Ultra3000 Servo Drive Failure Repair

Error Code

Problem or Symptom

Possible Cause

Action/Solution

E02

Velocity exceeds position rollover /2

The velocity command or feedback exceeds half the machine cycle length per millisecond (applies only when the machine cycle position rollover is enabled).

Increase machine cycle size or reduce velocity profile.

E03

Absolute feedback range exceeded

The motor position exceeds +/- 2047 revolutions from the home position (applies only to systems with absolute feedback).

· Decrease application range of motion.

· Upgrade firmware.

This error only applies to firmware revisions prior to 1.10.

E44

Lost motion fault

(only applies to applications with Stegmann feedback devices)

Detection occurs during a fault reset. Absolute position in the drive is incorrect and the motion has been lost due to line loss condition.

· Cycle power.

· Cycle power and re-home drive if drive was homed in the same power cycle that the lost motion fault occurred.

Error Code

Problem or Symptom

Possible Cause(s)

Action/Solution

Power (PWR) indicator not ON

No AC power or auxiliary logic power.

Verify AC power or auxiliary +5V logic power is applied to the Ultra3000.

Internal power supply malfunction.

Call your Allen-Bradley representative.

Power (PWR) indicator is ON, but seven segment Status LED display is OFF.

Note: This applies to 2098-DSD-005, -010, and -020 Ultra3000 models only.

Externally applied +5V auxiliary power supply voltage is too low.

Verify that the external +5V auxiliary power supply (as measured at the drive terminals) reads between 5.10V and 5.25V.

Motor jumps when first enabled

Motor wiring error.

Check motor wiring.

Incorrect motor chosen.

Verify the proper motor is selected.

Digital I/O not working correctly

I/O power supply disconnected.

Verify connections and I/O power source.

E01

Non-Volatile Memory Endurance Exceeded

Range of motion and number of home position definitions during the product life exceeds the maximum allowed (applies only to systems with absolute feedback).

This is an unrecoverable fault, the drive must be sent back to the factory.

E02

Velocity Exceeds Position Rollover /2

The velocity command or feedback exceeds half the machine cycle length per millisecond (applies only when the machine cycle position rollover is enabled).

Increase machine cycle size or reduce velocity profile. This error only applies to firmware versions prior to 1.10.

Error Code

Problem or Symptom

Possible Cause(s)

Action/Solution

E03

Absolute Feedback Range Exceeded

The motor position exceeds +/- 2047 revolutions from the home position (applies only to systems with absolute feedback).

· Decrease application range of motion.

· Upgrade firmware.

E04

Motor Overtemperature

Motor thermostat trips due to:

· High motor ambient temperature and/or

· Excessive current

· Operate within (not above) the continuous torque rating for the ambient temperature (40°C maximum).

· Lower ambient temperature, increase motor cooling.

Motor wiring error.

Check motor wiring.

Incorrect motor selection.

Verify the proper motor has been selected.

E05

IPMFault

Motor cables shorted.

Verify continuity of motor power cable and connector.

Motor winding shorted internally.

Disconnect motor power cables from the motor. If the motor is difficult to turn by hand, it may need to be replaced.

Ultra3000 temperature too high.

· Check for clogged vents or defective fan.

· Ensure cooling is not restricted by insufficient space around the unit.

Operation above continuous power rating.

· Verify ambient temperature is not too high.

· Operate within the continuous power rating.

· Reduce acceleration rates.

Ultra3000 has a bad IPM output, short circuit, or overcurrent.

Remove all power and motor connections, and preform a continuity check from the DC bus to the U, V, and W motor outputs. If a continuity exists, check for wire fibers between terminals, or send drive in for repair.

An attempt was made to enable the drive without waiting at least 1.0 second after applying the main AC power. Note: This applies to 2098-DSD-005, -010, and -020 Ultra3000 models only (when using an external +5V auxiliary power supply).

Wait at least 1.0 second after the main AC is applied before enabling the drive.

E06

Hardware Overtravel (SERCOS only)

Dedicated overtravel input is inactive.

· Check wiring.

· Verify motion profile.

E07

RESERVED

Call your local Allen-Bradley representative.

E08

RESERVED

E09

Bus Undervoltage

Low AC line/AC power input.

· Verify voltage level of the incoming AC power.

· Check AC power source for glitches or line drop.

· Install an uninterruptible power supply (UPS) on your AC input.

Error Code

Problem or Symptom

Possible Cause(s)

Action/Solution

E03

Absolute Feedback Range Exceeded

The motor position exceeds +/- 2047 revolutions from the home position (applies only to systems with absolute feedback).

· Decrease application range of motion.

· Upgrade firmware.

E04

Motor Overtemperature

Motor thermostat trips due to:

· High motor ambient temperature and/or

· Excessive current

· Operate within (not above) the continuous torque rating for the ambient temperature (40°C maximum).

· Lower ambient temperature, increase motor cooling.

Motor wiring error.

Check motor wiring.

Incorrect motor selection.

Verify the proper motor has been selected.

E05

IPMFault

Motor cables shorted.

Verify continuity of motor power cable and connector.

Motor winding shorted internally.

Disconnect motor power cables from the motor. If the motor is difficult to turn by hand, it may need to be replaced.

Ultra3000 temperature too high.

· Check for clogged vents or defective fan.

· Ensure cooling is not restricted by insufficient space around the unit.

Operation above continuous power rating.

· Verify ambient temperature is not too high.

· Operate within the continuous power rating.

· Reduce acceleration rates.

Ultra3000 has a bad IPM output, short circuit, or overcurrent.

Remove all power and motor connections, and preform a continuity check from the DC bus to the U, V, and W motor outputs. If a continuity exists, check for wire fibers between terminals, or send drive in for repair.

An attempt was made to enable the drive without waiting at least 1.0 second after applying the main AC power. Note: This applies to 2098-DSD-005, -010, and -020 Ultra3000 models only (when using an external +5V auxiliary power supply).

Wait at least 1.0 second after the main AC is applied before enabling the drive.

E06

Hardware Overtravel (SERCOS only)

Dedicated overtravel input is inactive.

· Check wiring.

· Verify motion profile.

E07

RESERVED

Call your local Allen-Bradley representative.

E08

RESERVED

E09

Bus Undervoltage

Low AC line/AC power input.

· Verify voltage level of the incoming AC power.

· Check AC power source for glitches or line drop.

· Install an uninterruptible power supply (UPS) on your AC input.

Error Code

Problem or Symptom

Possible Cause(s)

Action/Solution

E10

Bus Overvoltage

Excessive regeneration of power.

When the motor is driven by an external mechanical power source, it may regenerate too much peak energy through the Ultra3000’s power supply. The system faults to save itself from an overload.

· Change the deceleration or motion profile.

· Use a larger system (motor and Ultra3000).

· Use a resistive shunt.

· If a shunt is connected, verify the wiring is correct and shunt fuse is not blown.

Excessive AC input voltage.

Verify input is within specifications.

E11

IllegalHall State

Incorrect phasing.

Check the Hall phasing.

Bad connections.

· Verify the Hall wiring.

· Verify 5V power supply to the encoder.

E12

Home Search Failed

Home sensor and/or marker is outside the overtravel limits.

· Check wiring.

· Reposition the overtravel limits or sensor.

E13

Home Position In Limit

Home sensor, marker, or final home position exceeds a hardware overtravel limit.

· Reposition the overtravel limits or home sensor.

· Adjust the final home position.

E14

SERCOS Hardware Fault (SERCOS drives only)

A fault was detected with the operation of the drive’s internal SERCOS hardware.

Contact your local Allen-Bradley representative.

DeviceNet Communications Network problem (DeviceNet drives only)

DeviceNet communications network is broken

Troubleshoot DeviceNet communications.

E15

Excessive Electrical Cycle Length

Electrical cycle length exceeds maximum lines per electrical cycle

Replace the linear motor/encoder.

E16

Software Overtravel (SERCOS only)

Programmed overtravel limit has been exceeded.

· Verify motion profile.

· Verify overtravel settings are appropriate.

E17

User-Specified Current Fault

User-Specified average current level has been exceeded.

Increase to a less restrictive setting.

E18

Overspeed Fault

Motor speed has exceeded 125% of maximum rated speed.

· Check cables for noise.

· Check tuning.

E19

Excess Position Error

Position error limit was exceeded.

· Increase the feedforward gain.

· Increase following error limit or time.

· Check position loop tuning.

Error Code

Problem or Symptom

Possible Cause(s)

Action/Solution

E20

Motor Encoder State Error

The motor encoder encountered an illegal transition.

· Replace the motor/encoder.

· Use shielded cables with twisted pair wires.

· Route the feedback away from potential noise sources.

· Check the system grounds.

· Verify that the unbuffered encoder signals are not subjected to EMI in the CN1 cable. Remove these signals from the CN1 cable if they are not being used.

· Verify that the motor has a

high-frequency bond to the drive’s enclosure panel.

· Verify that any stage connected to the motor shaft (for example using a ball screw) has a high-frequency bond to the machine frame and the drive’s enclosure panel.

Bad encoder.

Replace motor/encoder.

E21

Auxiliary Encoder state error

The auxiliary encoder encountered an illegal transition.

· Use shielded cables with twisted pair wires.

· Route the encoder cable away from potential noise sources.

· Bad encoder - replace encoder.

· Check the ground connections.

Setup time violation for Step/Direction or CW/CCW input.

Check timing of Step/Direction or CW/ CCW inputs to determine if setup time requirements are being met.

E22

Motor Thermal Protection Fault

The internal filter protecting the motor from overheating has tripped.

· Reduce acceleration rates.

· Reduce duty cycle (ON/OFF) of commanded motion.

· Increase time permitted for motion.

· Use larger Ultra3000 and motor.

· Check tuning.

E23

IPM Thermal Protection Fault

The internal filter protecting the drive from over heating has tripped.

· Reduce acceleration rates.

· Reduce duty cycle (ON/OFF) of commanded motion.

· Increase time permitted for motion.

· Use larger Ultra3000 and motor.

· Check tuning.

E24

Excess Velocity Error

Velocity error limit was exceeded.

· Increase time or size of allowable error.

· Reduce acceleration.

· Check tuning.

E25

Sensor Not Assigned

Homing or registration motion was attempted without a sensor assigned.

Assign a sensor to a digital input.

E26

User-Specified Velocity Fault

User specified velocity level was exceeded.

Increase to a less restrictive setting.

E27

Axis Not Homed

Absolute positioning was attempted without homing.

Verify homing sequence.

Error Code

Problem or Symptom

Possible Cause(s)

Action/Solution

E28

Motor Parameter Error

Parameter loaded from smart encoder or received from SERCOS controller is incompatible with the drive.

· Select a different motor through the SERCOS controller.

· Select a different motor.

E29

Encoder Output Frequency Exceeded

Encoder output frequency exceeds the maximum user specified value. This only applies when the encoder output is synthesized by the drive.

· Increase the encoder output maximum frequency parameter.

· Decrease the encoder interpolation parameter.

· Increase the encoder output divider parameter.

E30

Encoder Communication Fault

Communication was not established with an intelligent encoder.

· Verify motor selection.

· Verify the motor supports automatic identification.

· Verify motor encoder wiring.

E31

Encoder Data

Encoder data is corrupted.

Replace the motor/encoder.

E32

Sine/Cosine Encoder Frequency Limit Exceeded

Maximum frequency of the sine/cosine circuitry has been exceeded.

· Decrease velocity.

· Use encoder with lower resolution (before interpolation).

E33

Absolute Position Exceeds Position Rollover

Motion is commanded to a position outside the position rollover range.

· An absolute index is initiated that specifies a position outside the position rollover range.

· A homing cycle is initiated with the home position outside the position rollover range.

· A define home is initiated with the home position outside the position rollover range.

· A preset position is initiated that specifies a position outside the position rollover range.

Set motion command to a position within the position rollover range.

E34

Ground Fault

Wiring error.

Check motor power wiring.

Motor internal ground short.

Replace motor.

Internal malfunction.

Disconnect motor power cable from drive and enable drive with current limit set to 0. If fault remains, call your A-B representative. If fault clears, then a wiring error or motor internal problem exists.

E35

Precharge Fault

Low AC input voltage.

Check input AC voltage on all phases.

Internal malfunction.

Call your A-B representative.

E36

Power Circuitry Overtemperature

Excessive heat exists in the power circuitry.

· Reduce acceleration rates.

· Reduce duty cycle (ON/OFF) of commanded motion.

· Increase time permitted for motion.

· Use larger Ultra3000 and motor.

· Check tuning.

E37

AC Line Loss

One or more phases of the input AC power is missing.

Check input AC voltage on all phases.

E38

RESERVED

Call your local Allen-Bradley representative.

Error Code

Problem or Symptom

Possible Cause(s)

Action/Solution

E28

Motor Parameter Error

Parameter loaded from smart encoder or received from SERCOS controller is incompatible with the drive.

· Select a different motor through the SERCOS controller.

· Select a different motor.

E29

Encoder Output Frequency Exceeded

Encoder output frequency exceeds the maximum user specified value. This only applies when the encoder output is synthesized by the drive.

· Increase the encoder output maximum frequency parameter.

· Decrease the encoder interpolation parameter.

· Increase the encoder output divider parameter.

E30

Encoder Communication Fault

Communication was not established with an intelligent encoder.

· Verify motor selection.

· Verify the motor supports automatic identification.

· Verify motor encoder wiring.

E31

Encoder Data

Encoder data is corrupted.

Replace the motor/encoder.

E32

Sine/Cosine Encoder Frequency Limit Exceeded

Maximum frequency of the sine/cosine circuitry has been exceeded.

· Decrease velocity.

· Use encoder with lower resolution (before interpolation).

E33

Absolute Position Exceeds Position Rollover

Motion is commanded to a position outside the position rollover range.

· An absolute index is initiated that specifies a position outside the position rollover range.

· A homing cycle is initiated with the home position outside the position rollover range.

· A define home is initiated with the home position outside the position rollover range.

· A preset position is initiated that specifies a position outside the position rollover range.

Set motion command to a position within the position rollover range.

E34

Ground Fault

Wiring error.

Check motor power wiring.

Motor internal ground short.

Replace motor.

Internal malfunction.

Disconnect motor power cable from drive and enable drive with current limit set to 0. If fault remains, call your A-B representative. If fault clears, then a wiring error or motor internal problem exists.

E35

Precharge Fault

Low AC input voltage.

Check input AC voltage on all phases.

Internal malfunction.

Call your A-B representative.

E36

Power Circuitry Overtemperature

Excessive heat exists in the power circuitry.

· Reduce acceleration rates.

· Reduce duty cycle (ON/OFF) of commanded motion.

· Increase time permitted for motion.

· Use larger Ultra3000 and motor.

· Check tuning.

E37

AC Line Loss

One or more phases of the input AC power is missing.

Check input AC voltage on all phases.

E38

RESERVED

Call your local Allen-Bradley representative.