| General | Possible Cause |
|---|---|
| No motion | Check if inputs are configured as STOP, POT/NOT, EMG inputs. |
| Check if input definitions are incorrect or have been changed, ie SVON has changed from input1 to input2 for example. | |
| Check if two inputs are both defined as same type of input; only the second input would control the drive. | |
| Check drive configuration mode is correct (analog torque/velocity/pulse/indexer) and the MODE input state. | |
| No display |
The display can be turned off or changed. In Drive Support Tool software, check the settings: Monitoring > Cyclic monitoring > 7 Segment display. Default is Drive Operation status. If after updating firmware, you can connect with Drive Support Tool but Drive Information window FPGA version displays 0.??, the 7segment display is blank, contact the factory at 1-707-584-7558 or emn.service@support.parker.com |
| Display is [ ] |
Uninstall old version of Drive Support Tool software and download & install version0.88 DST. Download firmware file to drive. |
| Cannot Enable, No Fault |
Giving Enable input (hardware or via EtherCAT) or command from Drive Support Tool software and cannot enable, if running at 120vac OR DC voltage for PD-04, see this FAQ Running at 200-240vac, cannot enable, no fault: missing factory-installed jumpers, see this FAQ |
| Poor motion | Check motor ground wire connected to drive ground (heat sink chassis). |
| Pseries AC drives (PD-04, PD-10, PD-35) with Pseries motors (PM-F or PM-DD) automatically detect the motors. | |
| Non-Pseries motors (BE/SM/MPP/MPJ) require a motor file loaded. Check motor file is correct. | |
| In DST software, can the motor jog at slow speeds smoothly? | |
| JOG menu is a velocity jog (no positioning); 7-segment display is S-run. If this works but other positioning, check tuning | |
| Check Adaptive Tuning is OFF (if it's ON, tuning will change) in DST: Monitoring > Trace/Trigger Graph > Gain Window > Auto Tuning On-line tuning mode | |
| If JOG menu isn't able to run at slow speeds smoothly, check mechanics attached to motor or disconnect motor from load. | |
| For multi-axis systems, double check motor power and feedback cables are going back to drive and feedback cables not accidentally switched. | |
| For encoder motors, if hall sensors aren't changing or in wrong order, test with hall-less startup or use Auto Motor Phasing | |
| Check motor phases are connected to drive in right order. Use Auto Motor Phasing to correct via software. |
| ALARM | Alarm name | Cause | Remedy |
|---|---|---|---|
| AL-10 | IPM fault | Hardware Overcurrent (Motor Current Pulse Monitoring ) | Mechanical binding or brake not released. Accel/decel too high. Poor tuning. Commutation (see General). Wrong motor file if non-Pseries motor. Can be faulted/damaged hw. Verify power is connected to L1/L2 and not N. Deep connector for screw terminal on motor phases, verify all 3 connected. Verify 1/2/3 are connected to U/V/W (Pseries motor cables p/n APCS-PN... are red/white/black and labeled U/V/W; P-xxx- cables are black conductors with white numbers printed on them). Apply AC power and check DC voltage in DST. Factory preset Voltage class should be 0. Damaged drive (running PD-10 or PD-35) at 120vac (does not work, must use 230vac). Disconnect motor from drive, check motor and cable for shorts. |
| AL-11 | IPM temperature | Motor Current Pulse Monitoring temperature | Check same as AL-10 |
| AL-14 | Over current | Software Overcurrent | Check same as AL-10 |
| AL-15 | Current offset |
U/V/W-phase offsets are stored in 0x2015 - 0x2017. If abnormally large, will cause AL-15. Replace the drive is [St-23] and [St-24] are 10% or higher of the rated current. First advisement is to rev firmware forward as far as you can go within the 'E' or 'non-E' firmware that you have. Such as 2.0 going forward to 2.xx, and 2.08E going to the latest 2.xxE firmware. Third advisement if the issue persists after power cycling, is to back rev firmware to 1.02. Cannot back rev "E" units before 2.08E due to hardware change. For 2.xxE issues that persists after updating firmware, contact factory. |
|
| AL-16 | Current limit exceeded | ||
| AL-21 | Continuous overload | When the operation overload ratio 0x2603 reaches the set warning level (0x2010), the operation overload warning (W10) sets off. When it reaches 100%, operation overload alarm (AL-21) is set. | Check 0x200F Overload Check Base and 0x2010 warning level. Check same as AL-10 |
| AL-22 | Drive temperature1 | The temperature is measured with the built in temperature sensor in the drive's power board. When the measured value is 95 or above, the drive overheating alarm 1(AL-22) is set. | Check 0x260B Drive Temperature 1. Check temperature within control cabinet, install AC or fan. Wait 5 minutes and cycle power and do you get the fault immediately? If yes, could be damaged drive. |
| AL-23 | Regeneration overload | Show the accumulated regeneration overload of the regeneration brake due to regeneration operation. When the value reaches 100%, regeneration overload alarm (AL-23) is set. | Check 0x200A regen brake resistor derating factor. Check jumpers are in p0 to PI and B to BI. These ship from the factory by default. Check regen resistor resistance and wiring. Try replacing drive. |
| AL-24 | Motor cable open | Motor not connected. Check 0x2015, 0x2016, 0x2017 phase current setting. If uploaded from other drive after auto-tuning may not be 0. | |
| AL-25 | Temperature 2 | The temperature is measured with the built in temperature sensor in the drive's power board. When the measured value is 90 or above, the drive overheating alarm 1(AL-25) is set. | Check 0x260C Drive Temperature 2 |
| AL-26 | Encoder temperature | Shows the temperature measured by the built in sensor of serial encoders (when encoder format (0x0201) is 4). When the measured 90 or above, the encoder heat (AL-26) is set. | Check 0x260D Encoder Temperature |
| AL-30 | Encoder communication | Encoder cable not connected or loose. Wrong feedback specified. | Check cable. If Pseries motor, do Factory Reset. For non Pseries motors, check motor file and re-download. Save to memory & cycle power |
| AL-31 | Encoder cable open | For multi-axis systems, check feedback cables haven't been switched and disconnected. If Pseries motors, do factory reset and cycle power. Check firmware. Check 0x2001 is correct for the type of encoder (1 for inc encoder, 2 for BissC); save & reset drive. Check if needs to be hall-less setting based on motor part number. Miswired drive: Earth ground tied to N terminal (Negative terminal). Short in feedback cable or contamination in feedback connector. If using hall-less, one of halls has to be connected to +5vdc. | |
| AL-32 | Encoder data | Check firmware. Check feedback settings for motor. Bad cable or damaged encoder. | |
| AL-33 | Motor setting | Check the [P0-00] setting | |
| AL-34 | Z Phase open | Check same as AL-31. Users can mask off checking for this error in Fault Configuration. | |
| AL-35 | Low battery | Replace battery. See user manual. | |
| AL-36 | Sinusoidal Encoder amplitude | ||
| AL-37 | Sinusoidal Encoder frequency | ||
| AL-38 | Encoder setting error | ||
| AL-40 | Under voltage | Monitoring > Cyclic Monitoring check DC-Link Voltage. If PD-04 and running at 120vac, if the firmware was updated, need to enable 120vac operation: CLICK HERE | |
| AL-41 | Over voltage | Monitoring > Cyclic Monitoring check DC-Link Voltage | |
| AL-42 | Main power fail | Check AC mains input (L1 / L2 / L3) | |
| AL-43 | Control power fail | Check AC mains input (C1 / C2) | |
| AL-50 | Over speed limit | When the set value is higher than the motor's maximum speed, the detection level is determined by the motor's maximum speed | Check 0x230F Over Speed Detection Level. Do factory reset and if non-Pseries motor reload motor file. Check electronic gear ratio, check speed command scale. |
| AL-51 | Position following |
Check wiring for motor (U-V-W in order on motor connector) with ground connected to drive ground (heatsink chassis), mechanical jam/binding, acceleration too high, re-tune motor. Voltage too low for that motor at that speed. Speed commanded too high. If EtherCAT drive, disconnect EtherCAT controller and from Drive Support Tool, try JOG at low speed. If this works but the controller does not, check the Gear Ratio - Motor Revolutions and Shaft Revolutions setting. |
|
| AL-52 | Emergency stop | ||
| AL-53 | Excessive Speed deviation | Excessive speed error occurs when the errors of speed command and speed feedback exceed the set. | Check tuning. Check mechanical binding. If braked motor, check brake is releasing. Check firmware version. Check 0x2310 Excessive Speed Error Detection Level. Trace Command Speed (0x2601) and Feedback Speed (0x2600). Commutation (add details). |
| If in torque mode, velocity is still monitored | Check 0x230E Speed Limit Value at Torque Control Mode | ||
| AL-54 | Encoder2 Position difference | ||
| AL-60 | USB communication | ||
| AL-63 | Parameter checksum |
Check value of parameters. Reset factory default. Check file isn't corrupted. Drive displays this after firmware update; in DST do cyclic reset or cycle power on drive. |
|
| AL-64 | Parameter range | Check value of parameters. | |
| AL-71 | Invalid Factory setting | Check value of parameters. Check firmware version. | |
| AL-72 | GPIO setting | Check discrete output settings don't have 2 set to the same type. | |
| Slow USB upload to file | Make sure correct drive type is selected. | If set for IndexerDrive but its EtherCAT unit, software works but the upload from drive is really slow, eventually status bar completes but doesn't pop window to save drive config. |
| WARNING | Warning name | Symptom/Cause/Remedy |
|---|---|---|
| W01 | Main power fail | Check AC mains input |
| W02 | Encoder battery low | Replace battery. See user manual. |
| W04 | Software position limit | |
| W08 | Excessive DB current | More than the max torque commands has been entered |
| W10 | Operation overload | Check 0x2603 accumulated operation overload. When the operation overload ratio reaches the set warning level (0x2010), the operation overload warning (W10) sets off. When it reaches 100%, operation overload alarm (AL-21) is set. |
| W20 | Abnormal drive/motor combination |
Drive current large compared to motor. Motor is large compared to drive, such as PM-FCL04 with PD-04. See P Series Troubleshooting - What is W20 and how do I fix it? |
| W40 | Low voltage | DC voltage is less than 190V. See AL-40 |
| W80 | Emergency signal input | Check IO wiring for the input defined as EMG |
Note: Warnings can be masked in DST software Fault menu > Fault Configuration.
P-series (AC) drives & motor link: http://www.parkermotion.com/products/Servo_Drives__7319__30_32_80_567_29.html
keywords:
servo fault error P series PD-04P PD-04C PD-10P PD-10C PD-35P PD-35C
PD04P PD04C PD10P PD10C PD35P PD35C
12/18/19jh Updated AL-30
8/6/21jh Updated FPGA 0.??
10/22/21jh Added Cannot Enable, No Fault, Added note on AL-51 for EtherCAT
01/19/22 DCLIFFE Added W20 link, updated metadata.
6/3/22jh Add AL-15 and update FGPA 0.??
9/22/22jh Added if adaptive tuning is ON, poor positioning could occur.