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ECTC product series function specification v4.0
193
10005 X axis overload
Exceed maximum
load
1. Check the load2. Whether themotorislocked
10006 X axis overload
Maximum load
exceeded
1. Check the load2. Whether themotorislocked and whether the holdingbrakeisreleased3. Check whether parameter1isthe corresponding power
10007 X axis motor
initialization
On drive Power
initialization is
not over
1. Press the stop key to clear2.Ifitcannot be cleared, power on again3.Hostfailure, replace
10008
X axis motor
initialization
Drive power on
initialization
It's not over
1. Press the stop key to clear2.Ifitcannot be cleared, power on again3.Hostfailure, replace
10009 X axis three-phase
error
Current exceeds
alarm value
1. Line sequence error2. Lackofphase3.The motor code does not correspondtothemotor
10010 X axis three-phase
error
Current exceeds
alarm value
1. Line sequence error2. Lackofphase3.The motor code does not correspondtothemotor
10011 XVDC under voltage
Voltage
detected
below195v
1. The load is too heavy and theacceleration is too high, resultingintoo much voltage drop2. The externalincoming voltage is too low3.Hostfailure, replace
10012 XVDC over voltage
Voltage
detected
above405v
1. The load is too heavy and thedeceleration is too high, resultingintoo much voltage rise2. Brakeresistancefailure or non conduction3. Hostfailure,replace
ECTC product series function specification v4.0
194
Alarm
number
Alarm information
Alarm reason
Processing method
10013 X axis over speed Maximum speed
exceeded
1. If the internal communicationisdisconnected, check whether itiswellgrounded2. Parameter No. 50 issetincorrectly
10014 X axis over speed Maximum speed
exceeded
1. If the internal communicationisdisconnected, check whether itiswellgrounded2. Parameter No. 50 issetincorrectly
10015 Drive overheat The internal
temperature
exceeds 75
degrees
1. Check whether the fan is normal2.Hostfailure, replace
10016 X failed to write
EEPROM
Abnormal memory
chip
Replace the host
10017 X failed to read
EEPROM
Abnormal memory
chip
Replace the host
10018 The position
deviation of X
axis is too large
The deviation
between the
command value
and the actual
encoder value
exceeds the set
value of
parameter 49
1. Set No. 49 servo parameterandincrease the deviation range2.Acceleration and decelerationsettingsare too small3. System exception10019 The position
deviation of X
axis is too large
The deviation
between the
command value
and the actual
encoder value
exceeds the set
value of
parameter 49
1. Set No. 49 servo parameterandincrease the deviation range2.Acceleration and decelerationsettingsare too small3. System exception10020 X axis encoder
error
Encoder
communication
failure
1. There is a problem with theencoderline2. Poor contact of encoderconnector3. Abnormal motor encoder10021 Abnormal X axis
velocity
measurement
Abnormal rotation
of motor
1. Wrong motor code setting2.Unreasonable gain parameters3.Randomrotation caused by motor failure
ECTC product series function specification v4.0
195
10022
Initialization of X
axis encoder
Encoder
initialization
1. There is a problem with theencoderline 2. Poor contact of encoderconnector3. Abnormal motor encoder10023 VDC hardware over
voltage
Internal hardware
over voltage
protection
1. The load is too heavy and thedeceleration is too high, resultingintoo much voltage rise 2. Brakeresistance failure or non conduction3.Host failure, replace
10024 X external bus err No bus normal
signal received
1. The top 3pin white terminalisloose2. Host failure
10025 X axis position
buffer full
System exception
10026 X axis position
buffer full
System exception
10027
XEEPROM parameter
test abnormality
Abnormal memory
chip
Replace the host
10028 X axis encoder
error
Encoder
communication
failure
1. There is a problem with theencoderline 2. Poor contact of encoderconnector3. Abnormal motor encoder
10029 Abnormal X axis
velocity
measurement
Encoder feedback
value is abnormal
1. Wrong motor code setting 2.Unreasonable gain parameters 3.Randomrotation caused by motor failure10030
Initialization of
X axis encoder
Encoder
initialization
1. There is a problem with theencoderline 2. Poor contact of encoderconnector3. Abnormal motor encoder
ECTC product series function specification v4.0
196
Alarm
number
Alarm information
Alarm reason Processing method
10031 X clear alarm too
fast
Clearing alarm
frequency too
fast
10032 XEEPROM needs to be
restored
Stored parameter
verification
error
You can write 8051 through parameter0and wait for 10s before restartingpoweron to clear
10033 XEthercat
communication timeout
Bus communication
timeout
Replace the host
10034
X axis encoder
battery power down
Encoder battery
power down
identification
bit
Ensure that the battery is wellconnectedand clear by setting parameter13to010035 X axis encoder
battery power down
Encoder battery
power down
identification
bit
Ensure that the battery is wellconnectedand clear by setting parameter13to010036 Low battery voltage
of X axis encoder
The encoder has
battery voltage
low flag bit
Encoder voltage too low
10037 Low battery voltage
of X axis encoder
The encoder has
battery voltage
low flag bit
Encoder voltage too low
10038 Inconsistent X axis
motor code
The motor code
read from the
encoder is
inconsistent
with the
setting
1. Check whether parameter 2 isthecorrect motor code. If it is correct,it can be eliminated by restarting2.Ifit is incorrect, set parameter4to1and then set parameter 2 manuallyparameter number is the correctmotorcode
10039 Inconsistent X axis
motor code
The motor code
read from the
encoder is
inconsistent
with the
setting
1. Check whether parameter 2 isthecorrect motor code. If it is correct,it can be eliminated by restarting2.Ifit is incorrect, set parameter4to1and then set parameter 2 manuallyparameter number is the correctmotorcode
10040 X axis illegal motor
code
Motor code non
system support
holding code
Set parameter 4 as 1, and thenmanuallyset parameter 2 as correct motorcodefor10041 X axis illegal motor
code
Motor code non
system support
holding code
Set parameter 4 as 1, and thenmanuallyset parameter 2 as correct motorcodefor10042 X axis encoder data
The encoder value
has not changed
Abnormal motor encoder
ECTC product series function specification v4.0
197
is not updated
10043 X axis encoder data
is not updated
The encoder value
has not changed
Abnormal motor encoder
10044 Multi turn value
error of X axis
encoder
Power off, unplug the batteryandresetthe encoder / parameter 13Set010045 Multi turn value
error of X axis
encoder
Power off, unplug the batteryandresetthe encoder / parameter 13Set010046 X axis power mismatch
Check parameter 2 and confirmwhetherthemotor code is the same as parameter1Digital power matching
10047 X axis power mismatch
Check parameter 2 and confirmwhetherthemotor code is the same as parameter1Digital power matching
10048 X axis parameter
setting error
Unreasonable
parameter setting
Check whether the parameters arewithinthe range: 5 (1, 6000),6(1,300),7(1~300),11(10,5000),15(10,100), 21(1,1000),22(0,300), 23(1,
20),31(20000),32(2000/20000),69(4096),71(0), 72(0), 73(0)
ECTC product series function specification v4.0
198
Alarm
number
Alarm information Alarm reason Processing method
10049
X axis parameter
setting error
Unreasonable
parameter setting
Check whether the parameters arewithinthe range: 5 (1, 6000),6(1,300),7(1~300),11(10,5000),15(10,100), 21(1,1000),22(0,300), 23(1,
20),31(20000),32(2000/20000),69(4096),71(0), 72(0), 73(0)
11001 Y emergency stop
alarm
Servo has
emergency stop
signal input
1. Screw out the manual controlleremergency stop2. Short circuittheemergency stop signal of the mainengine11002 Y axis over current IPM module over
current protection
1. Whether the motor is locked2.Poweronagain after pulling out the powerlineand holding brake line. If theabovetelegram alarm is the main enginefault,replace it. Otherwise, check themotorand circuit problems
11003 Y axis over current IPM module over
current protection
1. Whether the motor is locked2.Poweronagain after pulling out the powerlineand holding brake line. If theabovetelegram alarm is the main enginefault,replace it. Otherwise, check themotorand circuit problems
11004 Y external bus
disconnected
No bus normal
signal received
1. The top 3pin white terminalisloose2.Host failure
11005 Y axis overload Maximum load
exceeded
1. Check the load2. Whether themotorislocked
11006 Y axis overload Maximum load
exceeded
1. Check the load2. Whether themotorislocked and whether the holdingbrakeisreleased3. Check whether parameter1isthe corresponding power
11007 Y axis motor
initialization
Drive power on
initialization
is not over
1. Press the stop key to clear2.Ifitcannot be cleared, power on again3.Hostfailure, replace
11008 Y axis motor
initialization
Drive power on
initialization
is not over
1. Press the stop key to clear2.Ifitcannot be cleared, power on again3.Hostfailure, replace
11009 Y axis three-phase
error
Current exceeds
alarm value
1. Line sequence error2. Lackofphase3.The motor code does not correspondtothemotor
11010 Y axis three-phase
error
Current exceeds
alarm value
1. Line sequence error2. Lackofphase3.The motor code does not correspondtothemotor
ECTC product series function specification v4.0
199
11011 YVDC under voltage Voltage detected
below 195v
1. The load is too heavy and theacceleration is too high, resultingintoo much voltage drop2. The externalincoming voltage is too low3.Hostfailure, replace
11012 YVDC over voltage Voltage detected
above 405v
1. The load is too heavy and thedeceleration is too high, resultingintoo much voltage rise2. Brakeresistancefailure or non conduction3. Hostfailure,replace
11013 Y axis over speed Maximum speed
exceeded
1. If the internal communicationisdisconnected, check whether itiswellgrounded2. Parameter No. 50 issetincorrectly
ECTC product series function specification v4.0
200
Alarm
number
Alarm information Alarm reason Processing method
11014 Y axis over speed Maximum speed exceeded
1. If the internal communicationis disconnected, check whetherit is well grounded2. ParameterNo. 50 is set incorrectly11015 Y drive overheating The internal temperature
exceeds 75 degrees
1. Check whether the fanisnormal2. Host failure, replace11016 Y failed to write
EEPROM
Abnormal memory chip Replace the host
11017 Y failed to read
EEPROM
Abnormal memory chip Replace the host
11018 The position
deviation of Y axis
is too large
Command value and actual
encoder The value
deviation exceeds the
set value of parameter
49
1. Set No. 49 servo parameterand increase the deviationrange2. Acceleration anddeceleration settings aretoosmall3. System exception11019 The position
deviation of Y axis
is too large
The deviation between
the command value and
the actual encoder
value exceeds
reference 49Number
setting
1. Set No. 49 servo parameterand increase the deviationrange2. Acceleration anddeceleration settings aretoosmall3. System exception11020 Y axis encoder error Encoder communication
failure
1. There is a problem withtheencoder line2. Poor contactofencoder connector3. Abnormalmotor encoder
11021 Abnormal Y axis speed
measurement
Abnormal rotation of
motor
1. Wrong motor code setting2.Unreasonable gain parameters3.Random rotation caused bymotorfailure
11022 Y axis encoder
initializing
Encoder initialization
1. There is a problem withtheencoder line2. Poor contactofencoder connector3. Abnormalmotor encoder
11023 YVDC hardware over
voltage
Internal hardware over
voltage protection
1. The load is too heavyandthe deceleration is toohigh,resulting in too much voltagerise2. Brake resistancefailureor non conduction3. Hostfailure, replace
11024 Y external bus err
No bus normal signal
received number
1. The top 3pin white terminalis loose2. Host failure11025 Y axis position
buffer full
System exception
ECTC product series function specification v4.0
201
11026 Y axis position
buffer full
System exception
11027 YEEPROM parameter
verification
exception
Abnormal memory chip Replace the host
11028 Y axis encoder error Encoder communication
failure
1. There is a problem withtheencoder line2. Poor contactofencoder connector3. Abnormalmotor encoder
11029 Abnormal Y axis speed
measurement
Encoder feedback value
is abnormal
1. Wrong motor code setting2.Unreasonable gain parameters3.Random rotation caused bymotorfailure
11030 Y axis encoder
initializing
Encoder initialization
1. There is a problem withtheencoder line2. Poor contactofencoder connector3. Abnormalmotor encoder
11031 Y clear alarm too
fast
Clearing alarm frequency
too fast
11032 YEEPROM needs to be
restored
The stored parameters
are verified incorrectly
You can write 8051 throughparameter 0 and wait for10sbefore restarting new poweronto clear
ECTC product series function specification v4.0
202
Alarm
number
Alarm information Alarm reason Processing
method
11033 YEthercat communication
timeout
Bus communication
timeout
Replace the host
11034
Power failure of Y axis
encoder battery
The encoder has a
battery power down sign
position
Ensure that the batteryiswell connected and set0through parameter
13eliminate
11035 Power failure of Y axis
encoder battery
The encoder has a
battery power down sign
position
Ensure that the batteryiswell connected and set0through parameter
13eliminate
11036 Low battery voltage of
Y axis encoder
The encoder has a low
battery voltage scale
recognition position
Encoder voltage too low11037 Low battery voltage of
Y axis encoder
The encoder has a low
battery voltage scale
recognition position
Encoder voltage too low11038 Inconsistent Y axis
motor code
The motor code read
from the encoder is
inconsistent with the
setting
1. Check whether parameter2 is the correct motorcode. If it is correct,itcan be eliminated by
restarting2. If it isincorrect, set parameter4to 1 and then set it
manually set parameter2as the correct motor code11039 Inconsistent Y axis
motor code
The motor code read
from the encoder is
inconsistent with the
setting
1. Check whether parameter2 is the correct motorcode. If it is correct,itcan be eliminated by
restarting2. If it isincorrect, set parameter4to 1 and then set it
manually set parameter2as the correct motor code11040 Y axis illegal motor
code
Motor code not supported
by the system code
Set parameter 4 to 1,andthen manually set parameter2 to 1Correct motor code11041 Y axis illegal motor
code
Motor code not supported
by the system code
Set parameter 4 to 1,andthen manually set parameter2 to 1Correct motor code11042 Y axis encoder data is
not updated
The encoder value has
not changed
Abnormal motor encoder11043 Y axis encoder data is The encoder value has Abnormal motor encoder
ECTC product series function specification v4.0
203
not updated not changed
11044 Multi turn value error
of Y axis encoder
Power off, unplug thebattery and reset theencoder / reference 13Setthe number to 0
11045 Multi turn value error
of Y axis encoder
Power off, unplug thebattery and reset theencoder / reference 13Setthe number to 0
11046 Y axis power mismatch
Check parameter 2 andconfirm whether the motorcode is the same as 1No.parameter power matching11047 Y axis power mismatch
Check parameter 2 andconfirm whether the motorcode is the same as 1No.parameter power matching11048 Y axis parameter
setting error
Unreasonable parameter
setting
Check whether the
parameters are withinthe range: 5 (1, 6000),6 (1300), 7 (1 ~ 300),11
(10,5000),15(10,100),21(1, 1000),22(0,300),23(1,
20),31(20000),32(2000/20000),69(4096),71(0),72(0), 73(0)
11049 Y axis parameter
setting error
Unreasonable parameter
setting
Check whether the
parameters are withinthe range: 5 (1, 6000),6 (1300), 7 (1 ~ 300),11
(10,5000),15(10,100),21(1, 1000),22(0,300),23(1,
20),31(20000),32(2000/20000),69(4096),71(0),72(0), 73(0)
ECTC product series function specification v4.0
204
Alarm
number
Alarm information Alarm reason Processing method
12001 Z emergency stop
alarm
Servo has emergency
stop signal input
1. Screw out the manual controlleremergency stop2. Short circuittheemergency stop signal of themainengine
12002 Z axis over
current
IPM module over
current protection
1. Whether the motor is locked2.Power on again after pullingoutthe power line and holding brakeline. If the above telegram alarmis the main engine fault, replaceit. Otherwise, check the motorandcircuit problems
12003 Z axis over
current
IPM module over
current protection
1. Whether the motor is locked2.Power on again after pullingoutthe power line and holding brakeline. If the above telegram alarmis the main engine fault, replaceit. Otherwise, check the motorandcircuit problems
12004 Z external bus
disconnection
No bus normal signal
received
1. The top 3pin white terminalisloose2. Host failure
12005 Z axis overload Maximum load exceeded
1. Check the load2. Whether themotor is locked
12006 Z axis overload Maximum load exceeded
1. Check the load2. Whether themotor is locked and whether theholding brake is released3. Checkwhether parameter 1 is the
corresponding power
12007 Z axis motor
initialization
Drive power on
initialization is
not over
1. Press the stop key to clear2.If it cannot be cleared, poweronagain3. Host failure, replace12008 Z axis motor
initialization
Drive power on
initialization is
not over
1. Press the stop key to clear2.If it cannot be cleared, poweronagain3. Host failure, replace12009 Z axis three-phase
error
Current exceeds alarm
value
1. Line sequence error2. Lackofphase3. The motor code does notcorrespond to the motor
12010 Z axis three-phase
error
Current exceeds alarm
value
1. Line sequence error2. Lackofphase3. The motor code does notcorrespond to the motor
12011 ZVDC under voltage Voltage detected below
195v
1. The load is too heavy andtheacceleration is too high,
resulting in too much voltagedrop2. The external incoming
ECTC product series function specification v4.0
205
voltage is too low3. Host failure,replace
12012 ZVDC over voltage Voltage detected above
405v
1. The load is too heavy andthedeceleration is too high,
resulting in too much voltagerise2. Brake resistance failureornon conduction3. Host failure,replace
12013 Z axis over speed Maximum speed exceeded
1. If the internal communicationis disconnected, check whetheritis well grounded2. ParameterNo.50 is set incorrectly
12014 Z axis over speed Maximum speed exceeded
1. If the internal communicationis disconnected, check whetheritis well grounded2. ParameterNo.50 is set incorrectly
12015 Z drive
overheating
The internal
temperature exceeds 75
degrees
1. Check whether the fan is
normal2. Host failure, replace12016 Z failed to write
EEPROM
Abnormal memory chip Replace the host
12017 Z failed to read
EEPROM
Abnormal memory chip Replace the host
ECTC product series function specification v4.0
206
Alarm
number
Alarm information Alarm reason Processing method
12018 The Z axis
position
deviation is too
large
The deviation between
the command value and
the actual encoder
value exceeds the
parameter setting of
No. 49value
1. Set No. 49 servo parameter andincrease the deviation range2.
Acceleration and deceleration settingsare too small3. System exception12019 The Z axis
position
deviation is too
large
Command value and
actual encoder value
the deviation exceeds
the setting value of
parameter 49
1. Set No. 49 servo parameter andincrease the deviation range2.
Acceleration and deceleration settingsare too small3. System exception12020 Z axis encoder
error
Encoder communication
failure
1. There is a problem with the encoderline2. Poor contact of encoder
connector3. Abnormal motor encoder12021 Abnormal Z axis
velocity
measurement
Abnormal rotation of
motor
1. Wrong motor code setting2.
Unreasonable gain parameters3. Randomrotation caused by motor failure12022
Z axis encoder
initialization
Encoder initialization
1. There is a problem with the encoderline2. Poor contact of encoder
connector3. Abnormal motor encoder12023 ZVDC hardware
over voltage
Internal hardware over
voltage protection
1. The load is too heavy and thedeceleration is too high, resultingintoo much voltage rise2. Brake
resistance failure or non conduction3.Host failure, replace
12024 Z external bus
err
No bus normal signal
received
1. The top 3pin white terminal isloose2. Host failure
12025 Z axis position
buffer full
System exception
12026 Z axis position
buffer full
System exception
12027
ZEEPROM
parameter
verification
abnormal
Abnormal memory chip Replace the host
12028 Z axis encoder
error
Encoder communication
failure
1. There is a problem with the encoderline2. Poor contact of encoder
connector3. Abnormal motor encoder12029 Abnormal Z axis
velocity
measurement
Encoder feedback value
is abnormal
1. Wrong motor code setting2.
Unreasonable gain parameters3. Randomrotation caused by motor failure
ECTC product series function specification v4.0
207
12030
Z axis encoder
initialization
Encoder initialization
1. There is a problem with the encoderline2. Poor contact of encoder
connector3. Abnormal motor encoder12031 Z clear alarm
too fast
Clearing alarm
frequency too fast
12032 ZEEPROM needs to
be restored
The stored parameters
are verified
incorrectly
You can write 8051 through parameter0and wait for 10s to restart electricityto clear
12033
ZEthercat
communication
timeout
Bus communication
timeout
Replace the host
12034
Z axis encoder
battery is drop
power
The encoder has a
battery power down
sign position
Ensure that the battery is well
connected and clear by setting
parameter 13 to 0
12035
Z axis encoder
battery is drop
power
The encoder has a
battery power down
sign position
Ensure that the battery is well
connected and clear by setting
parameter 13 to 0
12036
Z axis encoder
battery power
low voltage
The encoder has a low
battery voltage scale
recognition position
Encoder voltage too low
ECTC product series function specification v4.0
208
Alarm
number
Alarm information Alarm reason Processing method
12037
Z axis encoder
battery power
Low voltage
The encoder has a low
battery voltage scale
recognition position
Encoder voltage too low
12038
Inconsistent Z
axis motor
code
The motor code read
from the encoder is
inconsistent with
the setting
1. Check whether parameter 2 isthecorrect motor code. If it is correct,it can be eliminated by restarting2.If it is incorrect, set parameter4to1 and then set parameter 2 manuallyparameter number is the correctmotorcode
12039
Inconsistent Z
axis motor code
The motor code read
from the encoder is
inconsistent with
the setting
1. Check whether parameter 2 isthecorrect motor code. If it is correct,it can be eliminated by restarting2.If it is incorrect, set parameter4to1 and then set parameter 2 manuallyparameter number is the correctmotorcode
12040 Z axis illegal
motor code
Motor code not
supported by the
system code
Set parameter 4 as 1, and thenmanuallyset parameter 2 as correct motorcodefor
12041
Z axis illegal
motor generation
code
Motor code not
supported by the
system code
Set parameter 4 as 1, and thenmanuallyset parameter 2 as correct motorcodefor
12042
Z axis encoder
data is in not
update
The encoder value has
not changed
Abnormal motor encoder
12043
Z axis encoder
data is in not
update
The encoder value has
not changed
Abnormal motor encoder
12044
Z axis encoder
multi turn value
error
Power off, unplug the battery andresetthe encoder / parameter 130
12045
Multi turn value
of Z axis
encoder error
Power off, unplug the battery andresetthe encoder / parameter 130
12046 Z axis power
mismatch
Check parameter 2 and confirm whetherthe motor code is the same as parameter1Digital power matching
12047 Z axis power
mismatch
Check parameter 2 and confirm whetherthe motor code is the same as parameter1Digital power matching
ECTC product series function specification v4.0
209
12048 Z axis parameter
setting error
Unreasonable parameter
setting
Check whether the parameters arewithinthe range: 5(1,6000),6(1,300),7(1~300),11(10,5000),15(10,100),21(1,1000),22(0,300),23(1,20),31(20000),32(2000/20000),69(4096),71(0), 72(0), 73(0)
12049
Z axis
parameter
setting error
Unreasonable parameter
setting
Check whether the parameters arewithinthe range: 5(1,6000),6(1,300),7(1~300),11(10,5000),15(10,100),21(1,1000),22(0,300),23(1,20),31(20000),32(2000/20000),69(4096),71(0), 72(0), 73(0)
13001 U emergency stop
alarm
Servo has emergency
stop signal input
1. Screw out the manual controlleremergency stop 2. Short circuittheemergency stop signal of the mainengine
13002 U axis over
current
IPM module over
current protection
1. Whether the motor is locked2.Poweron again after pulling out thepowerline and holding brake line. Iftheabove telegram alarm is the mainenginefault, replace it. Otherwise, checkthemotor and circuit problems
13003 U axis over
current
IPM module over
current protection
1. Whether the motor is locked2.Poweron again after pulling out thepowerline and holding brake line. Iftheabove telegram alarm is the mainenginefault, replace it. Otherwise, checkthemotor and circuit problems
ECTC product series function specification v4.0
210
Alarm
number
Alarm information Alarm reason Processing method
13004 U external bus
disconnection
No bus normal signal
received
1. The top 3pin white terminal isloose2. Host failure
13005 U-axis overload Maximum load exceeded
1. Check the load2. Whether themotoris locked
13006 U-axis overload Maximum load exceeded
1. Check the load 2. Whether themotoris locked and whether the holdingbrakeis released 3. Check whether parameter1 is the corresponding power
13007 Initialization
of U-axis motor
Drive power on
initialization is
not over
1. Press the stop key to clear 2.Ifitcannot be cleared, power on again3.Host failure, replace
13008 Initialization
of U-axis motor
Drive power on
initialization is
not over
1. Press the stop key to clear 2.Ifitcannot be cleared, power on again3.Host failure, replace
13009 U-axis threephase error
Current exceeds alarm
value
1. Line sequence error 2. Lack ofphase3. The motor code does not correspondto the motor
13010 U-axis threephase error
Current exceeds alarm
value
1. Line sequence error 2. Lack ofphase3. The motor code does not correspondto the motor
13011 UVDC under
voltage
Voltage detected below
195v
1. The load is too heavy and theacceleration is too high, resultingintoo much voltage drop 2. The externalincoming voltage is too low 3. Hostfailure, replace
13012 UVDC over
voltage
Voltage detected above
405v
1. The load is too heavy and thedeceleration is too high, resultingintoo much voltage rise 2. Brake
resistance failure or non conduction3.Host failure, replace
13013 U-axis over
speed
Maximum speed exceeded
1. If the internal communicationisdisconnected, check whether it iswellgrounded 2. Parameter No. 50 issetincorrectly
13014 U-axis over
speed
Maximum speed exceeded
1. If the internal communicationisdisconnected, check whether it iswellgrounded 2. Parameter No. 50 issetincorrectly
13015 U drive
overheating
The internal
temperature exceeds 75
degrees
1. Check whether the fan is normal2.Host failure, replace
13016 U failed to Abnormal memory chip Replace the host
ECTC product series function specification v4.0
211
write EEPROM
13017 U failed to read
EEPROM
Abnormal memory chip Replace the host
13018 The position
deviation of U
axis is too
large
Command value and
actual encoder value
The deviation exceeds
the setting value of
parameter 49
1. Set No. 49 servo parameter andincrease the deviation range 2.Acceleration and deceleration settingsare too small 3. System exception13019 The position
deviation of Uaxis is too
large
The deviation between
the command value and
the actual encoder
value exceeds the
parameter setting of
No. 49value
1. Set No. 49 servo parameter andincrease the deviation range 2.Acceleration and deceleration settingsare too small 3. System exception13020 U axis encoder
error
Encoder communication
failure
1. There is a problem with the encoderline 2. Poor contact of encoderconnector3. Abnormal motor encoder
ECTC product series function specification v4.0
212
Alarm
number
Alarm information Alarm reason Processing method
13021 Abnormal U axis
speed measurement
Abnormal rotation of
motor
1. Wrong motor code setting 2.Unreasonable gain parameters 3.Randomrotation caused by motor failure13022
Axis u encoder
initializing
Encoder initialization
1. There is a problem with theencoderline 2. Poor contact of encoderconnector 3. Abnormal motor encoder13023 UVDC hardware
over voltage
Internal hardware over
voltage protection
1. The load is too heavy and thedeceleration is too high, resultingintoo much voltage rise 2. Brakeresistance failure or non conduction3.Host failure, replace
13024 U external bus
err
No bus normal signal
received
1. The top 3pin white terminalisloose2. Host failure
13025 U axis position
buffer full
System exception
13026 U axis position
buffer full
System exception
13027
UEEPROM parameter
verification
abnormal
Abnormal memory chip Replace the host
13028 U axis encoder
error
Encoder communication
failure
1. There is a problem with theencoderline 2. Poor contact of encoderconnector 3. Abnormal motor encoder13029 Abnormal U axis
speed measurement
Encoder feedback value
is abnormal
1. Wrong motor code setting
2.Unreasonable gain parameters3.Random rotation caused by motorfailure13030
Axis u encoder
initializing
Encoder initialization
1. There is a problem with theencoderline 2. Poor contact of encoderconnector 3. Abnormal motor encoder13031 U clearing alarm
too fast
Clearing alarm
frequency too fast
13032 UEEPROM needs to
be restored
The stored parameters
are verified
incorrectly
You can write 8051 through parameter0and wait for 10s to restart electricityto clear
13033
UEthercat
communication
timeout
Bus communication
timeout
Replace the host
13034
U axis encoder
battery power
failure
The encoder has a
battery power down
sign position
Ensure that the battery is wellconnected and clear by settingparameter 13 to 0
13035
U axis encoder
battery power
The encoder has a
battery power down
Ensure that the battery is wellconnected and clear by setting
ECTC product series function specification v4.0
213
failure sign position parameter 13 to 0
13036
U axis encoder
battery low
voltage
The encoder has a low
battery voltage scale
recognition position
Encoder voltage too low
13037
U axis encoder
battery low
voltage
The encoder has a low
battery voltage scale
recognition position
Encoder voltage too low
13038
Inconsistent
code of U axis
motor
The motor code read
from the encoder is
inconsistent with
the setting
1. Check whether parameter 2 isthecorrect motor code. If it is correct,it can be eliminated by restarting2.If it is incorrect, set parameter4to1 and then set parameter 2 manuallyparameter number is the correctmotorcode
13039
Inconsistent
code of U axis
motor
The motor code read
from the encoder is
inconsistent with
the setting
1. Check whether parameter 2 isthecorrect motor code. If it is correct,it can be eliminated by restarting2.If it is incorrect, set parameter4to1 and then set parameter 2 manuallyparameter number is the correctmotorcode
13036
U axis encoder
battery low
voltage
The encoder has a low
battery voltage scale
recognition position
Encoder voltage too low
13037
U axis encoder
battery low
voltage
The encoder has a low
battery voltage scale
recognition position
Encoder voltage too low
13038
Inconsistent
code of U axis
motor
The motor code read
from the encoder is
inconsistent with
the setting
1. Check whether parameter 2 isthecorrect motor code. If it is correct,it can be eliminated by restarting2.If it is incorrect, set parameter4to1 and then set parameter 2 manuallyparameter number is the correctmotorcode
13039
Inconsistent
code of U axis
motor
The motor code read
from the encoder is
inconsistent with
the setting
1. Check whether parameter 2 isthecorrect motor code. If it is correct,it can be eliminated by restarting2.If it is incorrect, set parameter4to1 and then set parameter 2 manuallyparameter number is the correctmotorcode
ECTC product series function specification v4.0
214
Alarm
number
Alarm information Alarm reason Processing method
13040 U axis illegal
motor code
Motor code is not a
system supported code
Set parameter 4 to 1, and thenmanually set parameter 2 to thecorrect motor code
13041 U axis illegal
motor code
Motor code is not a
system supported code
Set parameter 4 as 1, and thenmanuallyset parameter 2 as correct motorcodefor
13042
The data of U
axis encoder is
not updated
The encoder value has not
changed
Abnormal motor encoder
13043
The data of U
axis encoder is
not update
The encoder value has not
changed
Abnormal motor encoder
13044
Multi turn value
of U axis encoder
error
Power off, unplug the batteryandresetthe encoder / parameter 13Set013045
Multi turn value
of U axis encoder
error
Power off, unplug the batteryandresetthe encoder / parameter 13Set013046 U axis power
mismatch
Check parameter 2 and confirmwhetherthe motor code is the same asparameter1Digital power matching
13047 U axis power
mismatch
Check parameter 2 and confirmwhetherthe motor code is the same asparameter1Digital power matching
13048
Error in
parameter setting
of U axis
Unreasonable parameter
setting
Check whether the parameters arewithinthe range:5(1,6000),6(1,300),7(1~300),11(10,5000),15(10,100),21(1,1000),22(0,300),23(1,20),31(20000),32(2000/20000),69(4096),71(0), 72(0), 73(0)
13049
Error in
parameter setting
of U axis
Unreasonable parameter
setting
Check whether the parameters arewithinthe range: 5(1,6000),6(1,300),7(1~300),11(10,5000),15(10,100),21(1,1000),22(0,300),23(1,20),31(20000),32(2000/20000),69(4096),71(0), 72(0), 73(0)
14001 V emergency stop
alarm
The encoder has battery
power down identification
bit
Ensure that the battery is wellconnected and clear by settingparameter 13 to 0
14002 V < shaft over
current
The encoder has battery
power down identification
bit
Ensure that the battery is wellconnected and clear by settingparameter 13 to 0
14003 Axis V over
current
The encoder has a low
battery voltage flag bit
Encoder voltage too low
14004 V external bus
disconnection
The encoder has a low
battery voltage flag bit
Encoder voltage too low
14005 V axis overload
The motor code read from
1. Check whether parameter 2 isthecorrect motor code. If it is correct,
ECTC product series function specification v4.0
215
the encoder is
inconsistent with the
setting
it can be eliminated by restarting2.If it is incorrect, set parameter4to 1 and then set parameter 2manually parameter number is thecorrect motor code
14006 V axis overload
The motor code read from
the encoder is
inconsistent with the
setting
1. Check whether parameter 2 isthecorrect motor code. If it is correct,it can be eliminated by restarting2.If it is incorrect, set parameter4to 1 and then set parameter 2manually parameter number is thecorrect motor code
14007 V axis motor
initialization
Motor code is not a
system supported code
Set parameter 4 as 1, and thenmanuallyset parameter 2 as correct motorcodefor
14008 V axis motor
initialization
Motor code is not a
system supported code
Set parameter 4 as 1, and thenmanuallyset parameter 2 as correct motorcodefor
14009 Three phase error
of V axis
The encoder value has not
changed
Abnormal motor encoder
14010 Three phase error
of V axis
The encoder value has not
changed
Abnormal motor encoder
14011 VVDC under
voltage
Power off, unplug the batteryandresetthe encoder / parameter 13Set0
ECTC product series function specification v4.0
216
Alarm
number
Alarm information Alarm reason Processing method
14012 VVDC over
voltage
Power off, unplug the battery andresetthe encoder / parameter 13Set 0
14013 V axis over
speed
Check parameter 2 and confirm whetherthe motor code is the same as parameter1Digital power matching
14014 V axis over
speed
Check parameter 2 and confirm whetherthe motor code is the same as parameter1Digital power matching
14015 V drive
overheating
Unreasonable parameter
setting
Check whether the parameters arewithinthe range: 5(1,6000),6(1,300),7(1~300),11(10,5000),15(10,100),21(1,1000),22(0,300),23(1,20),31(20000),32(2000/20000),69(4096),71(0), 72(0), 73(0)
14016 V failed to
write EEPROM
Unreasonable parameter
setting
Check whether the parameters arewithinthe range: 5(1,6000),6(1,300),7(1~300),11(10,5000),15(10,100),21(1,1000),22(0,300),23(1,20),31(20000),32(2000/20000),69(4096),71(0), 72(0), 73(0)
14017 V failed to read
EEPROM
Abnormal memory chip Replace the host
14018 The position
deviation of
axis V is too
large
The deviation between
the command value and
the actual encoder
value exceeds the set
value of parameter 49
1. Set No. 49 servo parameter andincrease the deviation range 2.
Acceleration and deceleration settingsare too small 3. System exception14019 The position
deviation of
axis V is too
large
The deviation between
the command value and
the actual encoder
value exceeds the set
value of parameter 49
1. Set No. 49 servo parameter andincrease the deviation range 2.
Acceleration and deceleration settingsare too small 3. System exception14020 Axis V encoder
error
Encoder communication
failure
1. There is a problem with the encoderline 2. Poor contact of encoder
connector 3. Abnormal motor encoder14021 Abnormal V axis
speed
measurement
Abnormal rotation of
motor
1. Wrong motor code setting 2.
Unreasonable gain parameters 3. Randomrotation caused by motor failure
ECTC product series function specification v4.0
217
14022
Axis V encoder
initializing
Encoder initialization
1. There is a problem with the encoderline 2. Poor contact of encoderconnector 3. Abnormal motor encoder14023 VVDC hardware
over voltage
Internal hardware over
voltage protection
1. The load is too heavy and thedeceleration is too high, resultingintoo much voltage rise 2. Brake
resistance failure or non conduction3.Host failure, replace
14024 V external bus
err
No bus normal signal
received
1. The load is too heavy and thedeceleration is too high, resultingintoo much voltage rise 2. Brake
resistance failure or non conduction3.Host failure, replace
14025 V axis position
buffer full
System exception
1. The top 3pin white terminal isloose2. Host failure
14026 V axis position
buffer full
System exception
14027
VEEPROM
parameter
verification
abnormal
Abnormal memory chip
14028 Axis V encoder
error
Encoder communication
failure
Replace the host
14029 Abnormal V axis
speed
measurement
Encoder feedback value
is abnormal
1. There is a problem with the encoderline 2. Poor contact of encoderconnector 3. Abnormal motor encoder14030 Axis V encoder
initializing
Encoder initialization
1. Wrong motor code setting 2.
Unreasonable gain parameters 3.Randomrotation caused by motor failure14031 V clear alarm
too fast
Clearing alarm
frequency too fast
1. There is a problem with the encoderline 2. Poor contact of encoderconnector 3. Abnormal motor encoder14032 VEEPROM needs to
be restored
The stored parameters
are verified
incorrectly
14033 VEthercat
communication
timeout
Bus communication
timeout
1. You can write 8051 through parameter0 and wait for 10s before restartingnew power on to clear
14034 Power failure of
V axis encoder
battery
The encoder has a
battery power down sign
position
Replace the host
ECTC product series function specification v4.0
218
14035 Power failure of V
axis encoder battery
The encoder has
battery power down
identification bit
1. Ensure that the battery is wellconnected and clear by settingparameter 13 to 0
14036
V axis encoder
battery voltage
The encoder has a
low battery voltage
scale recognition
position
1. Ensure that the battery is wellconnected and set 0 through parameter13eliminate
14037
V axis encoder
battery voltage
The encoder has a
low battery voltage
scale recognition
position
1. Encoder voltage too low
14038 Inconsistent V axis
motor code
Electricity read
from the encoder The
machine code is
inconsistent with
the setting
1. Encoder voltage too low
14039 Inconsistent V axis
motor code
The motor code read
from the encoder is
inconsistent with
the setting
1. Check whether parameter 2 isthecorrect motor code. If it is correct,it can be eliminated by restarting2.If it is incorrect, set parameter4to 1 and then set parameter 2
manually parameter number is thecorrect motor code
14040 V axis illegal motor
code
Motor code is not a
system supported
code
1. Check whether parameter 2 isthecorrect motor code. If it is correct,it can be eliminated by restarting2.If it is incorrect, set parameter4to 1 and then set parameter 2
manually parameter number is thecorrect motor code
14041 V axis illegal motor
code
Motor code not
supported by the
system code
1. Set parameter 4 to 1, and thenmanually set parameter 2 to 1Correctmotor code
14042 The data of axis V
encoder is not
updated
The encoder value
has not changed
1. Abnormal motor encoder
14043 The data of axis V
encoder is not
updated
The encoder value
has not changed
1. Abnormal motor encoder
14044
Multi turn value
error of axis V
encoder error
1. Power off, unplug the batteryandreset the encoder / reference 13Setthe number to 0
14045 Multi turn value
error of axis V
encoder
1. Power off, unplug the batteryandreset the encoder / reference 13Setthe number to 0
14046 V axis power
mismatch
1. Check parameter 2 and confirmwhether the motor code is the sameas1No. parameter power matching
ECTC product series function specification v4.0
219
14047 V axis power
mismatch
1. Check parameter 2 and confirmwhether the motor code is the sameas1No. parameter power matching
14048 Wrong setting of
axis V parameters
Unreasonable
parameter setting
1. Check whether the parametersarewithin the range:
5(1,6000),6(1,300),7(1~300),
11(10,5000),15(10,100),21(1,1000),22(0,300),23(1,20),31(20000),32(2000/20000),69(4096),71(0), 72(0), 73(0)14049
Wrong setting
of axis V
parameters
Unreasonable parameter
setting
1. Check whether the parameters arewithin the range:
5(16000),6(1,300),7(1~300),
11(10,5000),15(10,100),21(1,1000),22(0,300),23(1,20),31(20000),32(2000/20000),69(4096),71(0), 72(0), 73(0)
15001 W emergency stop
alarm
Servo has emergency
stop signal input
1. Screw out the manual controlleremergency stop 2. Short circuit theemergency stop signal of the mainengine
15002 W axis over
current
IPM module over current
protection
1. Whether the motor is locked2.Poweron again after pulling out the powerline and holding brake line. If theabove telegram alarm is the mainenginefault, replace it. Otherwise, checkthemotor and circuit problems
15003 W axis over
current
IPM module over current
protection
1. Whether the motor is locked 2.Poweron again after pulling out the powerline and holding brake line. If theabove telegram alarm is the mainenginefault, replace it. Otherwise, checkthemotor and circuit problems
15004 W external bus
disconnection
No bus normal signal
received
1. The top 3pin white terminal isloose2. Host failure
15005 W axis overload Maximum load exceeded
1. Check the load 2. Whether themotoris locked
15006 W axis overload Maximum load exceeded
1. Check the load 2. Whether themotoris locked and whether the holdingbrakeis released3. Check whether parameter1is the corresponding power
15007
W axis motor
initializatio
n
Drive power on
initialization is not
over
1. Press the stop key to clear 2.Ifitcannot be cleared, power on again3.Host failure, replace
15008
W axis motor
initialization
Drive power on
initialization is not
over
1. Press the stop key to clear 2.Ifitcannot be cleared, power on again3.Host failure, replace
ECTC product series function specification v4.0
220
15009 W axis threephase error
Current exceeds alarm
value
1. Line sequence error 2. Lack ofphase3. The motor code does not correspondto the motor
15010 W axis threephase error
Current exceeds alarm
value
1. Line sequence error 2. Lack ofphase3. The motor code does not correspondto the motor
15011 WVDC under
voltage
Voltage detected below
195v
1. The load is too heavy and theacceleration is too high, resultingintoo much voltage drop 2. The externalincoming voltage is too low 3. Hostfailure, replace
15012 WVDC over
voltage
Voltage detected above
405v
1. The load is too heavy and thedeceleration is too high, resultingintoo much voltage rise 2. Brake
resistance failure or non conduction3.Host failure, replace
15013 W axis over
speed
Maximum speed exceeded
1. If the internal communicationisdisconnected, check whether it iswellgrounded 2. Parameter No. 50 issetincorrectly
15014 W axis over
speed
Maximum speed exceeded
1. If the internal communicationisdisconnected, check whether it iswellgrounded 2. Parameter No. 50 issetincorrectly
15015 W Drive
overheating
The internal
temperature exceeds 75
degrees
1. Check whether the fan is normal2.Host failure, replace
15016 W failed to
write EEPROM
Abnormal memory chip Replace the host
15017 W failed to read
EEPROM
Abnormal memory chip Replace the host
15018 The position
deviation of W
axis is too
large
The deviation between
the command value and
the actual encoder
value exceeds the
parameter setting of
No. 49Fixed value
1. Set No. 49 servo parameter andincrease the deviation range 2.Acceleration and deceleration settingsare too small 3. System exception15019 The position
deviation of W
axis is too
large
Command value and
actual encoder value
the deviation exceeds
the setting value of
parameter 49
1. Set No. 49 servo parameter andincrease the deviation range 2.Acceleration and deceleration settingsare too small 3. System exception
ECTC product series function specification v4.0
221
15020 W axis encoder
error
Encoder communication
failure
1. There is a problem with the encoderline 2. Poor contact of encoderconnector 3. Abnormal motor encoder15021 Abnormal W axis
speed
measurement
Abnormal rotation of
motor
1. Wrong motor code setting 2.
Unreasonable gain parameters 3.Randomrotation caused by motor failure15022 W axis encoder
initialization
Encoder initialization
1. There is a problem with the encoderline 2. Poor contact of encoderconnector 3. Abnormal motor encoder15023 WVDC hardware
over voltage
Internal hardware over
voltage protection
1. The load is too heavy and thedeceleration is too high, resultingintoo much voltage rise 2. Brake
resistance failure or non conduction3.Host failure, replace
15024 W external bus
err
No bus normal signal
received
1. The load is too heavy and thedeceleration is too high, resultingintoo much voltage rise 2. Brake
resistance failure or non conduction3.Host failure, replace
15025 W axis position
buffer full
System exception
1. The top 3pin white terminal isloose2. Host failure
15026 W axis position
buffer full
System exception
15027 WEEPROM
parameter
verification
exception
Abnormal memory chip
15028 W axis encoder
error
Encoder communication
failure
Replace the host
15029 Abnormal W axis
speed
measurement
Encoder feedback value
is abnormal
1. There is a problem with the encoderline 2. Poor contact of encoderconnector 3. Abnormal motor encoder15030 W axis encoder
initialization
Encoder initialization
1. Wrong motor code setting 2.
Unreasonable gain parameters 3.Randomrotation caused by motor failure15031 W clear alarm
too fast
Clearing alarm
frequency too fast
1. There is a problem with the encoderline 2. Poor contact of encoderconnector 3. Abnormal motor encoder15032 WEEPROM needs to
be restored
The stored parameters
are verified
incorrectly
15033 WEthercat
communication
timeout
Bus communication
timeout
You can write 8051 through parameter0and wait for 10sPower on again toclear
ECTC product series function specification v4.0
222
Alarm
number Alarm information
Alarm reason Processing method
15034 Power failure of W axis
encoder battery
The encoder has a
battery power down
indicator
recognition
position
Replace the host
15035 Power failure of W axis
encoder battery
The encoder has a
battery power down
indicator
recognition
position
Ensure that the battery is wellconnected and set 0 throughparameter 13eliminate
15036 Low battery voltage of W
axis encoder
The encoder has low
battery voltage
identification
Ensure that the battery is wellconnected and set 0 throughparameter 13eliminate
15037 Low battery voltage of W
axis encoder
The encoder has low
battery voltage
identification bit
Encoder voltage too low
15040 W axis illegal motor
code
Motor code is not
a system supported
code
1. Check whether parameter 2isthe correct motor code. If itiscorrect, it can be eliminatedbyrestarting2. If it is incorrect,set parameter 4 to 1 and thensetit manually set parameter 2asthe correct motor code
15041 W axis illegal motor
code
Motor code not
supported by the
system code
1. Set parameter 4 to 1, andthenset parameter 2 manually isthecorrect motor code
15042 W axis encoder data is
not updated
The encoder value
has not changed
1. Abnormal motor encoder
15043 W axis encoder data is
not updated
The encoder value
has not changed
1. Abnormal motor encoder
15044 W axis encoder multi
turn value error
1. Power off, unplug the batteryand reset the encoder / 13ParameterNo. is set to 0
15045 W axis encoder multi
turn value error
1. Power off, unplug the batteryand reset the encoder / 13ParameterNo. is set to 0
15046 W axis power mismatch
1. Check parameter 2 and confirmwhether the motor code is
consistent with parameter 1powermatching
15047 W axis power mismatch
1. Check parameter 2 and confirmwhether the motor code is
consistent with parameter 1powermatching
ECTC product series function specification v4.0
223
15048
W axis parameter setting
error
Unreasonable
parameter setting
1. Check whether the parameteriswithin the range: 5 (1,6000),6(1,300),7(1~300),11(10,5000),15(10,100), 21(1, 1000),22(0,300),23(1,20),31(20000),32(2000/20000),69(4096),71(0), 72(0), 73(0)
15049
W axis parameter setting
error
Unreasonable
parameter setting
1. Check whether the parameteriswithin the range: 5 (1,6000),6(1,300),7(1~300),11(10,5000),15(10,100), 21(1, 1000),22(0,300),23(1,20),31(20000),32(2000/20000),69(4096),71(0), 72(0), 73(0)
16001 M7 emergency stop alarm nothing Check servo failure
16002 M7 shaft over current IPM module over
current protection
1. Whether the motor is locked2.Power on again after pullingoutthe power line and holding brakeline. If the above telegramalarmis the main engine fault, replaceit. Otherwise, check the motorandcircuit problems
ECTC product series function specification v4.0
224
Alarm
number
Alarm
information
Alarm reason Processing method
16003 M7 shaft
over
current
IPM module over
current protection
1. Whether the motor is locked 2. Poweronagain after pulling out the power lineandholding brake line. If the above telegramalarm is the main engine fault, replaceit. Otherwise, check the motor andcircuitproblems
16004
M7 external
bus break
No bus normal signal
received
1. The top 3pin white terminal is loose2.Host failure
16005 M7 shaft
overload
Maximum load exceeded
1. Check the load 2. Whether the motorislocked
16006 M7 shaft
overload
Maximum load exceeded
1. Check the load 2. Whether the motorislocked and whether the holding brakeisreleased 3. Check whether parameter1isthe corresponding power
16007
M7 axis
motor
initializa
tion
Drive power on
initialization is
not over
1. Press the stop key to clear 2. Ifitcannot be cleared, power on again 3.Hostfailure, replace
16008
M7 axis
motor
initializa
tion
Drive power on
initialization is
not over
1. Press the stop key to clear 2. Ifitcannot be cleared, power on again 3.Hostfailure, replace
16009
M7 axis
threephase
error
Current exceeds alarm
value
1. Line sequence error 2. Lack of phase3.The motor code does not correspondtothemotor
16010
M7 axis
threephase
error
Current exceeds alarm
value
1. Line sequence error 2. Lack of phase3.The motor code does not correspondtothemotor
16011 M7vdc under
voltage
Voltage detected below
195v
1. The load is too heavy and the
acceleration is too high, resultingintoomuch voltage drop 2. The external incomingvoltage is too low 3. Host failure,replace
16012 M7vdc over
voltage
Voltage detected above
405v
1. The load is too heavy and the
deceleration is too high, resultingintoomuch voltage rise 2. Brake resistancefailure or non conduction 3. Host failure,replace
ECTC product series function specification v4.0
225
16013 M7 shaft
over speed
Maximum speed exceeded
1. If the internal communication isdisconnected, check whether it is wellgrounded 2. Parameter No. 50 is setincorrectly
16014 M7 shaft
over speed
Maximum speed exceeded
1. If the internal communication isdisconnected, check whether it is wellgrounded 2. Parameter No. 50 is setincorrectly
16016
M7 drive
overheat
The internal
temperature exceeds 75
degrees
1. Check whether the fan is normal2.Hostfailure, replace
16016
M7 write
EEPROM fail
Abnormal memory chip Replace the host
16017
M7 read
EEPROM fail
Abnormal memory chip Replace the host
16018
M7 axis
position
deviation
is too
large
Command value and
actual encoder value
the deviation exceeds
the setting value of
parameter 49
1. Set No. 49 servo parameter and increasethe deviation range 2. Accelerationanddeceleration settings are too small3.System exception
16019
M7 axis
position
deviation
is too
large
The deviation between
the command value and
the actual encoder
value exceeds the
parameter setting of
No. 49value
1. Set No. 49 servo parameter and increasethe deviation range 2. Accelerationanddeceleration settings are too small3.System exception
ECTC product series function specification v4.0
226
Alarm
number
Alarm information Alarm reason Processing method
16020 M7 axis encoder error Encoder communication
failure
1. There is a problem with theencoder line 2. Poor contactofencoder connector 3. Abnormalmotor encoder
16021 Abnormal speed
measurement of M7
axis
Abnormal rotation of
motor
1. Wrong motor code setting2.Unreasonable gain parameters3.Random rotation caused by motorfailure
16022 M7 axis encoder
initialization
Encoder initialization
1. There is a problem with theencoder line 2. Poor contactofencoder connector 3. Abnormalmotor encoder
16023 M7vdc hardware over
voltage
Internal hardware over
voltage protection
1. The load is too heavy andthedeceleration is too high,
resulting in too much voltagerise 2. Brake resistance failureor non conduction 3. Host
failure, replace
16024 M7 external bus err No bus normal signal
received
1. The load is too heavy andthedeceleration is too high,
resulting in too much voltagerise 2. Brake resistance failureor non conduction 3. Host
failure, replace
16025 M7 axis position
buffer full
System exception
1. The top 3pin white terminalisloose 2. Host failure
16026 M7 axis position
buffer full
System exception
16027
M7eeprom parameter
test
Abnormal memory chip
16028 M7 axis encoder error Encoder communication
failure
Replace the host
16029 Abnormal speed
measurement of M7
axis
Encoder feedback value
is abnormal
1. There is a problem with theencoder line 2. Poor contactofencoder connector 3. Abnormalmotor encoder
16030 M7 axis encoder
initialization
Encoder initialization
1. Wrong motor code setting2.Unreasonable gain parameters3.Random rotation caused by motorfailure
16031 M7 clearing alarm too
fast
Clearing alarm
frequency too fast
1. There is a problem with theencoder line 2. Poor contactofencoder connector 3. Abnormalmotor encoder
16032 M7eeprom needs to be
restored
The stored parameters
are verified
incorrectly
ECTC product series function specification v4.0
227
16033 M7ethernet
communication timeout
Bus communication
timeout
You can write 8051 through
parameter 0 and wait for 10sPoweron again to clear
16034 M7 shaft encoder
battery power down
The encoder has a
battery power down
sign position
Replace the host
16035 M7 shaft encoder
battery power down
The encoder has a
battery power down
sign position
Ensure that the battery is wellconnected and set 0 throughparameter 13eliminate
16036
M7 axis encoder
battery low
The encoder has a low
battery voltage scale
recognition position
Ensure that the battery is wellconnected and set 0 throughparameter 13eliminate
16037
M7 axis encoder
battery voltage
The encoder has a low
battery voltage scale
recognition position
Encoder voltage too low
1. Check whether parameter 2isthe correct motor generation16040 M7 axis illegal motor
code
Motor code not
supported by the
system code
If the code is correct, it canbeeliminated by restarting 2.Ifitis incorrect, set parameter4to1and then set it manually
Set parameter 2 as the correctmotor code
ECTC product series function specification v4.0
228
Alarm
number
Alarm information Alarm reason Processing method
16041 M7 axis illegal motor
code
Motor code not
supported by the
system code
1. Set parameter 4 to 1, andthenset parameter 2 manually thenumber is the correct motorcode16042
M7 axis encoder data
is not update
The encoder value has
not changed
1. Abnormal motor encoder
16043
M7 axis encoder data
is not update
The encoder value has
not changed
1. Abnormal motor encoder
16044
M7 shaft encoder
multi turn value
error
1. Power off, unplug the batteryand reset the encoder /
13Parameter No. is set to 016045
M7 shaft encoder
multi turn value
error
1. Power off, unplug the batteryand reset the encoder /
13Parameter No. is set to 016046 M7 shaft power
mismatch
1. Check parameter 2 and confirmwhether the motor code is correctmatch with parameter 1 power16047 M7 shaft power
mismatch
1. Check parameter 2 and confirmwhether the motor code is correctmatch with parameter 1 power16048 M7 axis parameter
setting error
Unreasonable parameter
setting
1. Check whether the parameteriswithin the range: 5 (1,6000),6(1,300),7(1~300),11(10,5000),15(10,100),21(1,1000),22(0,300),23(1,20),31(20000),32(2000/20000),69(4096), 71(0), 72(0), 73(0)
16049 M7 axis parameter
setting error
Unreasonable parameter
setting
1. Check whether the parameteriswithin the range: 5 (1,6000),6(1,300),7(1~300),11(10,5000),15(10,100), 21(1, 1000),22(0,300),23(1,20),31(20000),32(2000/20000),69(4096), 71(0), 72(0), 73(0)17001 M8 emergency stop
alarm
nothing Check servo failure
17002 M8 shaft over current IPM module over
current protection
1. Whether the motor is locked2.Power on again after pullingoutthe power line and holdingbrakeline. If the above telegramalarmis the main engine fault, replaceit. Otherwise, check the motorandcircuit problems
ECTC product series function specification v4.0
229
17003 M8 shaft over
current
IPM module over
current protection
1. Whether the motor is locked2.Power on again after pullingoutthe power line and holdingbrakeline. If the above telegramalarmis the main engine fault,replaceit. Otherwise, check the motorandcircuit problems
17004 M8 external bus
disconnected
No bus normal signal
received
1. The top 3pin white terminalisloose 2. Host failure
17005 M8 shaft overload Maximum load exceeded
1. Check the load 2. Whetherthemotor is locked
17006 M8 shaft overload Maximum load exceeded
1. Check the load 2. Whetherthemotor is locked and whethertheholding brake is released3.Checkwhether parameter 1 is thecorresponding power
ECTC product series function specification v4.0
230
Alarm
number
Alarm information Alarm reason Processing method
17007 M8 axis motor
initialization
Drive power on
initialization is not over
1. Press the stop key toclear2. If it cannot be cleared,power on again3. Host failure,replace
17008 M8 axis motor
initialization
Drive power on
initialization is not over
1. Press the stop key toclear2. If it cannot be cleared,power on again3. Host failure,replace
17009 M8 axis threephase error
Current exceeds alarm
value
1. Line sequence error 2.Lackof phase 3. The motor codedoesnot correspond to the motor17010 M8 axis threephase error
Current exceeds alarm
value
1. Line sequence error 2.Lackof phase 3. The motor codedoesnot correspond to the motor17011 M8vdc under
voltage
Voltage detected below
195v
1. The load is too heavyandthe acceleration is too high,resulting in too much voltagedrop 2. The external incomingvoltage is too low 3. Hostfailure, replace
17012 M8vdc over
voltage
Voltage detected above
405v
1. The load is too heavyandthe deceleration is too high,resulting in too much voltagerise 2. Brake resistancefailure or non conduction3.Host failure, replace
17013 M8 shaft over
speed
Maximum speed exceeded
1. If the internal
communication is disconnected,check whether it is wellgrounded 2. Parameter No.50isset incorrectly
17014 M8 shaft
overspeed
Maximum speed exceeded
1. If the internal
communication is disconnected,check whether it is wellgrounded 2. Parameter No.50isset incorrectly
17017 M8 drive
overheating
The internal temperature
exceeds 75 degrees
1. Check whether the fanisnormal 2. Host failure, replace17017 M8 failed to
write EEPROM
Abnormal memory chip Replace the host
17017 M8 failed to read
EEPROM
Abnormal memory chip Replace the host
17018 M8 axis position
deviation is too
The deviation between
the command value and
1. Set No. 49 servo parameterand increase the deviationrange 2. Acceleration and
ECTC product series function specification v4.0
231
large the actual encoder value
exceeds the set value of
parameter 49
deceleration settings aretoosmall 3. System exception17019 M8 axis position
deviation is too
large
The deviation between
the command value and
the actual encoder value
exceeds the set value of
parameter 49
1. Set No. 49 servo parameterand increase the deviationrange 2. Acceleration anddeceleration settings aretoosmall 3. System exception17020 M8 axis encoder
error
Encoder communication
failure
1. There is a problem withtheencoder line 2. Poor contactofencoder connector 3. Abnormalmotor encoder
17021 M8 axis speed
measurement
abnormal
Abnormal rotation of motor
1. Wrong motor code setting2.Unreasonable gain parameters3.Random rotation caused bymotorfailure
17022 M8 axis encoder
initialization
Encoder initialization
1. There is a problem withtheencoder line 2. Poor contactofencoder connector 3. Abnormalmotor encoder
17023 M8vdc hardware
over voltage
Internal hardware over
voltage protection
1. The load is too heavyandthe deceleration is too high,resulting in too much voltagerise 2. Brake resistancefailure or non conduction3.Host failure, replace
ECTC product series function specification v4.0
232
Alarm
number
Alarm
information
Alarm reason Processing method
17024 M8 external
bus err
No bus normal signal
received
1. The load is too heavy andthe deceleration is too high,resulting in too much voltagerise 2. Brake resistance
failure or non conduction3.Host failure, replace
17025 M8 axis
position
buffer full
System exception
1. The top 3pin white terminalisloose 2. Host failure
17026 M8 axis
position
buffer full
System exception
17027 M8eeprom
parameter
inspection
exception
Abnormal memory chip
17028 M8 axis
encoder
error
Encoder communication
failure
Replace the host
17029 M8 axis
speed
measurement
abnormal
Encoder feedback value is
abnormal
1. There is a problem with theencoder line 2. Poor contactofencoder connector 3. Abnormalmotor encoder
17030 M8 axis
encoder
initializati
on
Encoder initialization
1. Wrong motor code setting2.Unreasonable gain parameters3.Random rotation caused by motorfailure
17031 M8 clearing
alarm too
fast
Clearing alarm frequency
too fast
1. There is a problem with theencoder line 2. Poor contactofencoder connector 3. Abnormalmotor encoder
17032 M8eeprom
needs to be
restored
The stored parameters are
verified incorrectly
17033 M8ethernet
communicatio
n timeout
Bus communication timeout
You can write 8051 through
parameter 0, wait for 10s andpower on again to clear
17034 Power
failure of
M8 shaft
encoder
battery
The encoder has battery
power down identification
bit
Replace the host
17035 Power
failure of
M8 shaft
The encoder has battery
power down identification
bit
Ensure that the battery is wellconnected and set through
parameter 130 clear
ECTC product series function specification v4.0
233
encoder
battery
17036 Low battery
voltage of
M8 shaft
encoder
The encoder is marked with
low battery voltage
position
Ensure that the battery is wellconnected and set through
parameter 130 clear
17037 Low battery
voltage of
M8 shaft
encoder
The encoder is marked with
low battery voltage
position
Encoder voltage too low
17040
M8 axis
illegal
motor code
Motor code is not a
system supported code
1. Check whether parameter 2isthe correct motor code. If itis correct, it can be
eliminated by restarting 2.Ifit is incorrect, set parameter4 to 1 and then manually setparameter 2 as the correct
motor code
17041 M8 axis
illegal
motor code
Generation of motor code
not supported by the
system code
1. Set parameter 4 to 1, andthenset parameter 2 manually thenumber is the correct motorcode17042
M8 axis
encoder data
is not
update
The encoder value has not
changed
1. Abnormal motor encoder
17043
M8 axis
encoder data
is not
update
The encoder value has not
changed
1. Abnormal motor encoder
17044
Multi turn
value error
of M8 shaft
encoder
error
1. Power off, unplug the batteryand reset the encoder /
13Parameter No. is set to 017045
Multi turn
value error
of M8 shaft
encoder
error
1. Power off, unplug the batteryand reset the encoder /
13Parameter No. is set to 0
ECTC product series function specification v4.0
234
17046 M8 shaft
power
mismatch
1. Check parameter 2 and confirmwhether the motor code is correctmatch with parameter 1 power17047 M8 shaft
power
mismatch
1. Check parameter 2 and confirmwhether the motor code is correctmatch with parameter 1 power17048
Error in
parameter
setting of
M8 axis
Unreasonable parameter
setting
1. Check whether the parameteriswithin the range: 5 (1,6000),6(1,300),7(1~300),11(10,5000),15(10,100), 21(1, 1000),22(0,300),23(1,20),31(20000),32(2000/20000),69(4096), 71(0), 72(0), 73(0)17049
Error in
parameter
setting of
M8 axis
Unreasonable parameter
setting
1. Check whether the parameteriswithin the range: 5 (1,6000),6(1,300),7(1~300),11(10,5000),15(10,100), 21(1, 1000),22(0,300),23(1,20),31(20000),32(2000/20000),69(4096), 71(0), 72(0), 73(0)
ECTC product series function specification v4.0
235
Core supplier in the fieldof
industrial control
Shenzhen Huacheng Industrial Control Co.,LTD.深圳市华成工业控制股份有限公司
Fax：(86)075526416578
Official website：http://www.hc-system.com
Address:8/F,Zhengqilong Building No.
108,Gushu 1 st Road,Bao’an,Shenzhen. 0755-26417678/27470348
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