Troubleshooting / Panasonic MINAS alarms

Panasonic MINAS Servo Alarm Codes

The alarm codes of Panasonic MINAS A6 (A6S, A6N, A6B) and MINAS A5 servo amplifiers, main and sub number: what each one means, the likely causes, the first checks with the parameters to look at, and how to log it so it stops coming back.

How alarms show

When a protective function trips, the driver turns the servo alarm output (ALM) off, the motor stops and servo-on is blocked. The front panel LED switches to the error display and flashes (about 2 Hz on A5). The code has a main number and a sub number, written in the manuals as Err plus main.sub, for example Err16.0 (main 16, sub 0).

A warning (A0 to A9, plus AC and C3 on A6) makes the display flash slowly (about 1 Hz) while the drive keeps running. On A6, an active STO input shows St instead of an error. In monitor mode, the error factor and history display shows the present error plus history 0 (latest) to 13 (oldest), 14 entries in all; some alarms are not stored in the history.

To clear: remove the cause, make sure the motor is stopped and the machine is safe, then use the alarm clear input A-CLR (on for 120 ms or longer on A5), the front panel alarm clear in auxiliary function mode (hold the key about 5 seconds until the bar fills), PANATERM over USB, or the network (RTEX on A6N, EtherCAT on A6B).

Alarms that are not clearable need the power switched off, the cause removed and power switched on again (A6N also accepts an RTEX software reset). Err16.0 can only be cleared about 10 seconds after it occurs, and Err40.0 and Err42.0 stay until the absolute encoder is cleared.

A6N and A6B V-frame (24/48 V) drives are not equipped with the 7-segment LED, so read their alarms over the network or PANATERM.

Safety first.
The driver's internal circuit stays charged at high voltage for a while after power off. Before transporting, wiring or inspecting a MINAS A6, switch the power off and wait 15 minutes (A6 Safety Guide IME83).

On a MINAS A5, switch the power off and wait 15 minutes or longer after the front panel LED has gone out before maintenance or inspection (A5 Operating Instructions IME10, page 11). The A5 safety sheet IMD61 adds that you should wait at least the time printed on the nameplate on the driver's side panel and confirm the shock risk has passed.

Disconnect every connection to the driver before any megger (insulation resistance) test on the driver, or the driver can be damaged. Clear alarms only with the motor stopped, after the cause is removed and the machine is safe. Follow lockout/tagout and your site's safe-work procedures, and check the manual for your exact model before you act.

Quick lookup

Alarms stop the servo and the axis, so in OEE they are availability losses; warnings let it keep running until you act.

Type a code or a word (overload, encoder, overvoltage, position deviation) to filter the list. Click a code for its causes and first checks.

73 codes

CodeDriveName
Err12.0A5, A6Over-voltage protection
Err13.0A5, A6Main power supply undervoltage protection (between P to N)
Err14.0A5, A6Over-current protection
Err15.0A5, A6Over-heat protection
Err16.0A5, A6Over-load protection
Err18.0A5, A6Over-regeneration load protection
Err21.0A5, A6Encoder communication disconnect error protection
Err24.0A5, A6Position deviation excess protection
Err26.0A5, A6Over-speed protection
Err38.0A5, A6Over-travel inhibit input protection
Err11.0A5, A6Control power supply undervoltage protection
Err13.1A5, A6Main power supply undervoltage protection (AC interception detection)
Err14.1A5, A6IPM error protection
Err15.1A6Encoder overheat error protection
Err16.1A5, A6Torque saturation error protection
Err18.1A5, A6Regenerative transistor error protection
Err21.1A5, A6Encoder communication error protection
Err23.0A5, A6Encoder communication data error protection
Err24.1A5, A6Speed deviation excess protection
Err26.1A5, A62nd over-speed protection
Err25.0A5, A6Hybrid deviation excess error protection
Err27.0A5, A6SCommand pulse input frequency error protection
Err27.2A5, A6SCommand pulse multiplier error protection
Err28.0A5, A6Pulse regeneration limit protection
Err29.0A5, A6SDeviation counter overflow protection
Err30.0A5Safety input protection
Err31.0A6Safety function error protection 1
Err33.0A5, A6Duplicated input allocation error 1 protection
Err34.0A5, A6Software limit protection
Err36.0A5, A6EEPROM parameter error protection
Err37.0A5, A6EEPROM check code error protection
Err38.1A6N, A6BOver-travel inhibit input protection 2
Err38.2A6N, A6BOver-travel inhibit input protection 3
Err39.0A5, A6SAnalog input 1 (AI1) excess protection
Err40.0A5, A6Absolute system down error protection
Err41.0A5, A6Absolute counter over error protection
Err42.0A5, A6Absolute over-speed error protection
Err44.0A5, A6Absolute single turn counter error protection
Err45.0A5, A6Absolute multi-turn counter error protection
Err47.0A5, A6Absolute status error protection
Err50.0A5, A6External scale connection error protection
Err50.1A5, A6External scale communication error protection
Err51.0A5, A6External scale status error protection 0
Err55.0A5, A6A-phase connection error protection
Err70.0A6U-phase current detector error protection
Err72.0A6Thermal error protection
Err87.0A5, A6Forced alarm input protection
Err92.0A6Encoder data recovery error protection
Err95.0A5, A6Motor automatic recognition error protection
Err96.2A6Control unit error protection 1
Err98.5A6Hardware self-diagnosis abnormality protection 1
Err99.0A5Other error
Err80.0A6SRS232/RS485/Modbus communication timeout protection
Err80.3A6N, A6BPLL incomplete error protection
Err82.0A6NRTEX node addressing error protection
Err83.0A6NRTEX communication error protection 1
Err84.0A6NRTEX communication time out error protection
Err86.0A6NRTEX cyclic data error protection 1
Err80.4A6BPDO watchdog error protection
Err81.0A6BSynchronization cycle error protection
Err85.2A6BLost link error protection
Err88.0A6BMain power undervoltage protection (AC insulation detection 2)
Err88.1A6BControl mode setting error protection
A0A5, A6Overload warning
A1A5, A6Over-regeneration warning
A2A5, A6Battery warning
A3A5, A6Fan warning
A4A5, A6Encoder communication warning
A5A5, A6Encoder overheat warning
A6A5, A6Oscillation detection warning
A7A5, A6Lifetime detection warning
ACA6Deterioration diagnosis warning
C3A6Main power off warning

Each code: causes and first checks

Err12.0: Over-voltage protection

Hits OEE: Availability

What it means: The DC bus voltage (between P and N) went above the trip level. On a 200 V A5 driver the trip point is about 400 V DC, which matches about 280 V AC at the input.[1][2][3][4]

Likely causes

  • Supply voltage above the allowed input range
  • Voltage surge from a phase-advancing (power factor) capacitor or a UPS on the supply
  • External regeneration resistor disconnected or open
  • External regeneration resistor too small to absorb the braking energy
  • Driver circuit failure

First checks, in this order

  1. Measure the line voltage at L1, L2 and L3 and confirm it is within the driver rating.
  2. Remove any phase-advancing capacitor from the driver supply.
  3. Measure the external regeneration resistor across the driver terminals (P and B on A6, B1 and B2 on A5); replace it if it reads open.
  4. Use a regeneration resistor with the specified resistance and wattage.
  5. If the alarm continues with good supply and resistor, replace the driver.

Err13.0: Main power supply undervoltage protection (between P to N)

Hits OEE: Availability

What it means: The main circuit DC bus fell below the trip level during servo-on, or, with Pr5.08 bit 0 set to 1, the main AC input dropped out for longer than Pr5.09. On a 200 V A5 driver the bus trip point is about 110 V DC (about 75 V AC).[1][2][3][4]

Likely causes

  • Low supply voltage or a momentary power failure
  • Main contactor or main supply switched off while the servo was on
  • Supply capacity too small, so inrush current at main power-on pulls the voltage down
  • Missing phase: a 3-phase driver running on single phase
  • Driver circuit failure

First checks, in this order

  1. Measure the line voltage at L1, L2 and L3.
  2. Find out why the main contactor or main supply dropped out, fix it and switch the power on again.
  3. Check Pr5.09 (main power off detection time) and Pr5.08 (LV trip selection at main power off).
  4. Connect every phase correctly; single-phase 100 V and 200 V drivers use L1 and L3.
  5. Increase the supply capacity; replace the driver if the alarm continues.

Err14.0: Over-current protection

Hits OEE: Availability

What it means: Current through the driver's power stage went above the limit, so the drive cut the motor current at once.[1][2][3][4]

Likely causes

  • Short circuit between motor phases U, V and W, or stray wire strands at the connector
  • Ground (earth) fault in the motor cable
  • Burnt motor winding or loose motor connector pins
  • Dynamic brake relay contacts welded from frequent servo-on and servo-off cycling
  • Pulse commands sent at the same moment as servo-on or earlier
  • Motor not matched to the driver capacity
  • Failed power stage (IGBT) or driver circuit

First checks, in this order

  1. Disconnect the motor leads and switch servo-on: if the alarm appears immediately, replace the driver.
  2. Check U, V and W for shorts and for stray strands at the connector, and rewire correctly.
  3. With the driver disconnected, measure insulation between U, V, W and ground; replace the motor if insulation is poor.
  4. Compare the winding resistance between motor phases; replace the motor if they are unbalanced.
  5. Do not use servo-on and servo-off to start and stop the machine.
  6. Send the first pulse command at least 100 ms after servo-on.
  7. Check the motor and driver nameplates to confirm they are a matching pair.

Err15.0: Over-heat protection

Hits OEE: Availability

What it means: The temperature of the driver's heat sink or power device went above its limit.[1][2][3][4]

Likely causes

  • Ambient temperature around the driver too high
  • Poor cooling: blocked airflow, failed fan, crowded cabinet
  • Driver running overloaded

First checks, in this order

  1. Check the cabinet temperature against the driver's operating range and improve ventilation.
  2. Check that the driver fan runs (an A3 fan warning means the fan has stopped).
  3. Lengthen the acceleration and deceleration times or reduce the load.
  4. If the duty cycle is simply too heavy, move to a larger driver and motor.

Err16.0: Over-load protection

Hits OEE: Availability

What it means: The torque command stayed above the overload level (Pr5.12 sets it on A5 and A6N) long enough to trip on the drive's overload time curve. The A0 overload warning appears first at 85% of the trip level.[1][2][3][4]

Likely causes

  • Load heavier than the motor's rated torque for a long time
  • Oscillation or hunting from poor gain tuning, or a wrong inertia ratio in Pr0.04
  • Motor miswired or a broken motor lead
  • Machine collision, jam or binding that suddenly raised the load
  • Holding brake not releasing
  • On multi-axis machines, a motor cable connected to the wrong axis

First checks, in this order

  1. Watch the torque (current) waveform and the overload factor on the front panel or in PANATERM; it should not swing up and down hard.
  2. Lengthen the acceleration and deceleration times or reduce the load; upsize the motor and driver if needed.
  3. Retune the gains and check Pr0.04 (inertia ratio).
  4. Check the motor wiring against the wiring diagram and replace damaged cable.
  5. Measure the voltage at the brake terminals and confirm the brake releases.
  6. Confirm each motor cable and encoder cable go to the same axis.
  7. Wait at least 10 seconds after the trip before clearing it.

Err18.0: Over-regeneration load protection

Hits OEE: Availability

What it means: The braking (regenerative) energy returned by the motor went above what the regeneration resistor can absorb. The A1 over-regeneration warning appears first at 85% of the trip level.[1][2][3][4]

Likely causes

  • High load inertia decelerated quickly, raising the bus voltage
  • High motor speed with a deceleration time too short to absorb the energy
  • External resistor use limited to 10% duty by the Pr0.16 setting
  • Continuous regenerative braking, such as lowering a load all the time

First checks, in this order

  1. Check the regeneration resistor load factor on the front panel or in PANATERM.
  2. Check the motion profile with the speed monitor; lengthen the deceleration time or lower the speed.
  3. Fit an external regeneration resistor, or a larger one, or upsize the driver and motor.
  4. Set Pr0.16 to 2 only when the external resistor has its own protection such as a thermal fuse; otherwise the resistor can overheat and burn.
  5. Do not use the driver in continuous regenerative braking applications.

Err21.0: Encoder communication disconnect error protection

Hits OEE: Availability

What it means: Communication between the encoder and the driver was lost a set number of times, so the open-wire detection tripped.[1][2][3][4]

Likely causes

  • Encoder cable unplugged, broken or damaged
  • Encoder connector pins miswired or loose

First checks, in this order

  1. Check the encoder cable and both connectors; wire them as shown in the wiring diagram.
  2. Correct any miswired connector pins.
  3. Look for crushed or flexed cable sections, especially in cable chains.

Err24.0: Position deviation excess protection

Hits OEE: Availability

What it means: The position deviation (following error between command and actual position) went above the limit set in Pr0.14.[1][2][3][4]

Likely causes

  • Motor cannot follow the command: torque saturated, load too heavy, acceleration too fast
  • Gains set too low for the motion
  • Torque limits Pr0.13 or Pr5.22 set too low
  • Encoder miswired
  • Pr0.14 set too small for the actual speed and gains

First checks, in this order

  1. Check that the motor follows the position command, and watch the torque monitor for saturation.
  2. Adjust the gains.
  3. Set Pr0.13 (1st torque limit) and Pr5.22 (2nd torque limit) to their maximum while testing.
  4. Check the encoder wiring against the wiring diagram.
  5. Lengthen the acceleration and deceleration times, or lower the load and speed.
  6. Increase Pr0.14 (A6S default is 100000 command units; Pr5.20 sets the unit).

Err26.0: Over-speed protection

Hits OEE: Availability

What it means: Motor speed went above the over-speed level in Pr5.13.[1][2][3][4]

Likely causes

  • Speed command too high
  • Command pulse frequency or electronic gear (division and multiplication) ratio wrong
  • Overshoot from poor gain tuning
  • Encoder miswired

First checks, in this order

  1. Do not give a speed command above the machine's needs.
  2. Check the command pulse input frequency and the division and multiplication ratio.
  3. Adjust the gains if the motor overshoots.
  4. Check the encoder wiring against the connection diagram.
  5. Set Pr5.13 to the maximum operating speed times 1.2 to 1.5 (default is motor maximum speed times 1.2).

Err38.0: Over-travel inhibit input protection

Hits OEE: Availability

What it means: An overtravel limit tripped the drive: with Pr5.04 = 0 both the positive and negative overtravel inhibit inputs (POT and NOT) are on, or with Pr5.04 = 2 either one is on. The A6S reference calls it Drive prohibition input protection; A6N and A6B call it Over-travel inhibit input protection 1.[1][2][3][4]

Likely causes

  • Axis has run onto a limit switch
  • Limit switch failed, or its wire is broken
  • 24 V I/O supply for the limit inputs missing
  • Control signal supply (12 to 24 V DC) rises slowly at power-on, so both limits read on

First checks, in this order

  1. Check the switches, wiring and power supply of the POT and NOT inputs.
  2. Check that the 12 to 24 V DC control signal supply comes up quickly at power-on.
  3. Check that Pr5.04 (over-travel inhibit input setup) matches how the limits are used.
  4. After fixing the cause, clear the alarm and jog the axis back inside its travel.

Err11.0: Control power supply undervoltage protection

Hits OEE: Availability

What it means: The control power supply voltage fell below its trip level. On a 200 V A5 driver this is about 145 V DC (about 100 V AC); 400 V A5 drivers use a 24 V DC control supply that trips at about 15 V DC.[1][2][3][4]

Likely causes

  • Low control supply voltage or a momentary power failure
  • Supply capacity too small, so inrush at main power-on pulls the voltage down
  • Driver circuit failure

First checks, in this order

  1. Measure the control supply at the driver: L1C to L2C on 100 V and 200 V drivers, 24 V to 0 V on 400 V A5 drivers.
  2. Increase the supply capacity or change the power supply.
  3. Replace the driver if the supply is good and the alarm continues.

Err13.1: Main power supply undervoltage protection (AC interception detection)

Hits OEE: Availability

What it means: The drive detected that the main AC supply was cut off. The manuals give the same causes and fixes as Err13.0.[1][2][3][4]

Likely causes

  • Momentary power failure on the main supply
  • Main contactor opened while the servo was on
  • Missing phase on a 3-phase driver
  • Supply capacity too small

First checks, in this order

  1. Measure the line voltage at L1, L2 and L3.
  2. Check the main contactor and its control sequence.
  3. Check Pr5.09 (main power off detection time).
  4. Connect every phase correctly and increase supply capacity if needed.

Err14.1: IPM error protection

Hits OEE: Availability

What it means: The intelligent power module (IPM) in the power stage reported a fault. The manuals give the same causes and checks as Err14.0.[1][2][3][4]

Likely causes

  • Short circuit or ground fault in the motor or motor cable
  • Burnt motor winding or loose motor connector
  • Dynamic brake relay contacts welded from frequent servo-on and servo-off
  • Failed power module

First checks, in this order

  1. Disconnect the motor and switch servo-on: an immediate alarm points to the driver.
  2. Check U, V and W for shorts and insulation to ground, with the driver disconnected.
  3. Compare phase to phase winding resistance of the motor.
  4. Replace the driver if the motor and cable test good.

Err15.1: Encoder overheat error protection

Hits OEE: Availability

What it means: The temperature inside the motor encoder reached the encoder overheat error level.[1][2][3]

Likely causes

  • High ambient temperature around the motor
  • Motor running overloaded

First checks, in this order

  1. Improve the motor's ambient temperature and cooling.
  2. Lengthen the acceleration and deceleration times or reduce the load.
  3. Upsize the motor and driver if the duty is too heavy.
  4. Watch for the A5 encoder overheat warning, which comes first.

Err16.1: Torque saturation error protection

Hits OEE: Availability

What it means: Torque stayed at its limit (saturated) for the time set in Pr6.57; A6N and A6B can also trip on the count set in Pr7.16.[1][2][3][4]

Likely causes

  • Load too heavy for the torque limit in use
  • Machine jam, binding or collision
  • Torque limits or gains not suited to the motion

First checks, in this order

  1. Check how the drive and machine are running when it trips.
  2. Work through the Err16.0 checks: load, acceleration time, gains, wiring and brake.
  3. Check Pr6.57 (detection time) for your application.

Err18.1: Regenerative transistor error protection

Hits OEE: Availability

What it means: The regeneration (braking) transistor inside the driver is faulty.[1][2][3][4]

Likely causes

  • Failed regeneration drive transistor in the driver

First checks, in this order

  1. Replace the driver.
  2. Send the failed driver to the dealer for investigation.

Err21.1: Encoder communication error protection

Hits OEE: Availability

What it means: The encoder cable is connected but data from the encoder arrives with errors, mostly caused by electrical noise.[1][2][3][4]

Likely causes

  • Noise coupling into the encoder cable
  • Encoder supply voltage too low, often on long cables
  • Encoder cable shield not connected to frame ground (FG)
  • Encoder cable bundled with the motor power cable

First checks, in this order

  1. Measure the encoder supply: 5 V plus or minus 5% (4.75 to 5.25 V) on A6, 4.90 to 5.25 V on A5; long cables need extra care.
  2. Route the encoder cable apart from the motor power cable.
  3. Connect the cable shield to FG.
  4. Watch for the A4 encoder communication warning, which shows rising error counts.

Err23.0: Encoder communication data error protection

Hits OEE: Availability

What it means: Communication with the encoder works, but the content of the data is wrong, mostly because of noise.[1][2][3][4]

Likely causes

  • Noise on the encoder line
  • Low encoder supply voltage on a long cable
  • Shield not connected to FG, or encoder and motor cables bundled together

First checks, in this order

  1. Check the encoder supply voltage (5 V plus or minus 5% on A6, 4.90 to 5.25 V on A5).
  2. Separate the encoder cable from the motor power cable.
  3. Connect the shield to FG.
  4. If it continues with good wiring, suspect the encoder (motor) or the cable.

Err24.1: Speed deviation excess protection

Hits OEE: Availability

What it means: The difference between the internal position command speed and the actual motor speed went above Pr6.02. The A5 manual calls it Velocity deviation excess protection.[1][2][3][4]

Likely causes

  • Acceleration too fast for the motor to follow
  • Gains too low, poor following
  • Command speed forced to 0 suddenly, for example by the command pulse inhibit input (INH) or an overtravel input
  • Pr6.02 set without enough margin

First checks, in this order

  1. Increase Pr6.02 (speed deviation excess setup) with enough margin.
  2. Lengthen the acceleration and deceleration of the position command, or improve following by adjusting gains.
  3. Set Pr6.02 to 0 to disable this detection if the application does not need it.

Err26.1: 2nd over-speed protection

Hits OEE: Availability

What it means: Motor speed went above the 2nd over-speed level in Pr6.15. The A5 manual explains that, unlike Err26.0, this alarm does not use the immediate stop: it cuts motor current and stops by the alarm sequence, as a backstop when the speed runs away.[1][2][3][4]

Likely causes

  • Speed far above the command, for example from overshoot or a runaway
  • Pr6.15 set lower than or too close to Pr5.13

First checks, in this order

  1. Work through the Err26.0 checks: speed command, pulse frequency, gear ratio, gains, encoder wiring.
  2. Set Pr5.13 (over-speed level) clearly lower than Pr6.15 (2nd over-speed level) so the immediate stop can act first.

Err25.0: Hybrid deviation excess error protection

Hits OEE: Availability

What it means: In full-closed control, the load position from the external scale and the motor position from the encoder differ by more than Pr3.28, or the electronic gear numerator was changed during full-closed control.[1][2][3][4]

Likely causes

  • Slipping or loose coupling between motor and load
  • External scale wiring fault
  • Scale direction or scale ratio set wrong
  • Electronic gear changed while in full-closed control

First checks, in this order

  1. Check the mechanical connection between motor and load.
  2. Check the wiring between the external scale and the driver.
  3. Move the load and check that motor and scale feedback change with the same sign.
  4. Check Pr3.24 and Pr3.25 (external scale ratio) and Pr3.26 (scale direction reversal).
  5. Do not change the electronic gear during full-closed control.

Err27.0: Command pulse input frequency error protection

Hits OEE: Availability

What it means: The command pulse frequency from the controller is more than 1.2 times the maximum set in Pr5.32. Applies to pulse-train command drivers (A5 and A6SE, A6SF, A6SG).[1][4]

Likely causes

  • Controller sending pulses faster than Pr5.32 allows
  • Noise on the pulse lines adding false pulses

First checks, in this order

  1. Check the pulse frequency the controller outputs.
  2. Check Pr5.32 (command pulse input maximum setup and digital filter).
  3. Check pulse cable routing, shielding and the use of a line driver interface.

Err27.2: Command pulse multiplier error protection

Hits OEE: Availability

What it means: The electronic gear (command division and multiplication) ratio is not suitable, so the internal command rate is too high. The A5 detail table calls it Electronic gear error protection; on A6S a wrong backlash compensation amount (Pr7.05) also triggers it.[1][4]

Likely causes

  • Electronic gear numerator and denominator ratio too large
  • Unstable command pulse input
  • Noise on the pulse input causing count errors
  • Backlash compensation amount Pr7.05 not suitable (A6S)

First checks, in this order

  1. Keep the division and multiplication ratio as small as possible, for example between 1/1000 and 1000.
  2. Check the electronic gear settings.
  3. Use the line driver interface if possible.
  4. On A5, set Pr5.32 below 1000 to enable the digital filter.
  5. On A6S, check Pr7.05 (backlash compensation amount).

Err28.0: Pulse regeneration limit protection

Hits OEE: Availability

What it means: The encoder pulse output (pulse regeneration) to the controller went above its frequency limit. A6N and A5 call it Limit of pulse replay error protection.[1][2][3][4]

Likely causes

  • Output pulses per revolution set too high for the motor speed
  • Pulse output division set wrong

First checks, in this order

  1. Check Pr0.11 (output pulses per motor revolution) and Pr5.03 (denominator of pulse output division).
  2. Set Pr5.33 (pulse regenerative output limit enable) to 0 to disable this detection if needed.

Err29.0: Deviation counter overflow protection

Hits OEE: Availability

What it means: The position deviation counted in encoder pulses overflowed: above 2^29 (536870912) on A5, above 2^30 minus 1 (1073741823) on A6S.[1][4]

Likely causes

  • Motor not following the position command
  • Torque saturated or torque limits too low
  • Encoder miswired

First checks, in this order

  1. Check that the motor follows the position command.
  2. Watch the torque monitor for saturation and adjust the gains.
  3. Set Pr0.13 and Pr5.22 (torque limits) to maximum.
  4. Check the encoder wiring.

Err30.0: Safety input protection

Hits OEE: Availability

What it means: The input photocoupler of safety input 1, safety input 2 or both is off, so the safe torque off (STO) function is active. The A5 code list calls it Safety detection.[4]

Likely causes

  • Safety circuit open: door switch, light curtain, emergency stop or safety relay
  • Broken or loose safety input wiring
  • Safety bypass plug missing on a machine that does not use STO

First checks, in this order

  1. Check the wiring of safety input 1 and safety input 2.
  2. Check the state of the external safety devices feeding those inputs.
  3. If the machine does not use STO, check that the safety bypass plug is fitted.
  4. Bring both safety inputs to their normal state before clearing (clearing with them abnormal can give Err99.0).

Err31.0: Safety function error protection 1

Hits OEE: Availability

What it means: The driver's safety function circuit detected an internal error.[1][2][3]

Likely causes

  • Fault in the driver's safety circuit

First checks, in this order

  1. Switch the power off and on again.
  2. If it happens again, replace the driver and return it to the dealer for investigation.

Err33.0: Duplicated input allocation error 1 protection

Hits OEE: Availability

What it means: One input pin in the first input group (SI1 to SI5 on A5 and A6S) has two functions assigned. A5 calls it I/F input duplicated allocation error 1 protection.[1][2][3][4]

Likely causes

  • Input assignment parameters edited so that two functions share one pin
  • Parameter file from another machine loaded

First checks, in this order

  1. Check the input function assignment parameters and give each connector pin one correct function.
  2. Write the corrected parameters to EEPROM and switch the power off and on.

Err34.0: Software limit protection

Hits OEE: Availability

What it means: The motor moved outside the working range set in Pr5.14 around the position command range. The A6S reference calls it Motor working range setup error protection.[1][2][3][4]

Likely causes

  • Gains not suitable, causing overshoot or oscillation
  • Pr5.14 set too small

First checks, in this order

  1. Check the balance of position loop and speed loop gains, and the inertia ratio.
  2. Increase Pr5.14 (allowable motor operating range), or set it to 0 to disable the function.

Err36.0: EEPROM parameter error protection

Hits OEE: Availability

What it means: Parameter data in the driver's EEPROM was found damaged when read at power-on. Sub numbers 0 to 2 (0 to 1 on A6) mean the same thing.[1][2][3][4]

Likely causes

  • Power lost while parameters were being written
  • EEPROM or driver failure

First checks, in this order

  1. Set all parameters again (restore them from a saved PANATERM file if you have one).
  2. If it happens again, replace the driver and return it to the dealer.

Err37.0: EEPROM check code error protection

Hits OEE: Availability

What it means: The check data used to confirm EEPROM writes was found damaged at power-on. Sub numbers 0 to 2 mean the same thing.[1][2][3][4]

Likely causes

  • Driver EEPROM or circuit failure

First checks, in this order

  1. Replace the driver.
  2. Return the failed driver to the dealer for investigation.

Err38.1: Over-travel inhibit input protection 2

Hits OEE: Availability

What it means: POT or NOT turned on while the motor was running from a USB (PANATERM) command such as a trial run or FFT with network communication off.[2][3]

Likely causes

  • Test run from PANATERM drove the axis onto a limit
  • Limit input already on when the USB test command started
  • Limit switch or wiring fault

First checks, in this order

  1. Check the switches, wiring and power supply of the POT and NOT inputs.
  2. Check that the 12 to 24 V DC control signal supply rises quickly at power-on.
  3. Move the axis off the limit before starting a PANATERM test operation.

Err38.2: Over-travel inhibit input protection 3

Hits OEE: Availability

What it means: POT is assigned to input SI6 or NOT to SI7, but Pr5.04 is set to something other than 1.[2][3]

Likely causes

  • Pr5.04 (over-travel inhibit input setup) not matched to the limit input assignment

First checks, in this order

  1. When POT is on SI6 or NOT is on SI7, set Pr5.04 to 1.

Err39.0: Analog input 1 (AI1) excess protection

Hits OEE: Availability

What it means: A voltage above the level set in Pr4.24 was applied to analog input 1.[1][4]

Likely causes

  • Analog command from the controller too high
  • Pr4.24 set too low
  • Wiring fault at the I/F connector (X4 on A5)

First checks, in this order

  1. Set Pr4.24 (analog input 1 excess setup) correctly.
  2. Check the I/F connector wiring.
  3. Set Pr4.24 to 0 to disable the protection if it is not needed.

Err40.0: Absolute system down error protection

Hits OEE: Availability

What it means: The absolute encoder lost both its normal power and its battery, so its internal capacitor voltage dropped and the multi-turn data is lost. On A6 it also appears when a battery-less absolute encoder has never been cleared.[1][2][3][4]

Likely causes

  • Absolute battery flat, missing or disconnected while the power was off
  • Encoder cable unplugged with the power off
  • Battery-less absolute encoder not yet cleared after installation (A6)

First checks, in this order

  1. Connect a good battery for the absolute data (A2 battery warning shows a low battery).
  2. Clear the absolute encoder (front panel auxiliary function mode where fitted, PANATERM, or the network on A6N and A6B); the alarm stays until this is done.
  3. After the clear, re-establish the machine home position.

Err41.0: Absolute counter over error protection

Hits OEE: Availability

What it means: The multi-turn counter of the absolute encoder went above its limit.[1][2][3][4]

Likely causes

  • Axis travelled more than 32767 revolutions from the machine origin
  • Pr0.15 (absolute encoder setup) not suited to the application

First checks, in this order

  1. Set Pr0.15 to a suitable value (on A5, setting 2 ignores multi-turn counter over).
  2. Keep the travel from the machine origin within 32767 revolutions.

Err42.0: Absolute over-speed error protection

Hits OEE: Availability

What it means: While the absolute encoder ran on battery only (power off), or after its normal power was lost during operation, the motor turned faster than the allowed speed. It does not occur with the A6 battery-less absolute encoder.[1][2][3][4]

Likely causes

  • Shaft turned by the load or by hand during a power outage
  • Encoder supply lost during operation
  • Loose encoder connector

First checks, in this order

  1. Check how the shaft is driven during power off and keep its speed below the limit.
  2. Check the encoder supply voltage (5 V plus or minus 5%).
  3. Check the encoder connector (X2 on A5, CN2 on A6S, X6 on A6N and A6B).
  4. Clear the absolute encoder; the alarm stays until this is done.

Err44.0: Absolute single turn counter error protection

Hits OEE: Availability

What it means: The encoder detected an error in its single-turn counter. A6S and A6N call it Single turn counter error protection.[1][2][3][4]

Likely causes

  • Encoder failure inside the motor

First checks, in this order

  1. Replace the motor.

Err45.0: Absolute multi-turn counter error protection

Hits OEE: Availability

What it means: The encoder detected an error in its multi-turn counter. A6S and A6N call it Multi-turn counter error protection.[1][2][3][4]

Likely causes

  • Encoder failure inside the motor

First checks, in this order

  1. Replace the motor.

Err47.0: Absolute status error protection

Hits OEE: Availability

What it means: At power-on the absolute encoder was turning faster than the allowed speed.[1][2][3][4]

Likely causes

  • Vertical axis drifting down at power-on
  • Motor turned by the machine or another axis while the driver powers up

First checks, in this order

  1. Arrange the machine so the motor is not turning when power is switched on.
  2. Check the holding brake on vertical axes.

Err50.0: External scale connection error protection

Hits OEE: Availability

What it means: In full-closed control, communication between the external scale and the driver was lost a set number of times, so the open-wire detection tripped. A5 calls it Feedback scale connection error protection.[1][2][3][4]

Likely causes

  • External scale cable unplugged or broken
  • Connector pins miswired

First checks, in this order

  1. Wire the external scale as shown in the wiring diagram.
  2. Correct any miswired connector pins.

Err50.1: External scale communication error protection

Hits OEE: Availability

What it means: The external scale cable is connected but its data arrives with errors, mostly from noise.[1][2][3][4]

Likely causes

  • Noise on the scale cable
  • Low scale supply voltage on a long cable
  • Shield not connected, or scale cable bundled with the motor cable

First checks, in this order

  1. Keep the external scale supply at 5 V plus or minus 5% (4.75 to 5.25 V), especially on long cables.
  2. Route the scale cable apart from the motor cable.
  3. Connect the shield to FG as shown in the scale wiring diagram.

Err51.0: External scale status error protection 0

Hits OEE: Availability

What it means: Bit 0 of the external scale's own error code (ALMC) turned to 1, so the scale itself reported a fault. Sub numbers 1 to 5 report bits 1 to 5. A6S calls it External scale ST error protection 0.[1][2][3][4]

Likely causes

  • Fault reported by the external scale (see the scale maker's specification)

First checks, in this order

  1. Check the external scale specification for the meaning of the error bit.
  2. Remove the cause, clear the external scale error from the front panel, then switch the power off and on.

Err55.0: A-phase connection error protection

Hits OEE: Availability

What it means: The A-phase wiring of the external scale is faulty, for example disconnected. Err55.1 and Err55.2 cover the B and Z phases.[1][2][3][4]

Likely causes

  • Broken or unplugged A-phase wire of the external scale

First checks, in this order

  1. Check the A-phase wiring of the external scale.

Err70.0: U-phase current detector error protection

Hits OEE: Availability

What it means: The offset value of the U-phase current detector is out of range. Err70.1 is the same check for the W phase.[1][2][3]

Likely causes

  • Current detection circuit fault in the driver

First checks, in this order

  1. Switch the power off and on again.
  2. If the error comes back, stop using the unit, replace the motor and driver as the manual advises, and return them for investigation.

Err72.0: Thermal error protection

Hits OEE: Availability

What it means: The driver's internal thermal sensing has an error. The A6S and A6N code lists call it Thermal relay error protection.[1][2][3]

Likely causes

  • Thermal sensing circuit fault in the driver

First checks, in this order

  1. Switch the power off and on again.
  2. If the error comes back, stop using the unit, replace the driver and motor as the manual advises, and return them for investigation.

Err87.0: Forced alarm input protection

Hits OEE: Availability

What it means: The forced alarm input (E-STOP) is active, so the driver stopped on purpose. The A5 code list calls it Compulsory alarm input protection.[1][2][3][4]

Likely causes

  • Emergency stop circuit opened
  • Broken or loose wire on the E-STOP input

First checks, in this order

  1. Check the emergency stop circuit and release it once the machine is safe.
  2. Check the wiring of the forced alarm input (E-STOP).

Err92.0: Encoder data recovery error protection

Hits OEE: Availability

What it means: In absolute mode, the driver could not initialize its internal position information from the encoder correctly.[1][2][3]

Likely causes

  • Noise on the encoder line
  • Low encoder supply voltage on a long cable
  • Shield not connected, or encoder and motor cables bundled together

First checks, in this order

  1. Keep the encoder supply at 5 V plus or minus 5% (4.75 to 5.25 V), especially on long cables.
  2. Separate the encoder cable from the motor cable.
  3. Connect the shield to FG.

Err95.0: Motor automatic recognition error protection

Hits OEE: Availability

What it means: The driver did not recognize the connected motor as a match. Sub numbers 0 to 4 all mean this.[1][2][3][4]

Likely causes

  • Motor of the wrong type or capacity fitted to this driver
  • Wrong motor picked up during a replacement

First checks, in this order

  1. Check the motor and driver model numbers on the nameplates.
  2. Fit a motor that matches the driver.

Err96.2: Control unit error protection 1

Hits OEE: Availability

What it means: An error occurred in the driver's control unit.[1][2][3]

Likely causes

  • Driver control circuit fault
  • Heavy electrical noise

First checks, in this order

  1. Switch the power off and on again.
  2. If it comes back, return the driver to the dealer or manufacturer.

Err98.5: Hardware self-diagnosis abnormality protection 1

Hits OEE: Availability

What it means: The driver's self-diagnosis found a fault in the current detector.[1][2][3]

Likely causes

  • Current detector failure in the driver

First checks, in this order

  1. Return the driver to the dealer for investigation and repair.

Err99.0: Other error

Hits OEE: Availability

What it means: The driver saw an abnormal internal signal, usually from heavy noise. On A5 it also appears if an alarm clear is attempted while safety input 1 or 2 is not in its normal state.[4]

Likely causes

  • Heavy electrical noise
  • Alarm clear tried with a safety input still abnormal
  • Driver self-diagnosis found an internal fault

First checks, in this order

  1. Switch the power off and on again.
  2. Bring safety inputs 1 and 2 to their normal state, then clear the alarm.
  3. Check grounding and noise suppression around the driver.
  4. If it repeats, stop using the units, replace the motor and driver, and return them for investigation.

Err80.0: RS232/RS485/Modbus communication timeout protection

Hits OEE: Availability

What it means: While RS232, RS485 or Modbus held the execution right, no message for this axis arrived within the time set in Pr5.40.[1]

Likely causes

  • Host stopped polling the drive
  • Communication cable or connection fault
  • Pr5.40 too short for the host's polling rate

First checks, in this order

  1. Check the RS232, RS485 or Modbus wiring and connection.
  2. Set Pr5.40 (communication timeout period) to a suitable time, or to 0 to disable it.

Err80.3: PLL incomplete error protection

Hits OEE: Availability

What it means: The phase lock (PLL) between network communication and the servo could not be completed within 1 second of starting synchronization. A6B calls it Incomplete PLL error protection.[2][3]

Likely causes

  • Communication cycle in the driver not matched to the host transmission cycle
  • Host transmission timing unstable
  • Cable fault or noise on the network cable
  • EtherCAT DC mode or propagation delay compensation set wrong (A6B)

First checks, in this order

  1. A6N: check that Pr7.20 and Pr7.91 (RTEX communication cycle) match the host transmission cycle, and that the multi-axis sync mode in Pr7.22 bit 1 matches the host.
  2. A6N: keep the host's transmission cycle accurate within 0.05%.
  3. A6B: check the DC mode setting and the propagation delay and drift compensation; in SM2 mode check that the host sends PDOs at a constant interval.
  4. Check the network cable wiring and look for noise; on A6B consider raising Pr7.42 bits 0 to 3.
  5. Switch the control power off and on; if it persists, the driver may be faulty.

Err82.0: RTEX node addressing error protection

Hits OEE: Availability

What it means: At control power-on, the node address rotary switch on the driver was set to a value outside the valid range.[2]

Likely causes

  • Node address switch set out of range or moved during service

First checks, in this order

  1. Set the node address switch within 0 to 31.
  2. Switch the control power off and on again.

Err83.0: RTEX communication error protection 1

Hits OEE: Availability

What it means: CRC errors in data addressed to this node repeated for the number of times set in Pr7.95. The detail table calls it RTEX continues communication error protection 1.[2]

Likely causes

  • Noise on the RTEX cable
  • Cable too long, badly routed or poorly connected
  • Cable below the required grade

First checks, in this order

  1. Check the communication cable for noise, length, routing and connections.
  2. Use category 5e or better shielded twisted pair cable (category 6 or better recommended).
  3. Add a ferrite core to the cable if it helps.
  4. Increase Pr7.95 or Pr7.96 if needed.

Err84.0: RTEX communication time out error protection

Hits OEE: Availability

What it means: No RTEX data was received for the number of cycles set in Pr7.97.[2]

Likely causes

  • RTEX cable disconnected or broken, or a poor connector
  • Upstream node powered off or in reset
  • Host not sending at the correct timing
  • Communication cycle in Pr7.20 and Pr7.91 not matching the host

First checks, in this order

  1. Check the cable and connectors; if swapping the cable changes how often it happens, suspect the connector plug.
  2. Check that the upstream node is powered and not in reset.
  3. Check that Pr7.20 and Pr7.91 match the host transmission cycle.
  4. Increase Pr7.97 if needed, then work through the Err83.0 checks.

Err86.0: RTEX cyclic data error protection 1

Hits OEE: Availability

What it means: Errors in the cyclic command area (C/R, MAC-ID, or Sub_Chk in 32-byte mode) repeated for the number of times set in Pr7.98.[2]

Likely causes

  • Host sending wrong cyclic command data
  • Host processing fault

First checks, in this order

  1. Check the cyclic command data the host sends.
  2. Check the processing on the host device.
  3. Increase Pr7.98 if needed.

Err80.4: PDO watchdog error protection

Hits OEE: Availability

What it means: In the EtherCAT SafeOP or OP state, process data (PDO) did not arrive within the watchdog time.[3]

Likely causes

  • Master stopped sending PDOs or sends them at uneven timing
  • Watchdog timeout set too short
  • EtherCAT cable fault or noise

First checks, in this order

  1. Check that the master sends PDOs at a constant interval.
  2. Increase the PDO watchdog timeout.
  3. Check the EtherCAT cable wiring and look for noise.

Err81.0: Synchronization cycle error protection

Hits OEE: Availability

What it means: The EtherCAT synchronization cycle (SYNC0 or IRQ) is set to a value the driver does not support, or the register and object settings disagree.[3]

Likely causes

  • Cycle time other than 125, 250, 500, 1000, 2000 or 4000 microseconds
  • SYNC0 cycle register and object 1C32h-02h not matching

First checks, in this order

  1. Set the synchronization cycle in the master to a supported value.
  2. Make the ESC register and object 1C32h-02h settings agree.

Err85.2: Lost link error protection

Hits OEE: Availability

What it means: After the EtherCAT state moved from Init to PreOP, port 0 or port 1 lost its link for longer than Pr7.43.[3]

Likely causes

  • EtherCAT cable unplugged, broken or loose
  • Neighboring device powered off
  • Problem in communication from the master

First checks, in this order

  1. Check the EtherCAT cable and connectors on both ports.
  2. Check that the neighbouring devices are powered.
  3. Check the communication from the master; review Pr7.43 (lost link detection time).

Err88.0: Main power undervoltage protection (AC insulation detection 2)

Hits OEE: Availability

What it means: With object 6007h set to 1, the driver saw the main power go off while in Operation Enabled or Quick Stop Active, or got a switch-on command while main power was off.[3]

Likely causes

  • Main contactor opened while the axis was enabled
  • Low supply voltage or capacity
  • Missing phase

First checks, in this order

  1. Find why the main supply or its contactor dropped out, fix it and switch the power on again.
  2. Connect each phase (L1, L2, L3) correctly; single-phase 100 V and 200 V use L1 and L3.
  3. Increase the supply capacity; replace the driver if it continues.

Err88.1: Control mode setting error protection

Hits OEE: Availability

What it means: The drive was enabled with object 6060h (modes of operation) at 0 or at a mode it does not support in the current control setup.[3]

Likely causes

  • Master did not write a valid mode of operation before enabling
  • Mode not allowed in full-closed or two-degree-of-freedom control

First checks, in this order

  1. Check the value the master writes to 6060h (modes of operation).
  2. Check Pr6.47 bits 0 and 3 (two-degree-of-freedom control settings).

A0: Overload warning

Warning: act before it becomes a stop

What it means: The load factor reached 85% or more of the overload protection level; Err16.0 follows if nothing changes. A6B can move the threshold with Pr6.95 and Pr6.96.[1][2][3][4]

Likely causes

  • Load near the motor's limit
  • Acceleration or deceleration too aggressive

First checks, in this order

  1. Check the load factor on the front panel or in PANATERM.
  2. Soften the acceleration and deceleration.
  3. Reduce the load.

A1: Over-regeneration warning

Warning: act before it becomes a stop

What it means: The regenerative load factor went above 85% of the protection level; Err18.0 follows if nothing changes.[1][2][3][4]

Likely causes

  • Frequent or hard deceleration of a high inertia load
  • Regeneration resistor too small

First checks, in this order

  1. Check the regenerative load factor.
  2. Soften the deceleration or reduce the load.
  3. Consider an external or larger regeneration resistor.

A2: Battery warning

Warning: act before it becomes a stop

What it means: The absolute encoder battery voltage is 3.2 V or lower. This warning stays latched until the battery is dealt with.[1][2][3][4]

Likely causes

  • Absolute encoder battery near the end of its life

First checks, in this order

  1. Check the battery voltage.
  2. Replace the battery before it causes Err40.0 (absolute data lost).

A3: Fan warning

Warning: act before it becomes a stop

What it means: The driver cooling fan has stopped for 1 second.[1][2][3][4]

Likely causes

  • Fan blocked by dirt or debris
  • Fan worn out

First checks, in this order

  1. Check that the fan turns and clean it.
  2. Replace the fan.
  3. On the A5 H-frame driver the upper fan stops during servo-off to save energy; that is normal.

A4: Encoder communication warning

Warning: act before it becomes a stop

What it means: The number of encoder communication errors in a row went above the set value; Err21.1 can follow.[1][2][3][4]

Likely causes

  • Noise on the encoder cable

First checks, in this order

  1. Look for noise sources and check encoder cable routing, shield and supply voltage.

A5: Encoder overheat warning

Warning: act before it becomes a stop

What it means: The encoder temperature went above the warning level.[1][2][3][4]

Likely causes

  • Hot motor environment
  • Heavy load on the motor

First checks, in this order

  1. Check the motor's operating environment.
  2. Lower the ambient temperature, reduce the load or improve heat dissipation.

A6: Oscillation detection warning

Warning: act before it becomes a stop

What it means: The drive detected oscillation or vibration above the level set in Pr6.37.[1][2][3][4]

Likely causes

  • Gains set too high
  • Machine resonance

First checks, in this order

  1. Lower the gain.
  2. Check Pr6.37 (oscillation detection level).

A7: Lifetime detection warning

Warning: act before it becomes a stop

What it means: The estimated remaining life of the driver's capacitors or fan dropped below the set level. This warning stays latched.[1][2][3][4]

Likely causes

  • Driver near the end of its service life

First checks, in this order

  1. Plan replacement of the servo driver.

AC: Deterioration diagnosis warning

Warning: act before it becomes a stop

What it means: The estimated load characteristics, or the torque command at constant speed, went outside the range set for the deterioration diagnosis function. It works only when Pr6.97 bit 1 is set to 1.[1][2][3]

Likely causes

  • Load characteristics changed from the reference values
  • Diagnosis thresholds set too tight

First checks, in this order

  1. Review the deterioration diagnosis settings and thresholds.
  2. The A6 references give replacing the servo driver as the action.

C3: Main power off warning

Warning: act before it becomes a stop

What it means: With Pr7.14 set to 10 to 1999 ms, the main power between L1 and L3 was interrupted for longer than that time.[1][2][3]

Likely causes

  • Momentary dip or loss of the main supply
  • Loose phase connection

First checks, in this order

  1. Check the Pr7.14 setting.
  2. Measure the line voltage at L1, L2 and L3.
  3. Connect each phase of the supply correctly.

Log it, or the same alarm comes back

An alarm stops the servo and the axis with it, so in OEE terms it is a breakdown. A warning lets the axis keep running, but its cause often becomes an alarm later in the shift. Log alarms with the main and sub number and the minutes lost, and warnings as early signs.

  • Reason code: the code plus the axis, for example MINAS A6 Err16.0, pick and place Z axis, so an overload that trips on the same move shows up as a pattern.
  • Loss bucket: a stop that needs a reset, a part or a technician is an availability loss (breakdown). Stops shorter than your micro-stop threshold go to performance (minor stops). The six big losses page shows where each one belongs.
  • What to count: how often each code fires per week and the minutes it costs. Two numbers a week turn "that alarm comes up sometimes" into a ranked list. The MTBF and MTTR calculator and the downtime cost calculator do the math.

The free OEE tracker logs each stop with its reason and turns the week into a downtime Pareto, so the code that costs the most rises to the top.

For servo motors that keep failing, fabrico.io has a guide to servo motor failure symptoms. An alarm code tells you what the servo drive detected, not what happened at the machine in the seconds before. Fabrico's camera-based OEE software syncs camera video with machine data, so you can replay the moment the axis stopped next to the alarm.

Frequently asked questions

What does Err16.0 mean on a Panasonic MINAS A6?

Err16.0 is Over-load protection. The torque command stayed above the overload level long enough to trip on the drive's overload time curve. Typical causes are a load above rated torque for a long time, hunting from poor tuning or a wrong inertia ratio (Pr0.04), a motor wiring fault, a jam or collision, a holding brake that does not release, or motor cables swapped between axes. Watch the load factor on the front panel or in PANATERM; the A0 overload warning appears at 85% of the trip level. Err16.0 can only be cleared about 10 seconds after it occurs.

How do I clear an alarm on a MINAS A6?

Remove the cause first and make sure the motor is stopped and the machine is safe. On A6SE, A6SF and A6SG use the alarm clear input A-CLR, the front panel alarm clear in auxiliary function mode (hold the key about 5 seconds until the bar fills), or communication. On A6N clear it over RTEX or USB with PANATERM; on A6B over EtherCAT, USB, or by switching A-CLR from off to on. Alarms that are not clearable need the control power switched off and on (A6N also accepts an RTEX software reset). Err40.0 and Err42.0 stay until the absolute encoder is cleared.

What is Err24.0 position deviation excess on a MINAS A5 or A6?

Err24.0 trips when the following error between the position command and the actual motor position goes above Pr0.14. The motor is not keeping up: torque is saturated, the load is too heavy, acceleration is too fast, gains are too low, the torque limits Pr0.13 and Pr5.22 are too low, or the encoder is miswired. Check the torque monitor, tune the gains, raise the torque limits while testing, lengthen the acceleration time, and only then raise Pr0.14 (A6S default is 100000 command units).

What does Err38.0 mean on a Panasonic servo drive?

Err38.0 is Over-travel inhibit input protection. With Pr5.04 = 0 it trips when both overtravel inputs, POT and NOT, are on; with Pr5.04 = 2 it trips when either one is on. Check the limit switches, their wiring and the 12 to 24 V DC signal supply, which must not rise slowly at power-on. The A6S manual calls this alarm Drive prohibition input protection. On A6N and A6B, Err38.1 and Err38.2 cover limits hit during a PANATERM test run and a Pr5.04 setting that does not match POT on SI6 or NOT on SI7.

What is the difference between an Err alarm and an A0 to A9 warning on MINAS A5 and A6?

An Err code is a protective function: the drive turns off the alarm output, stops the motor and the front panel flashes the error number until it is cleared. An A-number is a warning that the drive keeps running through, shown by a slow flashing display. Warnings give early notice, for example A0 overload warning at 85% of the Err16.0 level, A1 over-regeneration warning before Err18.0 and A2 battery warning before absolute data is lost. Most warnings clear by themselves when the cause goes away, or after the latch time in Pr6.27; the battery and lifetime warnings stay latched.

Sources

Codes and meanings follow the manufacturer documentation below. Wording is ours, simplified for the shop floor; the manual for your exact model and software version wins if it differs.

  1. Technical Reference, Functional Specification, AC Servo Driver MINAS A6S Series for Rotary motor (position control type, general-purpose communication type, multifunction type), Document No. SX-DSV03031, Revision R7.1, issued Jun. 12, 2026, Panasonic Industry Co., Ltd.
  2. Technical Reference, Functional Specification, AC Servo Driver MINAS A6N series (RTEX communication type), Document No. SX-DSV03077, Revision R14.0, issued Apr. 1, 2026, Panasonic Industry Co., Ltd.
  3. Technical Reference, Functional Specification, AC Servo Driver MINAS A6B series (EtherCAT communication, rotation type), Document No. SX-DSV03241, Revision R16.0, issued Dec. 1, 2025, Panasonic Industry Co., Ltd.
  4. Operating Instructions (Overall), AC Servo Motor and Driver MINAS A5II/A5 series (also A5IIE/A5E), manual IME10, revision 10 dated Mar. 2025, Panasonic Industry Co., Ltd.

See the moment the axis stopped

Fabrico, a light MES with computer vision, syncs camera footage with machine and timeline data, so you can replay the exact moment the axis stopped and review the cause next to its alarm. Cameras also catch short stops and a line that is switched on but not producing, the losses nobody writes down. Machines connect through a PLC, a Fabrico IoT device or an AI camera.

Book a Fabrico demo
The lookup stays free.

Related: Mitsubishi MELSERVO alarms · Yaskawa SERVOPACK alarms · SINAMICS V90 codes · servo drive troubleshooting · servo motor

Other alarm code lookups: FANUC: servo amplifier · spindle amplifier · robot SRVO | Siemens: MICROMASTER 440 · MASTERDRIVES · SINAMICS G120 · SINAMICS V90 servo · SINAMICS V20 | ABB: ACS550 drive · ACS800 drive · robot IRC5 | Okuma: OSP alarms | Haas: alarm lookup | Mitsubishi: MELSERVO servo · FR-D700 and FR-E700 inverters · FX PLC | Allen-Bradley: Kinetix and Ultra3000 · MicroLogix · PowerFlex 753 and 755 · PowerFlex 70 and 700 · 1336 and 1305 | Yaskawa: V1000 drive · SERVOPACK servo · Motoman robot | Delta: VFD drives · ASDA servo | Eaton: DC1 and SVX9000 drives | Control Techniques: Commander SK and M200 | Kollmorgen: AKD servo | Lenze: SMVector, 8200, 8400, i500 | Magnetek: IMPULSE and DSD 412 | Omron: MX2 and RX inverters · G5 and 1S servo | WEG: CFW500, CFW300, CFW11, CFW08 | Hitachi: WJ200 inverter | Toshiba: E3, Q9, P9, S15, nC3, AS3 | AutomationDirect: GS10, GS20, GS4, GS1 to GS3 | SANYO DENKI: SANMOTION servo | Parker: SSD 590+, 690+, AC10 | KEB: COMBIVERT F5 | Epson: robot RC700, RC90 | B&R: ACOPOS servo | Schneider Electric: Lexium 32 servo | Bosch Rexroth: IndraDrive | Vacon: NX, VACON 100 and 20 | Fuji Electric: FRENIC-Mini, Multi, Ace, MEGA | LS Electric: S100, G100, iG5A | Invertek: Optidrive E3, P2, Eco | SEW-Eurodrive: MOVITRAC B and MOVIDRIVE B

Related tools: full troubleshooting directory · OEE calculator · downtime cost · MTBF / MTTR · glossary

OEE essentials: OEE calculator · What is OEE · How to improve OEE · Six big losses · Availability · TEEP · Cost of downtime · OEE benchmark · Free OEE tracker · Free OEE software · How to track downtime · How to implement OEE · Light MES vs full MES