SANYO DENKI Servo Alarm Codes

41: Overload 1

What it means: The effective (RMS) motor torque has stayed above the rated torque long enough to trip the overload protection.^[1][2][3][4]

Also on: SANMOTION G: 41_0 Overload 1. SANMOTION R (RS1): 41H Overload 1.

Drive response: SB stop (slowdown at the sequence current limit). Clears with alarm reset.

Likely causes

• Load or duty cycle needs more than the motor's rated torque
• Holding brake not releasing
• U/V/W motor wiring swapped, or one or more phases open
• Machine collision or mechanical binding
• Motor encoder resolution setting does not match the motor
• Wrong motor and amplifier combination
• Internal fault in the amplifier or the motor encoder

First checks, in this order

1. Watch the effective torque monitor (ID41 TRMS on R 3E, TRMS on R ADVANCED) and compare it with the rated torque, or calculate the RMS torque from the load and cycle.
2. Check the holding brake wiring and voltage, and confirm the brake really releases.
3. Check the U/V/W wiring between amplifier and motor.
4. Check the machine for collisions and check the limit switches.
5. On R 3E, check system parameter ID15 (absolute encoder resolution) or ID17 (incremental encoder resolution).
6. If the load really is too high, ease the cycle or move to a larger motor.
7. Keep power off for at least 30 minutes to let the motor cool. Repeated power cycling on an overloaded motor can burn it out.

42: Overload 2

What it means: Stall overload: the motor is turning very slowly or not at all while the torque command stays above about twice the rated torque.^[1][2][3][4]

Also on: SANMOTION G: 42_0 Overload 2. SANMOTION R (RS1): 42H Overload 2.

Drive response: DB stop (dynamic brake). Clears with alarm reset.

Likely causes

• Motor stalled, locked or held by the holding brake
• Machine collision
• U/V/W wiring swapped or a phase open
• Motor encoder resolution setting does not match the motor
• Tandem operation: the two axes turn in opposite directions or motor and encoder wiring is crossed
• Wrong motor and amplifier combination, or an internal amplifier or encoder fault

First checks, in this order

1. On R 3E, watch the torque command monitor (ID18 TCMON). If it sits above about 2 times rated torque at low speed, review the load or use a larger motor.
2. Check the holding brake wiring and voltage.
3. Check the U/V/W wiring and look for collisions or binding.
4. On R 3E, check system parameter ID15 or ID17 (encoder resolution).
5. For tandem axes on R 3E, check Group 8 ID00 command input polarity and the motor and encoder wiring of both axes.

43: Regenerative Overload

What it means: The braking energy the motor sends back to the amplifier is more than the regenerative resistor is allowed to absorb.^[1][2][3][4]

Also on: SANMOTION G: 43_0 Regeneration overload. SANMOTION R (RS1): 43H Regenerative Error.

Drive response: DB stop. Clears with alarm reset.

Likely causes

• Load inertia too high, deceleration too fast or cycle time too short
• Regenerative resistor wired wrong or its wire broken
• External resistor value too high for the specification
• Supply voltage above the specified range
• Regenerative resistor selection parameter does not match the hardware (for example External set but nothing connected)
• Internal amplifier fault

First checks, in this order

1. Lengthen the deceleration time or the cycle time, or reduce the load inertia.
2. Check the regenerative resistor wiring and measure its resistance.
3. Check the regenerative resistor selection: system parameter ID03 on R 3E, ID02 on R ADVANCED. A wrong setting can stop this protection from working and damage the amplifier.
4. If the built-in resistor is not enough, fit an external regenerative resistor.
5. Measure the input supply voltage.

D1: Excessive Position Deviation

What it means: The position error (difference between commanded and actual position in the deviation counter) has grown past the deviation counter overflow value.^[1][2][3][4]

Also on: SANMOTION G: D1_1 Position Deviation Excess and D1_2 Excessive Position Deviation at Servo On (check Group5 ID10 Deviation clear selection and Group8 ID15). SANMOTION R (RS1): d1H Following Error (Excessive Position Deviation).

Drive response: DB stop. Clears with alarm reset.

Likely causes

• Position command too fast, or acceleration and deceleration too short
• Load inertia too high or motor too small
• Holding brake not releasing, or machine locked or colliding
• One or more U/V/W phases open
• Gravity or another external force turning the motor at standstill
• Torque limit or velocity limit set too low
• Encoder pulse setting does not match the motor
• Position loop gain too low, or the overflow value set too small
• Low supply voltage

First checks, in this order

1. Check the controller's command speed and ramp times.
2. Check the brake, the U/V/W wiring and the machine for jams.
3. Raise or disable the torque limit and check the velocity limit command.
4. Check the encoder resolution parameters (system ID15 or ID17 on R 3E).
5. Tune the servo gains (raise the position loop gain).
6. Check the deviation counter overflow value OFLV: Group B ID11 on R 3E, Group B ID21 on R ADVANCED (factory 5000000 pulses).
7. Measure the supply voltage.

21: Main Circuit Power Device Error (Over current)

What it means: The output power module saw overcurrent, lost its supply voltage, or overheated.^[1][2][3][4]

Also on: SANMOTION G: 21_0 to 21_4 Output Power Device Error (sub code 1 overcurrent, 2 power device supply voltage drop, 3 overheating, 4 cause not identified). SANMOTION R (RS1): 21H Power Module Error (Overcurrent).

Drive response: DB stop. Clears with alarm reset after the cause is removed.

Likely causes

• Short circuit or ground fault in the U/V/W wiring between amplifier and motor
• Short circuit or ground fault inside the motor
• Power device overheated: cabinet too hot or cooling fan stopped (detected on 50 A and larger models on R 3E)
• Internal amplifier fault

First checks, in this order

1. Disconnect the motor and check U/V/W for shorts and for insulation to ground on the cable and the motor.
2. Replace the motor if its winding is shorted or grounded.
3. Check that the cooling fan runs and that the cabinet stays at 55 °C or less around the amplifier.
4. If wiring and motor are good, replace the amplifier.

61: Over-voltage

What it means: The DC voltage of the main circuit has gone too high, usually from braking energy or a high supply voltage.^[1][2][3][4]

Also on: SANMOTION G: 61_0 Overvoltage. SANMOTION R (RS1): 61H Overvoltage.

Drive response: R 3E: DB stop, clears with alarm reset.

Likely causes

• Main supply voltage above the specification
• Load inertia too high for the braking capacity
• Regenerative resistor wired wrong, or the built-in regenerative circuit not working
• Internal amplifier fault

First checks, in this order

1. Measure the main supply voltage and bring it within the specified range.
2. Reduce load inertia or lengthen deceleration.
3. Check the regenerative resistor wiring, and the resistance value of an external resistor.
4. If it continues after these checks, replace the amplifier.

62: Main Circuit Under-voltage

What it means: The DC voltage of the main circuit has dropped too low.^[1][2][3][4]

Also on: SANMOTION G: 62_0 Main Circuit Undervoltage. SANMOTION R (RS1): 62H Main Circuit Undervoltage.

Drive response: DB stop. Clears with alarm reset.

Likely causes

• Input supply voltage below the specified range
• Short power interruption or voltage dip
• Main supply that ramps up or down slowly
• Low voltage fed to R/S/T from outside while the main circuit is off
• Broken main circuit rectifier or other internal fault

First checks, in this order

1. Measure the supply voltage on R/S/T and look for dips or short interruptions.
2. Check the main contactor and its wiring.
3. Confirm nothing else feeds voltage to R/S/T while the main circuit is off.
4. If the supply is good, replace the amplifier.

63: Main Power Supply Fail Phase

What it means: One phase of the three-phase main circuit supply is missing.^[1][2][3][4]

Also on: SANMOTION G: 63_0 Main Circuit Power Supply Phase Loss. SANMOTION R (RS1): 63H Main Power Supply Fail Phase.

Drive response: R 3E: SB stop, clears with alarm reset. The R ADVANCED table lists a DB stop.

Likely causes

• One of R/S/T not connected, or a blown fuse or open contactor pole
• Amplifier used on a single-phase supply but set for three-phase
• Main supply that ramps up or down slowly
• Internal amplifier fault

First checks, in this order

1. Check all three phases at R/S/T, the fuses and the contactor.
2. On R 3E used on single phase, set system parameter ID01 (Main circuit power input type) to 01 AC single-phase.
3. If the supply is good, replace the amplifier.

C1: Over-speed

What it means: Motor speed reached 120% of the maximum speed limit.^[1][2][3][4]

Also on: SANMOTION G: C1_1 Overspeed (C1_2: amplifier output frequency above 600 Hz). SANMOTION R (RS1): C1H Overspeed.

Drive response: DB stop. Clears with alarm reset.

Likely causes

• Large overshoot when starting
• U/V/W wiring between amplifier and motor wrong
• A and B phase wiring of an incremental encoder wrong
• Internal amplifier or encoder fault

First checks, in this order

1. Tune the servo parameters and soften the acceleration and deceleration.
2. Reduce load inertia or check the motor size.
3. Check the U/V/W wiring order.
4. Check the encoder A and B wiring.

A1: Absolute Encoder Internal Error 1 (R 3E) / Serial Encoder Internal Error 1 (R ADVANCED)

What it means: The absolute encoder reports a multi-turn data error. The manuals list the backup battery and its cable as the first causes to check.^[1][2][3]

Also on: SANMOTION G: A1_0 Absolute Encoder Internal Error 1 (MT error) with GAE encoders.

Drive response: DB stop. Needs encoder clear and then alarm reset, or a power cycle, depending on the encoder.

Likely causes

• Loose battery cable
• Low battery voltage
• Loose encoder connector
• Internal encoder fault

First checks, in this order

1. Check the battery connector on the encoder cable and measure the battery voltage (R 3E inspection limit: above 3.6 V; battery life is about 3 years).
2. Check the encoder connector and wiring.
3. Replace the battery if low, then do an encoder clear and an alarm reset (or a power cycle, depending on the encoder type).
4. Encoder clear is in the test operation menu of SANMOTION MOTOR SETUP, or through the Encoder Clear Function input (Group 9 ID03, factory CONT3 on R 3E).
5. An encoder clear erases the multi-turn data: re-reference the machine origin before running.
6. If it returns after power cycling, replace the motor.

81: Encoder Connector 1 Disconnection

What it means: The amplifier lost the incremental encoder A, B or Z signal, or the encoder power line, on the motor encoder connector.^[1][2][3][4]

Also on: SANMOTION G: 81_1 to 81_3 Encoder Connector 1 Disconnection (A, B or Z signal). SANMOTION R (RS1): 81H Encoder Pulse Error 1.

Drive response: DB stop. Alarm reset does not clear it: switch control power off and on.

Likely causes

• Encoder wiring wrong, connector unplugged or loose
• Encoder cable too long or conductors too thin
• Motor encoder type does not match the amplifier
• Internal amplifier or encoder fault

First checks, in this order

1. Check the encoder cable and both connectors.
2. Measure the encoder supply voltage at the motor end: it must be above 4.75 V.
3. Confirm the motor has the encoder type the amplifier expects.
4. Swap in a known-good motor or amplifier to find the faulty part.

84: Absolute encoder Communication Error (R 3E) / Serial Encoder Communication Error (R ADVANCED)

What it means: Serial communication with the motor encoder timed out or returned bad data.^[1][2][3][4]

Also on: SANMOTION G: 84_0 Absolute Encoder Communication Error. SANMOTION R (RS1): 84H Communication Error Between Encoder and Amplifier.

Drive response: DB stop. Alarm reset does not clear it: switch control power off and on.

Likely causes

• Electrical noise on the encoder cable
• Encoder wiring fault
• Internal encoder fault

First checks, in this order

1. Check amplifier grounding and the encoder cable shield.
2. Route the encoder cable away from motor power cables and add ferrite cores if needed.
3. Check the encoder wiring and connectors.
4. If it persists, replace the motor.

C3: Velocity Feedback Error

What it means: The motor did not move when commanded, which the amplifier reads as a disconnected motor power line.^[1][2][3][4]

Also on: SANMOTION G: C3_0 Velocity Feedback Error. SANMOTION R (RS1): C3H Speed Feedback Error.

Drive response: DB stop. Clears with alarm reset.

Likely causes

• Motor power line open or disconnected
• Servo motor oscillating
• Internal amplifier fault

First checks, in this order

1. Check the motor power cable and its connections.
2. Adjust the servo parameters so the motor does not oscillate.
3. Replace the motor or amplifier if the wiring is good.
4. Note: a load dropping at the moment of servo ON can hide a broken power line from this check.

C2: Velocity Control Error

What it means: The torque command and the actual direction of acceleration do not agree.^[1][2][3][4]

Also on: SANMOTION G: C2_0 Velocity Control Error. SANMOTION R (RS1): C2H Speed Control Error.

Drive response: DB stop. Clears with alarm reset.

Likely causes

• U/V/W wiring wrong
• Incremental encoder A and B wiring wrong
• Motor oscillating
• Large overshoot or undershoot

First checks, in this order

1. Check the U/V/W order and the encoder A and B wiring.
2. Tune the gains to stop oscillation and reduce overshoot, and soften the ramps.
3. This alarm is disabled at the factory. It is switched by VCALM: Group B ID14 on R 3E, Group B ID24 on R ADVANCED. Large inertia or vertical axes can trip it when enabled.

22: Current Detection Error 0

What it means: The motor current reading is abnormal, usually seen at servo ON.^[1][2][3][4]

Also on: SANMOTION G: 22_0 Current Detection Error 0. SANMOTION R (RS1): 22H Current Detection Error 0.

Drive response: DB stop. Clears with alarm reset.

Likely causes

• Motor and amplifier not a valid combination (wrong motor code)
• Internal amplifier fault

First checks, in this order

1. Check that the motor matches the motor code set in the amplifier.
2. If the combination is right, replace the amplifier.

23: Current Detection Error 1

What it means: The current detection circuit is abnormal during operation.^[1][2][3][4]

Also on: SANMOTION G: 23_0 Current Detection Error 1. SANMOTION R (RS1): 23H Current Detection Error 1.

Drive response: DB stop. Clears with alarm reset.

Likely causes

• Electrical noise
• Internal amplifier fault

First checks, in this order

1. Check amplifier grounding and add ferrite cores or other noise measures.
2. If it returns, replace the amplifier.

24: Current Detection Error 2

What it means: Communication with the current detection circuit failed during operation.^[1][2][3][4]

Also on: SANMOTION G: 24_0 Current Detection Error 2. SANMOTION R (RS1): 24H Current Detection Error 2.

Drive response: DB stop. Clears with alarm reset.

Likely causes

• Electrical noise
• Internal amplifier fault

First checks, in this order

1. Check amplifier grounding and add ferrite cores or other noise measures.
2. If it returns, replace the amplifier.

56: Servo Amplifier Temperature Error (R 3E) / Main Circuit Power Device Overheat (R ADVANCED)

What it means: The drive module (output power device) inside the amplifier has overheated.^[1][2][3]

Also on: SANMOTION G: 56_1 and 56_2 Servo Amplifier Temperature Error (56_2: low ambient or temperature sensor disconnected).

Drive response: DB stop. Clears with alarm reset.

Likely causes

• Short circuit or ground fault on U/V/W in the wiring or the motor
• Cabinet or ambient temperature too high
• Cooling fan stopped
• Internal amplifier fault

First checks, in this order

1. Check U/V/W wiring and the motor for shorts or ground faults.
2. Keep the air around the amplifier at 55 °C or less: improve cabinet ventilation and spacing.
3. Check that the cooling fan runs; replace the amplifier if it does not.
4. On R 3E this temperature is measured right at the drive module, not at the control board point used by the R ADVANCED temperature monitor.

51: Servo Amplifier Temperature Error (alarm list) / Amplifier Overheat (corrective action page)

What it means: The temperature inside the amplifier is too high, whatever the room temperature reads.^[2][4]

Also on: SANMOTION R (RS1): 51H Amplifier Overheat.

Drive response: SB stop. Clears with alarm reset.

Likely causes

• Regenerative power too high
• Cabinet temperature outside 0 to 55 °C
• Built-in cooling fan stopped
• Too much regenerative energy during an emergency stop
• Internal amplifier fault

First checks, in this order

1. Check the cooling of the cabinet so the air around the amplifier stays between 0 and 55 °C.
2. Check that the amplifier cooling fan runs.
3. Review the operating cycle and add an external regenerative resistor if regeneration is high.
4. Treat an amplifier temperature warning as an early sign and fix cooling before it trips.

55: External Error

What it means: The external trip input is active: usually the thermal contact of an external regenerative resistor, or a trip signal from the host device.^[1][2][3][4]

Also on: SANMOTION G: 55_0 External Error. SANMOTION R (RS1): 55H External Error.

Drive response: DB stop. Clears with alarm reset.

Likely causes

• External trip function enabled but nothing wired to it
• External regenerative resistor overheated
• External resistor or thermal contact wiring fault
• Host device sending a trip signal
• Internal amplifier fault

First checks, in this order

1. If the function is not used, set Group 9 ID40 External Trip Input Function (EXT-E) to 00 Always_Disable.
2. Check the external resistor's thermal contact wiring.
3. Review the duty cycle, or fit a larger external regenerative resistor.
4. If the host drives this input, clear the alarm cause on the host side.

54: Internal Regenerative Resister Overheat

What it means: The regenerative resistor built into the amplifier has overheated.^[1][2][3][4]

Also on: SANMOTION G: 54_1 to 54_3 Internal Regenerative Resistor Overheat. SANMOTION R (RS1): 54H Internal Overheat.

Drive response: DB stop. Clears with alarm reset.

Likely causes

• Regenerative power above what the built-in resistor can absorb
• Built-in resistor wiring wrong
• Internal amplifier fault

First checks, in this order

1. Check the allowed power of the built-in resistor against the actual braking duty.
2. Ease the deceleration or cycle, or use an external regenerative resistor.
3. Check the built-in resistor wiring.
4. Set the regenerative resistor selection to built-in (system ID03 on R 3E, ID02 on R ADVANCED) when using it. With External selected, this protection is off and the built-in resistor can burn.

53: Dynamic Brake Resistance Overheat

What it means: The dynamic brake resistor has overheated from braking too often.^[1][2][3][4]

Also on: SANMOTION G: 53_1 to 53_3 Dynamic Brake Resistor Overheat (free-run stop). SANMOTION R (RS1): 53H Dynamic Brake Resistor Overheat.

Drive response: SB stop; if it trips during a dynamic brake stop the motor coasts. Clears with alarm reset.

Likely causes

• Dynamic brake used more often than allowed
• Internal amplifier fault

First checks, in this order

1. Reduce how often the dynamic brake stops the motor (frequent servo OFF, emergency stops or alarms at speed).
2. Let the amplifier cool, then reset.
3. If it trips at power on, replace the amplifier.

52: RS Overheat

What it means: The inrush current limiting resistor has overheated.^[1][2][3][4]

Also on: SANMOTION G: 52_1 and 52_2 In-rush prevention resistor overheat. SANMOTION R (RS1): 52H RS Overheat.

Drive response: SB stop. Clears with alarm reset.

Likely causes

• Main power switched on and off too often
• High ambient temperature
• Internal amplifier fault

First checks, in this order

1. Switch the power on and off less often (the manuals ask for 10 minutes or more between power cycles).
2. Keep the air around the amplifier at 55 °C or less and check the fan.
3. If it trips at first power on, replace the amplifier.

45: Average continuous over speed

What it means: The average motor speed is above the maximum speed allowed for continuous running.^[1][2][3]

Also on: SANMOTION G: 45_0 Continuous rotation velocity excess.

Drive response: SB stop. Clears with alarm reset.

Likely causes

• Duty cycle keeps the motor in its high-speed range for too long

First checks, in this order

1. Review the operating pattern to lower the average speed.
2. Consider a motor sized for the speed range.

71: Control Power Supply Under-voltage

What it means: The control power supply voltage dropped too low. A dip of 1.5 to 2 mains cycles is enough to trip it.^[1][2][3][4]

Also on: SANMOTION G: 71_0 Control Power Voltage Error. SANMOTION R (RS1): 71H Control Power Supply Undervoltage.

Drive response: R 3E: DB stop, clears with alarm reset. The R ADVANCED table lists an SB stop.

Likely causes

• Control supply below the specified range
• Control supply fluctuating or missing a phase
• Internal amplifier fault

First checks, in this order

1. Measure the control power supply (r/t) and look for dips.
2. Fix the supply so it does not sag or lose a phase.
3. Detection can be delayed with PFDDLY (Power Failure Detection Delay Time) in Group B.
4. A break longer than about 1 second counts as a normal power off and is not logged.

72: Control Circuit Under-voltage 1

What it means: The internal plus and minus 12 V control supply is too low.^[1][2][3][4]

Also on: SANMOTION G: 72_0 Control Circuit Undervoltage 1. SANMOTION R (RS1): 72H Control Power Error.

Drive response: R 3E: SB stop, clears with alarm reset. The R ADVANCED table lists a DB stop.

Likely causes

• Fault in the external circuit wired to CN1
• Internal amplifier fault

First checks, in this order

1. Unplug CN1 and power up again. If the alarm stays away, check the external I/O circuit.
2. If it stays with CN1 removed, replace the amplifier.

73: Control Circuit Under-voltage 2

What it means: The internal plus 5 V control supply is too low.^[1][2][3]

Also on: SANMOTION G: 73_0 Control Circuit Undervoltage 2 (not resettable).

Drive response: R 3E: DB stop, alarm reset does not clear it, cycle control power. The R ADVANCED table lists an SB stop that clears with alarm reset.

Likely causes

• Fault in the external circuit wired to CN1
• Fault inside the motor encoder loading the 5 V supply
• Internal amplifier fault

First checks, in this order

1. Unplug CN1 and power up again. If the alarm stays away, check the external I/O circuit.
2. Try a different motor. If the alarm clears, the encoder in the original motor is faulty.
3. Otherwise replace the amplifier.

D2: Faulty Position Command Pulse Frequency 1

What it means: The incoming position command pulses are faster than the input digital filter allows.^[1][2][3][4]

Also on: SANMOTION G: D2_0 Position Command Error 1. SANMOTION R (RS1): d2H Faulty Position Command Pulse Frequency 1.

Drive response: SB stop. Clears with alarm reset.

Likely causes

• Command pulse frequency from the controller too high for the filter setting

First checks, in this order

1. Lower the command pulse frequency at the controller.
2. On R 3E, set a shorter minimum pulse width in Group 8 ID12 Position command pulse digital filter (PCPFIL).

D3: Faulty Position Command Pulse Frequency 2

What it means: The position command frequency after the electronic gear is too high.^[1][2][3][4]

Also on: SANMOTION G: D3_1 to D3_3 Position Command Error 2. SANMOTION R (RS1): d3H Faulty Position Command Pulse Frequency 2.

Drive response: SB stop. Clears with alarm reset.

Likely causes

• Command pulse input frequency too high
• Electronic gear ratio set too large

First checks, in this order

1. Lower the command pulse frequency.
2. Reduce the electronic gear setting (Group 8 ID13 to ID16 on R 3E).

25: Safe Torque Off Error 1

What it means: The two Safe Torque Off inputs (/HWGOFF1 and /HWGOFF2) do not agree.^[1][2][3]

Also on: SANMOTION G: 25_0 Safe Torque Off Error 1.

Drive response: Alarm reset does not clear it: switch control power off and on. R 3E lists a DB stop, R ADVANCED an SB stop.

Likely causes

• Wiring fault on one of the two STO inputs
• One STO input switched without the other following within 10 seconds
• Internal amplifier fault

First checks, in this order

1. Check the wiring of /HWGOFF1 and /HWGOFF2 and make both switch together.
2. When one input changes, make sure the other changes within 10 seconds.
3. If the wiring is correct, replace the amplifier.

26: Safe Torque Off Error 2

What it means: The amplifier found a failure in its Safe Torque Off circuit.^[1][2][3]

Also on: SANMOTION G: 26_0 Safe Torque Off Error 2.

Drive response: Alarm reset does not clear it: switch control power off and on. R 3E lists a DB stop, R ADVANCED an SB stop.

Likely causes

• Electrical noise
• Internal amplifier fault

First checks, in this order

1. Check amplifier grounding and add noise measures such as ferrite cores.
2. If it returns after a power cycle, replace the amplifier.

27: Fan stop

What it means: The amplifier's cooling fan has slowed down or stopped.^[1][3]

Also on: SANMOTION G: 27_0 Fan Stop.

Drive response: DB stop. Alarm reset does not clear it: switch control power off and on.

Likely causes

• Cooling fan at the end of its life
• Dust, oil or debris in the fan blades (SANMOTION G manual)
• Internal amplifier fault

First checks, in this order

1. Look at the fan: clean dust or debris from the blades.
2. Replace the cooling fan.
3. On SANMOTION G, check the fan remaining life monitor ID75 (FANLF).
4. If a new fan does not cure it, replace or repair the amplifier.

85: Encoder Initial Process Error

What it means: At power up the amplifier could not read the encoder start data (CS data of an incremental encoder, or the initial process of an absolute encoder).^[1][2][3][4]

Also on: SANMOTION G: 85_0 Encoder Initial Process Error. SANMOTION R (RS1): 85H Encoder Initial Process Error.

Drive response: Alarm reset does not clear it: switch control power off and on.

Likely causes

• Encoder wiring wrong, connector loose, cable too long or too thin
• Encoder type does not match the amplifier
• Absolute encoder: motor turning faster than 250 min-1 when power came on
• Internal amplifier or encoder fault

First checks, in this order

1. Check the encoder cable and connectors, and that the encoder supply at the motor is above 4.75 V.
2. Make sure the motor is standing still, then cycle the power.
3. Confirm the motor's encoder type suits the amplifier.

87: CS Signal Disconnection

What it means: The encoder CS (commutation) signal line is broken.^[1][2][3][4]

Also on: SANMOTION G: 87_0 CS disconnection. SANMOTION R (RS1): 87H CS Signal Disconnection.

Drive response: DB stop. Alarm reset does not clear it: switch control power off and on.

Likely causes

• Encoder wiring wrong, connector loose, cable too long or too thin
• Encoder type does not match the amplifier
• Internal amplifier or encoder fault

First checks, in this order

1. Check the encoder cable and connectors.
2. Measure the encoder supply at the motor (above 4.75 V).
3. Swap in a known-good motor or amplifier to find the faulty part.

83: Encoder Connector 2 Disconnection

What it means: The signal or power line of the encoder on the second encoder connector is broken (the full-closed loop encoder on R ADVANCED; the EN2 connector on R 3E).^[1][2][3][4]

Also on: SANMOTION G: 83_1 to 83_3 Encoder Connector 2 Disconnection (connector X4). SANMOTION R (RS1): 83H External Encoder Pulse Error.

Drive response: DB stop. R 3E: power cycle needed when EN2 is the motor encoder; alarm reset works when EN2 is an external encoder. R ADVANCED: not resettable.

Likely causes

• Wiring wrong, connector loose, cable too long or too thin
• External encoder powered up later than the amplifier
• R 3E: parameters set for a full-closed system or for EN2 while the motor encoder is on EN1
• Internal amplifier or encoder fault

First checks, in this order

1. Check the second encoder's cable, connectors and supply voltage (above 4.75 V).
2. Power the external encoder at the same time or before the amplifier control power.
3. On R 3E with a semi-closed system on EN1, set system parameter ID20 to 00 Motor_Enc and ID10 to 00 EN1.

A0: Absolute Encoder Internal Error 0 (R 3E) / Serial Encoder Internal Error 0 (R ADVANCED)

What it means: The motor encoder reports an internal failure.^[1][2][3]

Also on: SANMOTION G: A0_0 Absolute Encoder Internal Error 0.

Drive response: DB stop. Alarm reset does not clear it: switch control power off and on.

Likely causes

• Internal encoder fault
• Electrical noise on the encoder line

First checks, in this order

1. Cycle the power. If it comes back, replace the motor (the encoder is part of it).
2. Check grounding, the encoder cable shield and add ferrite cores.

A2: Absolute Encoder Internal Error 2 (R 3E) / Serial Encoder Internal Error 2 (R ADVANCED)

What it means: The encoder detected an acceleration error: the motor accelerated faster than the encoder allows.^[1][2]

Drive response: DB stop. Clearing depends on the encoder: power cycle, or encoder clear then alarm reset.

Likely causes

• Motor acceleration above the permitted value
• Electrical noise
• Internal encoder fault

First checks, in this order

1. Lengthen the acceleration and deceleration times.
2. Check grounding, the encoder cable shield and add ferrite cores.
3. Clear per the encoder type (encoder clear then alarm reset, or power cycle); replace the motor if it returns.

A2: Absolute Encoder Battery Error

What it means: On the original SANMOTION R (RS1), A2 means the absolute encoder backup battery voltage is low.^[4]

Drive response: DB stop. May need an encoder clear before the alarm reset.

Likely causes

• Loose battery cable
• Low battery voltage

First checks, in this order

1. Check the battery connection at the amplifier.
2. Measure the battery voltage and replace the battery if low.
3. Then do an encoder clear and an alarm reset as the manual describes for your encoder, and re-reference the machine origin.

A3: Absolute Encoder Internal Error 3 (R 3E) / Serial Encoder Internal Error 3 (R ADVANCED)

What it means: Encoder over-speed: the motor turned faster than the encoder's permitted speed.^[1][2][3]

Also on: SANMOTION G: A3_0 Absolute Encoder Internal Error 3 (overspeed error).

Drive response: DB stop. Encoder clear then alarm reset, or power cycle, depending on the encoder.

Likely causes

• Motor speed above the encoder limit
• Electrical noise
• Internal encoder fault

First checks, in this order

1. Check the operating conditions and lower the maximum speed.
2. Check grounding, the encoder cable shield and add ferrite cores.
3. Clear per the encoder type; replace the motor if it returns.

A4: Absolute Encoder Internal Error 4 (R 3E) / Serial Encoder Internal Error 4 (R ADVANCED)

What it means: The encoder could not access its internal memory (EEPROM).^[1][2][3]

Also on: SANMOTION G: A4_0 Absolute Encoder Internal Error 4 (MEM error).

Drive response: DB stop. Encoder clear then alarm reset, or power cycle, depending on the encoder.

Likely causes

• Internal encoder fault
• Electrical noise

First checks, in this order

1. Cycle the power. If it returns, replace the motor.
2. Check grounding, the encoder cable shield and add ferrite cores.

A5: Absolute Encoder Internal Error 5 (R 3E) / Serial Encoder Internal Error 5 (R ADVANCED)

What it means: The encoder's single-turn (one rotation) data is wrong.^[1][2][3]

Also on: SANMOTION G: A5_0 Absolute Encoder Internal Error 5 (ST error).

Drive response: DB stop. Power cycle, or encoder clear then alarm reset, depending on the encoder.

Likely causes

• Internal encoder fault
• Electrical noise

First checks, in this order

1. Cycle the power. If it returns, replace the motor.
2. Check grounding, the encoder cable shield and add ferrite cores.

A6: Absolute Encoder Internal Error 6 (R 3E) / Serial Encoder Internal Error 6 (R ADVANCED)

What it means: The encoder's multi-turn data does not match its single-turn data.^[1][2][3]

Also on: SANMOTION G: A6_0 Absolute Encoder Internal Error 6 (PS error).

Drive response: DB stop. Power cycle, or encoder clear then alarm reset, depending on the encoder.

Likely causes

• Internal encoder fault
• Electrical noise

First checks, in this order

1. Cycle the power. If it returns, replace the motor.
2. Check grounding, the encoder cable shield and add ferrite cores.

A9: Absolute Encoder Internal Error 9 (R 3E) / Serial Encoder Internal Error 9 (R ADVANCED)

What it means: The encoder inside the motor is overheating.^[1][2][3]

Also on: SANMOTION G: A9_0 Absolute Encoder Internal Error 9 (temperature error).

Drive response: DB stop. Alarm reset (some encoders need a power cycle).

Likely causes

• Motor overheating
• Hot surroundings around the encoder even with a cool motor
• Internal encoder fault

First checks, in this order

1. Check motor cooling and load.
2. Keep the encoder surroundings below 80 °C.
3. Reset after it cools; replace the motor if it keeps returning.

AA: Absolute Encoder Internal Error 10 (R 3E) / Serial Encoder Internal Error 10 (R ADVANCED)

What it means: The encoder reports incorrect position data.^[1][2][3]

Also on: SANMOTION G: AA_0 Absolute Encoder Internal Error 10 (INC error).

Drive response: DB stop. Power cycle, or encoder clear then alarm reset, depending on the encoder.

Likely causes

• Internal encoder fault
• Electrical noise

First checks, in this order

1. Cycle the power. If it returns, replace the motor.
2. Check grounding, the encoder cable shield and add ferrite cores.

AB: Serial Encoder Internal Error 11

What it means: The encoder reports itself as incorrect (encoder error).^[2]

Drive response: DB stop. Power cycle, or encoder clear then alarm reset, depending on the encoder.

Likely causes

• Internal encoder fault
• Electrical noise

First checks, in this order

1. Cycle the power. If it returns, replace the motor.
2. Check grounding, the encoder cable shield and add ferrite cores.

AC: Absolute Encoder Internal Error 12 (R 3E) / Serial Encoder Internal Error 12 (R ADVANCED)

What it means: The encoder found an error in its multi-turn data.^[1][2]

Drive response: DB stop. Power cycle, or encoder clear then alarm reset, depending on the encoder.

Likely causes

• Internal encoder fault
• Electrical noise

First checks, in this order

1. Cycle the power. If it returns, replace the motor.
2. Check grounding, the encoder cable shield and add ferrite cores.

AD: Absolute Encoder Internal Error 13 (R 3E) / Serial Encoder Internal Error 13 (R ADVANCED)

What it means: The encoder's internal memory data has not been set.^[1][2]

Drive response: DB stop. Power cycle needed.

Likely causes

• Internal encoder fault
• Electrical noise

First checks, in this order

1. Cycle the power. If it returns, replace the motor.
2. Check grounding, the encoder cable shield and add ferrite cores.

AF: Absolute Encoder Internal Error 15 (R 3E) / Serial Encoder Internal Error 15 (R ADVANCED)

What it means: Encoder internal error; on R ADVANCED with a resolver type encoder it means resolver disconnection.^[1][2][3]

Also on: SANMOTION G: AF_0 Absolute Encoder Internal Error 15 (M code error).

Drive response: DB stop. Power cycle, or encoder clear then alarm reset, depending on the encoder.

Likely causes

• Internal encoder or resolver fault
• Electrical noise

First checks, in this order

1. Cycle the power. If it returns, replace the motor.
2. Check grounding, the encoder cable shield and add ferrite cores.

C5: Model tracking vibration suppression control error

What it means: The motion does not fit what the model following vibration suppression control can handle.^[1][2][3]

Also on: SANMOTION G: C5_0 Model Following Vibration Suppression Control Error.

Drive response: DB stop. Clears with alarm reset.

Likely causes

• Model control gain set too high
• Position command acceleration or deceleration too short
• Torque limit too low
• Switched into model following control while the motor was moving

First checks, in this order

1. Lower the model control gain.
2. Soften the acceleration and deceleration of the position command.
3. Raise or disable the torque limit.
4. Only switch control modes with the motor stopped.

DF: Test Run Close

What it means: Shown after a test mode (such as JOG from the digital operator or setup software) has ended. It is normal, and it stops you running before the controller's position is checked.^[1][2][3][4]

Also on: SANMOTION G: DF_0 Test Run Close. SANMOTION R (RS1): dFH Test Run Close.

Drive response: DB stop. Clears with alarm reset.

Likely causes

• Test operation was just finished

First checks, in this order

1. Reset the alarm to return to normal operation.
2. Check that the controller's position matches the machine, because the test move may leave a deviation on the controller side.
3. This alarm is not stored in the alarm history.

E1: Memory Error 1 (R 3E) / EEPROM Error (R ADVANCED)

What it means: The amplifier's built-in EEPROM is faulty, usually found while saving from the keys or the setup software.^[1][2][3][4]

Also on: SANMOTION G: E1_0 Memory Error 1. SANMOTION R (RS1): E1H EEPROM Error.

Drive response: DB stop. Alarm reset does not clear it: switch control power off and on.

Likely causes

• Internal amplifier fault

First checks, in this order

1. Cycle the control power. If it returns, replace the amplifier.
2. Keep a parameter backup in SANMOTION MOTOR SETUP so a replacement can be loaded quickly.

E2: Memory Error 2 (R 3E) / EEPROM Check Sum Error (R ADVANCED)

What it means: The EEPROM checksum is wrong at power up, for example because a save was cut off at the last power down.^[1][2][3][4]

Also on: SANMOTION G: E2_1 and E2_2 Memory Error 2 (E2_2: FoE download error). SANMOTION R (RS1): E2H EEPROM Check Sum Error.

Drive response: Alarm reset does not clear it: switch control power off and on.

Likely causes

• Data not read correctly from the EEPROM
• Write to the EEPROM failed at the last power off
• Internal amplifier fault

First checks, in this order

1. Avoid switching off while parameters are being saved.
2. Cycle the control power. If it returns, replace the amplifier.

E3: CPU error 1 (R 3E) / Memory Error 1 (R ADVANCED)

What it means: The CPU could not access its built-in RAM.^[1][2][3][4]

Also on: SANMOTION G: E3_0 CPU Error 1. SANMOTION R (RS1): E3H Internal RAM Error.

Drive response: Alarm reset does not clear it: switch control power off and on.

Likely causes

• Internal amplifier fault

First checks, in this order

1. Cycle the control power. If it returns, replace the amplifier.

E4: CPU error 2 (R 3E) / Memory Error 2 (R ADVANCED)

What it means: Checksum error in the CPU's built-in FLASH memory (firmware).^[1][2][3]

Also on: SANMOTION G: E4_1 and E4_2 CPU Error 2.

Drive response: Alarm reset does not clear it: switch control power off and on.

Likely causes

• Internal amplifier fault

First checks, in this order

1. Cycle the control power. If it returns, replace the amplifier.

E5: System Parameter Error 1

What it means: A system parameter is outside its allowed range.^[1][2][3][4]

Also on: SANMOTION G: E5_1 to E5_7 System Parameter Error 1. SANMOTION R (RS1): E5H Parameter Error 1.

Drive response: Alarm reset does not clear it: switch control power off and on.

Likely causes

• Out-of-range value written to a system parameter
• Internal amplifier fault

First checks, in this order

1. Check the amplifier model number on the nameplate.
2. Check and correct the system parameters with SANMOTION MOTOR SETUP or the digital operator.
3. Cycle the control power and confirm the alarm is gone.

E6: System Parameter Error 2

What it means: The combination of system parameters is not valid, or does not match the hardware or motor.^[1][2][3][4]

Also on: SANMOTION G: E6_1 to E6_D System Parameter Error 2. SANMOTION R (RS1): E6H Parameter Error 2.

Drive response: Alarm reset does not clear it: switch control power off and on.

Likely causes

• System parameters do not match the actual amplifier hardware
• Motor parameters do not match the amplifier
• System parameters conflict with each other
• Internal amplifier fault

First checks, in this order

1. Check the amplifier model number.
2. Set parameters that suit the amplifier capacity and the motor actually fitted.
3. Correct the system parameters, then cycle the control power.

E7: Motor Parameter Error

What it means: The motor parameter data in the amplifier is abnormal.^[1][2][3]

Also on: SANMOTION G: E7_1 and E7_2 Motor Parameter Error.

Drive response: Alarm reset does not clear it: switch control power off and on.

Likely causes

• Motor parameters not read correctly from non-volatile memory
• Write failed while motor parameters were being changed

First checks, in this order

1. Set the motor parameters again (motor code or download from SANMOTION MOTOR SETUP).
2. Cycle the control power. If the alarm returns, replace the amplifier.

E8: Control circuit error 1 (R 3E) / Abnormalities in CPU circumference circuit (R ADVANCED)

What it means: The CPU could not access the ASIC on the control board.^[1][2][3]

Also on: SANMOTION G: E8_1 Control Circuit Error 1.

Drive response: Alarm reset does not clear it: switch control power off and on.

Likely causes

• Internal amplifier fault

First checks, in this order

1. Cycle the control power. If it returns, replace the amplifier.

E9: Control circuit error 2 (R 3E) / System Code Error (R ADVANCED)

What it means: The control circuit is abnormal.^[1][2][3]

Also on: SANMOTION G: E9_1 to E9_5 Control Circuit Error 2.

Drive response: Alarm reset does not clear it: switch control power off and on.

Likely causes

• Internal amplifier fault

First checks, in this order

1. Cycle the control power. If it returns, replace the amplifier.

EA: Memory Error 3

What it means: The FLASH memory in the amplifier is faulty, usually found during key or setup software operation.^[1][3]

Also on: SANMOTION G: EA_0 Memory Error 3.

Drive response: SB stop. Alarm reset does not clear it: switch control power off and on.

Likely causes

• Internal amplifier fault

First checks, in this order

1. Cycle the control power. If it returns, replace the amplifier.

EE: Motor Parameter Automatic Setting Error 1

What it means: The amplifier could not run its automatic motor parameter setting from the encoder.^[1][2][3]

Also on: SANMOTION G: EE_1 to EE_4 Motor Parameter Automatic Setting Error 1.

Drive response: Alarm reset does not clear it: switch control power off and on.

Likely causes

• Connected encoder not supported by the amplifier
• Encoder does not support automatic motor parameter setting
• Internal encoder fault

First checks, in this order

1. Use a motor the amplifier supports.
2. If the encoder does not support auto setting, set system parameter ID09 (Motor parameter automatic set) to 01 Disabled and download the motor parameters from the setup software.
3. If it continues, replace the motor.

EF: Motor Parameter Automatic Setting Error 2

What it means: The automatic motor parameter setting ran but its result is not valid.^[1][2][3]

Also on: SANMOTION G: EF_1 and EF_2 Motor Parameter Automatic Setting Error 2.

Drive response: Alarm reset does not clear it: switch control power off and on.

Likely causes

• Wrong amplifier and motor combination
• Encoder does not support automatic motor parameter setting
• Internal encoder fault

First checks, in this order

1. Compare the amplifier and motor model numbers and fix the combination.
2. Set system parameter ID09 to 01 Disabled and download the motor parameters from the setup software if needed.
3. If it continues, replace the motor.

F1: Task Process Error

What it means: Error in the CPU's interrupt processing during operation.^[1][2][3][4]

Also on: SANMOTION G: F1_1 and F1_2 Task Process Error. SANMOTION R (RS1): F1H Task Process Error.

Drive response: DB stop. Alarm reset does not clear it: switch control power off and on.

Likely causes

• Internal amplifier fault

First checks, in this order

1. Cycle the control power. If it returns, replace the amplifier.

F2: Initial Process Time-Out

What it means: Start-up processing did not finish within the allowed time after power on.^[1][2][3][4]

Also on: SANMOTION G: F2_1 and F2_2 Initialization Process Timeout. SANMOTION R (RS1): F2H Initial Process Time-Out.

Drive response: Alarm reset does not clear it: switch control power off and on.

Likely causes

• Electrical noise
• Internal amplifier fault

First checks, in this order

1. Check amplifier grounding and add ferrite cores or other noise measures.
2. Cycle the control power. If it returns, replace the amplifier.

F3: CPU error 3

What it means: The CPU setting is wrong, seen after a firmware update.^[1]

Drive response: Alarm reset does not clear it: switch control power off and on.

Likely causes

• Wrong CPU setting in the firmware update tool

First checks, in this order

1. Correct the CPU setting in the firmware update tool and repeat the update.

68: Main circuit voltage detection error

What it means: The circuit that measures the main DC bus voltage (VBUS) has failed.^[1][3]

Also on: SANMOTION G: 68_0 Main Circuit Voltage Detection Error.

Drive response: DB stop. Alarm reset does not clear it: switch control power off and on.

Likely causes

• Internal amplifier fault

First checks, in this order

1. Cycle the power. If it returns, replace the amplifier.

88: External Absolute Encoder Communication Error

What it means: Serial communication with the external (load side) absolute encoder timed out or returned bad data.^[1][3]

Also on: SANMOTION G: 88_0 External Absolute Encoder Communication Error.

Drive response: DB stop. Alarm reset does not clear it: switch control power off and on.

Likely causes

• Electrical noise
• External encoder wiring fault
• External encoder supply voltage too low
• Internal fault in the external encoder

First checks, in this order

1. Check grounding, the cable shield and add ferrite cores.
2. Check the external encoder wiring.
3. Check the external encoder supply is above 4.75 V.
4. Replace the external encoder if the wiring and supply are good.

89: External Encoder Initial Process Error

What it means: The start-up process of the external absolute encoder failed.^[1][3]

Also on: SANMOTION G: 89_0 External Encoder Initial Process Error.

Drive response: Alarm reset does not clear it: switch control power off and on.

Likely causes

• External encoder wiring wrong, connector loose, cable too long or too thin
• External encoder powered up later than the amplifier
• Internal fault in the amplifier or the external encoder

First checks, in this order

1. Check the external encoder cable and connectors and its supply voltage (above 4.75 V).
2. Make the external encoder power come on no later than the amplifier control power.
3. Swap in a known-good part to find the fault.

B0: External Absolute Encoder Internal Error 0

What it means: The external absolute encoder (EnDat) reports an internal failure (EnDat error bit 0, light source).^[1][3]

Also on: SANMOTION G: B0_0 External Absolute Encoder Internal Error 0.

Drive response: DB stop. Alarm reset does not clear it: switch control power off and on.

Likely causes

• Internal fault in the external encoder
• Electrical noise

First checks, in this order

1. Cycle the power. If it returns, replace the external encoder.
2. Check grounding, the encoder cable shield and add ferrite cores.

B1 to BF: External Absolute Encoder Internal Error 1 to 15

What it means: The external EnDat encoder reports an error. The code follows the EnDat error bit: B1 signal amplitude, B2 position, B3 overvoltage, B4 undervoltage, B5 overcurrent, B6 battery; B7 to BF are reserved bits.^[1][3]

Also on: SANMOTION G: B1_0 to BF_0 External Absolute Encoder Internal Error 1 to 15.

Drive response: DB stop. May need an encoder clear; follow the manual for your encoder.

Likely causes

• Problem inside the external encoder (signal, position, supply or battery as the code shows)
• Electrical noise

First checks, in this order

1. Note the exact code to know which EnDat error bit is set.
2. For B3 to B5, check the external encoder supply and wiring; for B6, check its battery.
3. Cycle the power. If it returns, replace the external encoder.
4. Check grounding and the encoder cable shield.

D4: Axes-sync error excess

What it means: In synchronized (tandem) operation, the position difference between this axis and its partner axis is larger than the set limit.^[1][3]

Also on: SANMOTION G: D4_0 Axes-Sync Error Excess.

Drive response: DB stop. Clears with alarm reset.

Likely causes

• Parameters of the two axes differ
• The two axes are not receiving the same command
• Limit set too small
• Internal amplifier or encoder fault

First checks, in this order

1. Set both axes as the manual's synchronized operation section describes.
2. Check the command wiring to both axes.
3. Increase Group B ID81 PSDEVA (Axes-sync error excess value) if it is too tight.

D5: Dual position error excess

What it means: With dual position feedback, the difference between motor position and load (external encoder) position is larger than the set limit.^[1][3]

Also on: SANMOTION G: D5_0 Dual Position Error Excess.

Drive response: DB stop. Clears with alarm reset.

Likely causes

• Loose or flexible coupling between motor and load
• Servo gains or feedback settings not right
• Encoder resolution or feedback electronic gear settings wrong
• External encoder polarity opposite to the motor encoder
• Limit set too small

First checks, in this order

1. Check the mechanical connection between motor and load.
2. Check system parameters ID22 (external encoder resolution) and ID24/ID25 (feedback electronic gear).
3. Check external encoder wiring and Group C ID02 External Encoder Polarity Selection.
4. Increase Group B ID1A Dual position error excess value (0 disables the check).

D7: Amplifier communication error

What it means: Communication between two amplifiers failed during synchronized (tandem) operation.^[1][3]

Also on: SANMOTION G: D7_0 Amplifiers Communication Error.

Drive response: DB stop. Alarm reset does not clear it: switch control power off and on.

Likely causes

• Cable between the amplifiers wrong, unplugged, poor contact or too long
• Tandem operation not set on the partner axis, or set on an axis that does not use it
• Electrical noise
• Internal amplifier fault

First checks, in this order

1. Check the amplifier to amplifier cable; use SANYO DENKI recommended cables.
2. Check system parameter ID08 Amplifier communication function on both axes (01 for tandem, 00 when not used).
3. Check grounding and add noise measures.

1A: Communication Timeout

What it means: EtherCAT models: output data from the controller did not arrive within the set number of communication cycles.^[3]

Drive response: SB stop. Clears with alarm reset.

Likely causes

• Controller not sending output (PDO) data at the expected timing
• Electrical noise on the Ethernet cable

First checks, in this order

1. Check that the controller sends output data every communication cycle.
2. Check amplifier grounding and the Ethernet cable shield, and add ferrite cores.

18: IN Lost Link

What it means: EtherCAT models: the link on the IN port (port 0) was lost while the servo was on, or the controller lost power.^[3]

Drive response: SB stop. Clears with alarm reset.

Likely causes

• Cable unplugged while the motor was running
• Broken cable or poor connector contact
• Controller power switched off

First checks, in this order

1. Only plug or unplug EtherCAT cables with the servo off or before the Pre-OP state.
2. Check the cable and connectors between controller and amplifier.

19: OUT Lost Link

What it means: EtherCAT models: the link on the OUT port (port 1) was lost while the servo was on.^[3]

Drive response: SB stop. Clears with alarm reset.

Likely causes

• Cable unplugged while the motor was running
• Broken cable or poor connector contact on the outgoing port

First checks, in this order

1. Only plug or unplug EtherCAT cables with the servo off or before the Pre-OP state.
2. Check the cable and connectors to the next device in the line.

69: Inrush Prevention Time Error

What it means: When main power came on, the internal capacitor did not charge correctly (sub code 1) or charged instantly, pointing to a welded inrush relay contact (sub code 2).^[3]

Drive response: DB stop. Alarm reset does not clear it.

Likely causes

• Internal fuse blown after an overcurrent
• Inrush prevention relay contact welded
• Internal amplifier fault

First checks, in this order

1. Check whether the supply circuit breaker tripped before the alarm; if so, find the overcurrent cause first.
2. Replace the amplifier.

6A: Main Circuit Power Input Overvoltage

What it means: The main circuit supply voltage is above the amplifier's upper limit.^[3]

Drive response: SB stop. Clears with alarm reset.

Likely causes

• Supply voltage above the specification
• Supply voltage fluctuating upward
• Internal amplifier fault

First checks, in this order

1. Measure the main supply voltage and compare it with the amplifier specification.
2. Stabilize the supply so it stays under the upper limit.
3. If the supply is correct, replace the amplifier.

DE: Parameter Change Completion

What it means: A parameter change that only takes effect after a restart has been completed (for example a system parameter written over EtherCAT, an encoder baud rate change or a parameter restore).^[3]

Drive response: Clears by switching control power off and on.

Likely causes

• System parameter that needs a power cycle was changed
• Encoder baud rate changeover or parameter restore was run

First checks, in this order

1. Switch the control power off and on to apply the new settings.