encoder Cable wiring distance must be 20 m max. Cause: There is variation in the FG potential because of the influence of machines on the Servomotor side, such as a welder. Remedy: Properly ground the machine to separate it from the FG of the encoder. Cause: Excessive vibration or shock was applied to the encoder. Remedy: Reduce machine vibration. Correctly install the Servomotor or linear encoder. Cause: A failure occurred in the encoder. Remedy: Turn the power supply to the SERVOPACK OFF and ON again. If an alarm still occurs, the Servomotor or linear encoder may be faulty. Replace the Servomotor or linear encoder. Cause: A failure occurred in the SERVOPACK. Remedy: Turn the power supply to the SERVOPACK OFF and ON again. If an alarm still occurs, the SERVOPACK may be faulty. Replace the SERVOPACK.
A.CC0 Multiturn Limit Disagreement	Cause: When using a Direct Drive Servomotor, the setting of Pn205 (Multiturn Limit) does not agree with the encoder. Remedy: Correct the setting of Pn205 (0 to 65,535). Cause: The multiturn limit of the encoder is different from that of the SERVOPACK. Or, the multiturn limit of the SERVOPACK has been changed. Remedy: Change the setting if the alarm occurs. Cause: A failure occurred in the SERVOPACK. Remedy: Turn the power supply to the SERVOPACK OFF and ON again. If an alarm still occurs, the SERVOPACK may be faulty. Replace the SERVOPACK.
A.d00 Position Deviation Overflow	Cause: The Servomotor U, V, and W wiring is not correct. Remedy: Make sure that there are no faulty connections in the wiring for the Servomotor and encoder. Cause: The position reference speed is too fast. Remedy: Reduce the position reference speed or the reference acceleration rate. Reconsider the electronic gear ratio. Cause: The acceleration of the position reference is too high. Remedy: Reduce the acceleration rate of the position reference using a Controller Section motion command. Or, smooth the position reference acceleration rate by selecting the position reference filter (ACCFIL). Cause: The setting of Pn520 (Position Deviation Overflow Alarm Level) is too low for the operating conditions. Remedy: Optimize the setting of Pn520. Cause: A failure occurred in the SERVOPACK. Remedy: Turn the power supply to the SERVOPACK OFF and ON again. If an alarm still occurs, the SERVOPACK may be faulty. Replace the SERVOPACK.
A.d01 Position Deviation Overflow Alarm at Servo ON	Cause: The servo was turned ON after the position deviation exceeded the setting of Pn526 (Position Deviation Overflow Alarm Level at Servo ON) while the servo was OFF. Remedy: Optimize the setting of Pn526 (Position Deviation Overflow Alarm Level at Servo ON).
A.d02 Position Deviation Overflow Alarm for Speed Limit at Servo ON	Cause: If position deviation remains in the error counter, the setting of Pn529 or Pn584 limits the speed when the servo is turned ON. This alarm occurs if a position reference is input and the setting of Pn520 is exceeded. Remedy: Optimize the setting of Pn520 (Position Deviation Overflow Alarm Level). Or, adjust the setting of Pn529 or Pn584 (Speed Limit Level at Servo ON).
A.d30 Position Data Overflow	Cause: The position data exceeded ±1,879,048,192. Remedy: Reconsider the operating specifications.
A.E00 Built-in Controller Initialization Timeout Error	Cause: A failure occurred in the SERVOPACK (An initialization timeout error occurred in the Controller Section). Remedy: Turn the power supply to the SERVOPACK OFF and ON again. If an alarm still occurs, the SERVOPACK may be faulty. Replace the SERVOPACK.
A.E02 Built-in Controller Synchronization Error 1	Cause: A failure occurred in the SERVOPACK. Remedy: Turn the power supply to the SERVOPACK OFF and ON again. If an alarm still occurs, the SERVOPACK may be faulty. Replace the SERVOPACK.
A.E03 Controller Section Communications Data Error	Cause: A failure occurred in the SERVOPACK (A synchronization error occurred in the Controller Section). Remedy: Turn the power supply to the SERVOPACK OFF and ON again. If an alarm still occurs, the SERVOPACK may be faulty. Replace the SERVOPACK.
A.E50 Built-in Controller Synchronization Error 3	Cause: A failure occurred in the SERVOPACK. Remedy: Turn the power supply to the SERVOPACK OFF and ON again. If an alarm still occurs, the SERVOPACK may be faulty. Replace the SERVOPACK.
A.E51 Built-in Controller Synchronization Failure	Cause: A failure occurred in the SERVOPACK. Remedy: Turn the power supply to the SERVOPACK OFF and ON again. If an alarm still occurs, the SERVOPACK may be faulty. Replace the SERVOPACK.
A.E61 Built-in Controller Synchronization Error 4	Cause: A failure occurred in the SERVOPACK. Remedy: Turn the power supply to the SERVOPACK OFF and ON again. If an alarm still occurs, the SERVOPACK may be faulty. Replace the SERVOPACK.
A.EA2 Built-in Controller Synchronization Error 2	Cause: A failure occurred in the SERVOPACK. Remedy: Turn the power supply to the SERVOPACK OFF and ON again. If an alarm still occurs, the SERVOPACK may be faulty. Replace the SERVOPACK.
A.Ed1 Built-in Controller Command Timeout Error	Cause: A timeout occurred for a communications command in the Controller Section. Remedy: Execute the SV_ON or SENS_ON command only when the motor is not operating. Execute the SENS_ON command only when a linear encoder is connected.
A.F10 Power Supply Line Open Phase	Cause: The three-phase power supply wiring is not correct. Remedy: Make sure that the power supply is correctly wired. Cause: The three-phase power supply is unbalanced. Remedy: Balance the power supply by changing phases. Cause: A single-phase power supply was input without specifying a signal-phase AC power supply input (Pn00B = n.1). Remedy: Match the parameter setting to the power supply. Cause: A failure occurred in the SERVOPACK. Remedy: Turn the power supply to the SERVOPACK OFF and ON again. If an alarm still occurs, the SERVOPACK may be faulty. Replace the SERVOPACK.
A.F50 Servomotor Main Circuit Cable Disconnection	Cause: A failure occurred in the SERVOPACK. Remedy: The SERVOPACK may be faulty. Replace the SERVOPACK. Cause: The wiring is not correct or there is a faulty contact in the motor wiring. Remedy: Make sure that the Servomotor is correctly wired.
FL-1 System Alarm	Cause: A failure occurred in the SERVOPACK. Remedy: Turn the power supply to the SERVOPACK OFF and ON again. If an alarm still occurs, the SERVOPACK may be faulty. Replace the SERVOPACK.
FL-2 System Alarm	Cause: A failure occurred in the SERVOPACK. Remedy: Turn the power supply to the SERVOPACK OFF and ON again. If an alarm still occurs, the SERVOPACK may be faulty. Replace the SERVOPACK.
FL-3 System Alarm	Cause: A failure occurred in the SERVOPACK. Remedy: Turn the power supply to the SERVOPACK OFF and ON again. If an alarm still occurs, the SERVOPACK may be faulty. Replace the SERVOPACK.
FL-4 System Alarm	Cause: A failure occurred in the SERVOPACK. Remedy: Turn the power supply to the SERVOPACK OFF and ON again. If an alarm still occurs, the SERVOPACK may be faulty. Replace the SERVOPACK.
FL-5 System Alarm	Cause: A failure occurred in the SERVOPACK. Remedy: Turn the power supply to the SERVOPACK OFF and ON again. If an alarm still occurs, the SERVOPACK may be faulty. Replace the SERVOPACK.
FL-6 System Alarm	Cause: A failure occurred in the SERVOPACK. Remedy: Turn the power supply to the SERVOPACK OFF and ON again. If an alarm still occurs, the SERVOPACK may be faulty. Replace the SERVOPACK.
CE001 Watchdog Timer Timeout	Cause: 1. There is an infinite loop in a ladder program. 2. The maximum values of the scan times do not meet the settings (High-speed/Low-speed scan settings exceed maximums). 3. The Controller Section is faulty. Remedy: Check FOR and WHILE instructions for infinite loops. Correct the ladder program. Check scan time settings (SW00004 to SW00012). Ensure settings do not exceed maximum values. Turn power OFF and ON. If alarm persists, replace the SERVOPACK.
CE051 Module Synchronization Error	Cause: A synchronization error occurred for an Option Module. Remedy: Turn power OFF and ON. Check SW00076 system register to identify the Option Module with the error. If error persists, replace the Option Module.
CE071 Unsupported Module Detected Error	Cause: A Module that cannot be used is mounted. Remedy: Check for a Module that is not supported. Remove the Module that cannot be used.
CE081 CPU Fatal Internal Temperature Error 1	Cause: The temperature continued to increase after CA241 was detected and is approaching the permissible temperature of internal parts. Remedy: Check SB00041F (Temperature Warning). Change installation environment to reduce surrounding air temperature. Turn OFF power and improve installation environment.
CE082 CPU Fatal Internal Temperature Error 2	Cause: The temperature continued to increase after CE081 was detected and has reached the permissible temperature of the internal parts. Remedy: Turn OFF power immediately. Improve installation environment to reduce temperature.
CE090 / CE091 / CE092 Hardware Error 1, 2, 3	Cause: A hardware error occurred. Remedy: Turn the power supply OFF and ON again. If the error continues to occur, the hardware is faulty. Replace the SERVOPACK.
CA001 Operation Error in DWG.A	Cause: An operation occurred in DWG.A. Remedy: Check the error that occurred in SW00081 (Error Code). Correct the ladder program.
CA002 Operation Error in DWG.I	Cause: An operation occurred in DWG.I. Remedy: Check the error that occurred in SW00083 (Error Code). Correct the ladder program.
CA003 Operation Error in DWG.H	Cause: An operation occurred in DWG.H. Remedy: Check the error that occurred in SW00085 (Error Code). Correct the ladder program.
CA005 Operation Error in DWG.L	Cause: An operation occurred in DWG.L. Remedy: Check the error that occurred in SW00089 (Error Code). Correct the ladder program.
CA101 I/O Error on Rack 1	Cause: An I/O error occurred on the main rack (rack 1). Remedy: Check error in System I/O Error Status (SW09560 to SW13699). Determine the I/O Module with the error. Remove cause of the I/O error based on the specific error code.
CA230 Hardware Error 4	Cause: A hardware error occurred. Remedy: Turn power OFF and ON again. If error continues, the hardware is faulty. Replace the SERVOPACK.
CA241 Internal Temperature Rise Detected	Cause: The temperature of the Controller Section is close to the operating limit temperature. Remedy: Check SB00041F (Temperature Warning). Change installation environment to reduce temperature around the Controller Section. If temperature rises and causes error, turn OFF power and improve environment.
CA242 EDLC Voltage Error	Cause: An overvoltage was applied to the electric double-layer capacitor. Remedy: Check SW15808 (Capacity) and SB158100 (Voltage Status). The electric double-layer capacitor is faulty. Replace the SERVOPACK.
CA301 USB Writing Error	Cause: Data could not be written to a file in USB memory. Remedy: Check to see if USB memory device is inserted properly. Insert again. Check capacity of USB memory and ensure available space.
CA302 USB Reading Error	Cause: Data could not be read from a file in USB memory. Remedy: Check to see if USB memory device is inserted properly. Insert again. Check capacity of USB memory and ensure available space.
CA303 Security Error	Cause: Loading was attempted when online security was enabled. Remedy: Check the online security settings. Release online security.
CA304 User Program Memory Diagnosis Error	Cause: An error was found in the user memory data saved in flash memory. Remedy: Turn ON the INIT switch, turn power OFF/ON, and try saving to flash memory again. If alarm still occurs, the flash memory may be faulty. Replace the SERVOPACK.
CA305 No Batch Load Folder	Cause: There is no batch load data in the USB memory. Remedy: Check the USB memory device. Transfer the project from the MPE720 to USB memory again.
CA306 Load File-Model Inconsistency Error	Cause: The model of the file for batch loading from USB memory does not match. Remedy: Check the USB memory device. Transfer the project from the MPE720 to USB memory again.
CA307 Load Error for Load Prohibition	Cause: Batch loading was attempted when the program was write protected. Remedy: Check Program Write Protection Setting in System Settings (Environment Settings). Change setting to enable writing and try batch load operation again.
CA308 Load File Writing Error	Cause: Data could not be written to the SERVOPACK for a batch loading operation. Remedy: Check available space in the SERVOPACK. Review the batch transfer data.
CA309 Flash Memory Save Error	Cause: Data could not be saved to flash memory in the SERVOPACK for a batch loading operation. Remedy: Turn power OFF and ON again and retry batch loading. If saving fails repeatedly, the SERVOPACK may be faulty. Replace the SERVOPACK.
CA30A Save File Reading Error	Cause: Data could not be read from the SERVOPACK for a batch saving operation. Remedy: Turn power OFF and ON again and retry batch saving. (Check this by turning ON the INIT switch). If reading fails repeatedly, the SERVOPACK may be faulty. Replace the SERVOPACK.
CA30B No USB Memory Device Error	Cause: A USB memory device was not inserted in the SERVOPACK when a batch loading/saving operation was performed. Remedy: Check to see if USB memory device is inserted properly. Insert the USB memory device again.
CA370 Logging Folder Creation Error	Cause: A folder could not be created in USB memory. Remedy: Check to see if USB memory is inserted properly. Insert again. Check capacity of USB memory and see if there is available space.
CA371 Logging File Creation Error	Cause: A file could not be created in USB memory. Remedy: Check to see if USB memory is inserted properly. Insert again. Check capacity of USB memory and see if there is available space.
CA372 Logging File Writing Error	Cause: Data could not be written to a file in USB memory. Remedy: Check to see if USB memory is inserted properly. Insert again. Check capacity of USB memory and see if there is available space.
CA401 M-III Restriction Condition Error	Cause: The high-speed scan time does not meet the restriction conditions. Remedy: Check the MECHATROLINK-III transmission cycle and high-speed scan time of SVC4. Change to a setting that meets the restriction conditions.
CA404 M-III Station Address Duplication	Cause: The same station address was set for more than one of the slave devices connected to the SVC4. Remedy: Check system register SB00041C. Set the slave device station addresses so that they are correct.
A.900 Position Deviation Overflow	Cause: 1. Servomotor U, V, W wiring is incorrect. 2. SERVOPACK gain is too low. 3. Acceleration of position reference is too high. 4. Excessive position deviation alarm level (Pn520 × Pn51E/100) is too low. 5. A failure occurred in the SERVOPACK. Remedy: Check wiring for faulty connections in Servomotor and encoder. Increase servo gain (e.g., using autotuning). Reduce reference acceleration or use position reference filter (ACCFIL). Optimize settings of Pn520 and Pn51E. Turn power OFF/ON. If alarm persists, replace the SERVOPACK.
A.901 Position Deviation Overflow Alarm at Servo ON	Cause: The position deviation exceeded parameter settings (Pn526 × Pn528/100) when servo was turned ON. Remedy: Optimize the setting of Pn528 (Position Deviation Overflow Warning Level at Servo ON).
A.910 Overload (Warning before A.710/A.720)	Cause: 1. Wiring incorrect or faulty contact. 2. Operation exceeded overload protection characteristics. 3. Excessive load due to mechanical problem. 4. Overload warning level (Pn52B) is not suitable. 5. Failure in SERVOPACK. Remedy: Ensure Servomotor and encoder are correctly wired. Reconsider load/operating conditions or increase motor capacity. Check operation reference/speed and correct mechanical problems. Set a suitable overload warning level (Pn52B). Replace the SERVOPACK if faulty.
A.911 Vibration	Cause: 1. Abnormal vibration detected during operation. 2. Moment of Inertia Ratio (Pn103) is greater than actual or changed greatly. 3. Vibration detection level (Pn312 or Pn384) is not suitable. Remedy: Reduce motor speed or reduce servo gain with custom tuning. Set Pn103 (Moment of Inertia Ratio) to an appropriate value. Set a suitable vibration detection level (Pn312 or Pn384).
A.912 Internal Temperature Warning 1 (Control Board)	Cause: 1. Surrounding temperature is too high. 2. Overload alarm reset by turning power OFF too many times. 3. Excessive load or regenerative processing capacity exceeded. 4. SERVOPACK installation orientation or spacing incorrect. 5. Failure in SERVOPACK. Remedy: Decrease surrounding temperature (improve installation conditions). Change the method for resetting the alarm. Reconsider load and operating conditions (check load ratios). Install SERVOPACK according to specifications. Replace the SERVOPACK if faulty.
A.913 Internal Temperature Warning 2 (Power Board)	Cause: 1. Surrounding temperature is too high. 2. Overload alarm reset by turning power OFF too many times. 3. Excessive load or regenerative processing capacity exceeded. 4. SERVOPACK installation orientation or spacing incorrect. 5. Failure in SERVOPACK. Remedy: Decrease surrounding temperature (improve installation conditions). Change the method for resetting the alarm. Reconsider load and operating conditions. Install SERVOPACK according to specifications. Replace the SERVOPACK if faulty.
A.920 Regenerative Overload (Warning before A.320)	Cause: 1. Power supply voltage exceeded specified range. 2. Insufficient external regenerative resistance or capacity. 3. Continuous regeneration state (negative load). Remedy: Set power supply voltage within specified range. Change regenerative resistance value/capacity or SERVOPACK capacity. Reconsider the system, machine, and operating conditions.
A.921 Dynamic Brake Overload (Warning before A.731)	Cause: 1. Servomotor rotated by external force. 2. Kinetic energy exceeded capacity of dynamic brake resistor. 3. Failure in SERVOPACK. Remedy: Ensure motor is not rotated by external force. Reduce reference speed, moment of inertia, or frequency of DB stops. Replace the SERVOPACK if faulty.
A.923 SERVOPACK Built-in Fan Stopped	Cause: The fan inside the SERVOPACK stopped. Remedy: Check for and remove foreign matter inside the SERVOPACK. If alarm persists, replace the SERVOPACK.
A.930 Absolute Encoder Battery Error	Cause: 1. Battery connection faulty or not connected. 2. Battery voltage lower than specified level (2.7 V). 3. Failure in SERVOPACK. Remedy: Correct the battery connection. Replace the battery. Replace the SERVOPACK if faulty.
A.942 Speed Ripple Compensation Information Disagreement	Cause: Information stored in encoder does not agree with information in SERVOPACK. Remedy: Reset speed ripple compensation value on SigmaWin+. Set Pn423 to n.□□1□ (Do not detect). Set Pn423 to n.□□□0 (Disable compensation).
A.94A Built-in Controller Data Setting Warning 1 (Parameter Number Error)	Cause: An invalid parameter number was used. Remedy: Use the correct parameter number.
A.94b Built-in Controller Data Setting Warning 2 (Data Out of Range)	Cause: Command data was clamped to minimum or maximum value. Remedy: Set the parameter within the setting range.
A.94C Built-in Controller Data Setting Warning 3 (Calculation Error)	Cause: The calculation result of the setting is not correct. Remedy: Set the parameter within the setting range.
A.94d Built-in Controller Data Setting Warning 4 (Parameter Size)	Cause: The parameter size set in the command is not correct. Remedy: Set the correct parameter size.
A.94E Built-in Controller Data Setting Warning 5 (Latch Mode Error)	Cause: A latch mode error was detected. Remedy: Correct the setting of Pn850.
A.95A Built-in Controller Command Warning 1 (Unsatisfied Command Conditions)	Cause: The command conditions are not satisfied. Remedy: Send the command after the command conditions are satisfied.
A.95b Built-in Controller Command Warning 2 (Unsupported Command)	Cause: An unsupported command was received. Remedy: Do not send unsupported commands.
A.95d Built-in Controller Command Warning 4 (Command Interference)	Cause: Command sending conditions for latch-related commands not satisfied. Remedy: Send the command after the command conditions are satisfied.
A.95E Built-in Controller Command Warning 5 (Subcommand Not Possible)	Cause: Command sending conditions for subcommands was not satisfied. Remedy: Send the command after the command conditions are satisfied.
A.95F Built-in Controller Command Warning 6 (Undefined Command)	Cause: An undefined command was sent. Remedy: Do not send undefined commands.
A.971 Undervoltage	Cause: 1. AC power supply voltage dropped below 140 V (200-V SERVOPACK). 2. Power supply voltage dropped during operation. 3. Momentary power interruption. 4. SERVOPACK fuse blown out. 5. Failure in SERVOPACK. Remedy: Set power supply voltage within specified range. Increase power supply capacity. Decrease setting of Pn509 if changed. Replace SERVOPACK and connect a reactor. Replace the SERVOPACK.
A.97A Built-in Controller Command Warning 7 (Phase Error)	Cause: Command cannot be executed in the current phase. Remedy: Send the command after the conditions are satisfied.
A.97b Data Clamp Out of Range	Cause: Set command data was clamped to minimum or maximum value. Remedy: Set the command data within the setting ranges.
A.9A0 Overtravel (Status detected)	Cause: Overtravel detected while servo was ON. Remedy: Check overtravel signals on input signal monitor. Do not specify movements causing overtravel. Check wiring of overtravel signals. Implement countermeasures against noise.
A.9b0 Preventative Maintenance Warning	Cause: One of the consumable parts has reached the end of its service life. Remedy: Replace the part. Contact Yaskawa representative for replacement.