Panasonic A4P Series Manuel D’Utilisation

167

Deviation pulses have exceeded the setup of SV.Pr70 
(Position deviation error level). 
1)The motor movement has not followed the command.

2)Setup value of SV.Pr70 (Position deviation error 

level) is small.

1)Check that the motor follows to the position 

command. Check that the output toque has not 
saturated in torque monitor. Make a gain adjustment. 
Set up maximum value to SV.Pr5E (1st torque limit) 
and SV.Pr5F (2nd torque limit). Make a encoder 
wiring as per the wiring diagram. Set up the longer 
acceleration/deceleration time. Lower the load and 
speed.

2)Set up a larger value to SV.Pr70, or set up 0 

(invalid).

Communication between the encoder and the driver 
has been interrupted in certain times, and 
disconnection detecting function has been triggered.

• Make a wiring connection of the encoder as per the 

wiring diagram. Correct the miswiring of the 
connector pins. Note that the encoder cable to be 
connected to CN X6. (Check that the encoder cable 
is not connected to the connector CN X7 for external 
scale connection by mistake.)

• Secure the power supply for the encoder of DC5V

±

5% 

(4.75 to 5.25V)...pay an attention especially when the 
encoder cables are long.

• Separate the encoder cable and the motor cable if 

they are bound together.

• Connect the shield to FG...Refer to P.38, "Wiring to 

the Connector, CN X6" of Preparation. 

Communication error has occurred in data from the 
encoder. Mainly data error due to noise. Encoder 
cables are connected, but communication data has 
some errors.

Position of load by the external scale and position of 
the motor by the encoder slips larger than the setup 
pulses with SV.Pr7B (Setup of hybrid deviation excess) 
at full-closed control.

• Check the connection between the motor and the load. 

Check the looseness, slippage and backlash.

• Check the connection between the external scale and 

the driver. 

• Check that the variation of the motor position 

(encoder feedback value) and the load position 
(external scale feedback value) is the same sign 
when you move the load.

• Check that the numerator and denominator of the external 

scale division (SV.Pr78, 79 and 7A) and reversal of 
external scale direction (SV.Pr7C) are correctly set.

The motor rotational speed has exceeded the setup 
value of SV.Pr73 (Over-speed level setup)

• Do not give an excessive speed command.
• Make a gain adjustment when an overshoot has 

occurred due to a poor gain adjustment.

Communication error has occurred in data from the 
encoder. The data could be received normally, but an 
error occurred in the data due to noise.

• Separate the encoder cable and the motor cable if 

they are bound together. 

• Connect the shield to FG...refer to wiring diagram.

Deviation counter value has exceeded 2

27

 (134217728).

• Check that the motor runs as per the position com-

mand.

• Check that the output toque has not saturated in 

torque monitor.

• Make a gain adjustment.
• Set up longer acceleration/deceleration time. Lower  

the load and speed.

The motor exceeded an allowable motor operation 
range specified by SV.Pr26 (software limit setup) 
against the position command input range.
1)Gain has not matched up.

2)Setup value of SV.Pr26 (Software limit setup) is small.

Refer to P.170,"Software Limit Function" before using 
this.

1)Check the gain (balance of position loop gain and ve-

locity loop gain) and the inertia ratio.

2)Setup a larger value to SV.Pr26. Otherwise, set 

SV.Pr26 to “0” and disable the software limit protection.

<Remarks>
When the protective function with a prefix of "*" in the protective function table is triggered, you cannot clear
with alarm clear input.