A04

Alarm code A04 indicates . Alarm mechanism: the alarm is triggered when the drive's accumulated overload rate reaches a certain threshold.

Cause analysis:

1. A problem with the servo motor brake control circuit;

2. A problem with the robot power cable;

3. Incorrect drive parameter settings;

4. Incorrect servo motor phase;

5. Excessive mechanical load on the axis joint;

6. Incorrect phase sequence of the servo motor power cable;

7. Drive or motor damage;

Remedy:

1. Observe the motor operating load ratio. Use Un003 to check whether the load ratio is abnormal. If it is normal, possible causes include drive damage, power cable problems, and mechanical transmission problems;

2. Check the power cable and encoder cable between the drive and motor for damage, and check all connectors and plugs for looseness;

3. Determine whether the motor brake can release normally. Enable the servo through Fn002 JOG jogging. If the sound of the brake releasing and engaging cannot be heard, further determine whether the problem lies in the motor or the brake control circuit;

4. Remove the power connector on the drive side and measure the impedances between UV, UW and VW at the connector. If the impedance values differ greatly, a problem with the power cable or motor can be confirmed;

5. Check whether the impedance of the three-phase windings is normal at the motor power socket. If the impedance values of UV, UW, and VW differ greatly, or any of the U, V, and W phases is shorted to the ground in that socket, the motor has a problem;

6. If the specific cause cannot be identified directly, swap drives and connecting cables, then analyze the alarms to determine whether the problem lies in the drive, motor, or cable;

7. Set PN840.2 and PN005.3 correctly.