A06

Alarm code A06 indicates .

Cause analysis:

1. Incorrect drive parameter settings, such as Pn504 set too low, causing the position deviation pulse count to exceed the value set in Pn504;

2. Poor servo rigidity causes vibration and considerable positioning jitter;

3. Bumping, friction, or collision has occurred;

Remedy:

1. Keep Pn504 at its default value, or increase Pn504 to reduce the alarm frequency to some extent;

2. Pn005.2 can disable this alarm (0: excessive deviation alarm disabled; 1: excessive deviation alarm enabled;)

3. Adjust the servo gain as appropriate. If friction or sticking occurs, increase the servo gain as appropriate (increase Pn102 and Pn104) to increase servo stiffness, resist friction, and help reach the target position;