<?xml version="1.0" encoding="UTF-8"?>
<SystemConfig Machine="515">
  <WarnDescribeInfo>
    <AL.051>
      <Alarm_code>AL.051</Alarm_code>
      <Alarm_Content>EEPROM parameter exception</Alarm_Content>
      <Alarm_reason>Servo unit EEPROM data abnormal</Alarm_reason>
      <Fault_alarm_checking>Check wiring</Fault_alarm_checking>
      <Disposal_measures>Correct wiring and power on again; If it always appears, replace the drive。</Disposal_measures>
    </AL.051>
    <AL.052>
      <Alarm_code>AL.052</Alarm_code>
      <Alarm_Content>Programmable logic configuration failure</Alarm_Content>
      <Alarm_reason>Abnormal power on initialization of master control MCU Serial port baud rate is set too high</Alarm_reason>
      <Fault_alarm_checking>1.Check wiring
2.Check baud rate parameter P00-21 of serial port communication</Fault_alarm_checking>
      <Disposal_measures>Reduce the baud rate of serial communication.If it always appears, replace the driver</Disposal_measures>
    </AL.052>
    <AL.053>
      <Alarm_code>AL.053</Alarm_code>
      <Alarm_Content>initialization failed</Alarm_Content>
      <Alarm_reason>Power on initialization of master MCU failed</Alarm_reason>
      <Fault_alarm_checking>Check the wiring and power on again</Fault_alarm_checking>
      <Disposal_measures>If it always appears, replace the drive</Disposal_measures>
    </AL.053>
    <AL.054>
      <Alarm_code>AL.054</Alarm_code>
      <Alarm_Content>System abnormality</Alarm_Content>
      <Alarm_reason>Abnormal operation of main control MCU</Alarm_reason>
      <Fault_alarm_checking>Check the wiring and power on again</Fault_alarm_checking>
      <Disposal_measures>If it always appears, replace the drive</Disposal_measures>
    </AL.054>
    <AL.060>
      <Alarm_code>AL.060</Alarm_code>
      <Alarm_Content>Product model selection failure</Alarm_Content>
      <Alarm_reason>The product parameter settings do not match the actual hardware</Alarm_reason>
      <Fault_alarm_checking>Check the product parameter setting and hardware model.The rated current of the selected motor is greater than the output current of the driver</Fault_alarm_checking>
      <Disposal_measures>Set the product parameters correctly.If they always appear, contact the manufacturer</Disposal_measures>
    </AL.060>
    <AL.061>
      <Alarm_code>AL.061</Alarm_code>
      <Alarm_Content>Product matching failure</Alarm_Content>
      <Alarm_reason>The model of servo unit and servo motor does not match.The model of servo motor does not match</Alarm_reason>
      <Fault_alarm_checking>Check whether the servo unit supports the motor Check 6</Fault_alarm_checking>
      <Disposal_measures>Set the product parameters correctly.If they always appear, contact the manufacturer</Disposal_measures>
    </AL.061>
    <AL.062>
      <Alarm_code>AL.062</Alarm_code>
      <Alarm_Content>Parameter storage failure</Alarm_Content>
      <Alarm_reason>Reason 9</Alarm_reason>
      <Fault_alarm_checking>Check 9</Fault_alarm_checking>
      <Disposal_measures>Disposal 9</Disposal_measures>
    </AL.062>
    <AL.063>
      <Alarm_code>AL.063</Alarm_code>
      <Alarm_Content>Overcurrent detection</Alarm_Content>
      <Alarm_reason>Servo unit power module current is too high</Alarm_reason>
      <Fault_alarm_checking>Whether there is short circuit in U, V, W wiring
Whether there is short circuit between B1 and B3.</Fault_alarm_checking>
      <Disposal_measures>Correct wiring
If it always appears, replace the drive
</Disposal_measures>
    </AL.063>
    <AL.064>
      <Alarm_code>AL.064</Alarm_code>
      <Alarm_Content>Short circuit fault to ground found in servo power on self-test</Alarm_Content>
      <Alarm_reason>Reason 9</Alarm_reason>
      <Fault_alarm_checking>Check 9</Fault_alarm_checking>
      <Disposal_measures>Disposal 9</Disposal_measures>
    </AL.064>
    <AL.065>
      <Alarm_code>AL.065</Alarm_code>
      <Alarm_Content>Servo unit built-in fan stops</Alarm_Content>
      <Alarm_reason>Reason 10</Alarm_reason>
      <Fault_alarm_checking>Check 10</Fault_alarm_checking>
      <Disposal_measures>Disposal 10</Disposal_measures>
    </AL.065>
    <AL.066>
      <Alarm_code>AL.066</Alarm_code>
      <Alarm_Content>Low voltage of servo unit control power supply</Alarm_Content>
      <Alarm_reason>Low voltage of control power supply L and N</Alarm_reason>
      <Fault_alarm_checking>Check whether the wiring is correct
Measure whether L, N voltage is lower than 140VAC.</Fault_alarm_checking>
      <Disposal_measures>Correct wiring
If it always appears, replace the drive.</Disposal_measures>
    </AL.066>
    <AL.070>
      <Alarm_code>AL.070</Alarm_code>
      <Alarm_Content>AD sampling fault 1</Alarm_Content>
      <Alarm_reason>Reason 12</Alarm_reason>
      <Fault_alarm_checking>Check 12</Fault_alarm_checking>
      <Disposal_measures>Disposal 12</Disposal_measures>
    </AL.070>
    <AL.071>
      <Alarm_code>AL.071</Alarm_code>
      <Alarm_Content>Current sampling fault</Alarm_Content>
      <Alarm_reason>Abnormal sampling data of current sensor</Alarm_reason>
      <Fault_alarm_checking>Whether the wiring is correct</Fault_alarm_checking>
      <Disposal_measures>Correct wiring
If it always appears, replace the drive.</Disposal_measures>
    </AL.071>
    <AL.100>
      <Alarm_code>AL.100</Alarm_code>
      <Alarm_Content>Abnormal parameter combination</Alarm_Content>
      <Alarm_reason>Parameter setting error</Alarm_reason>
      <Fault_alarm_checking>Check the set (P03-07) parameters</Fault_alarm_checking>
      <Disposal_measures>Correct wiring
If it always appears, replace the drive.</Disposal_measures>
    </AL.100>
    <AL.101>
      <Alarm_code>AL.101</Alarm_code>
      <Alarm_Content>AI setting fault</Alarm_Content>
      <Alarm_reason>Reason 15</Alarm_reason>
      <Fault_alarm_checking>Check 15</Fault_alarm_checking>
      <Disposal_measures>Disposal 15</Disposal_measures>
    </AL.101>
    <AL.102>
      <Alarm_code>AL.102</Alarm_code>
      <Alarm_Content>DI distribution failure</Alarm_Content>
      <Alarm_reason>At least two input ports have the same function selection</Alarm_reason>
      <Fault_alarm_checking>Check the port input function selection parameters</Fault_alarm_checking>
      <Disposal_measures>Set parameters correctly
Power on the drive again.</Disposal_measures>
    </AL.102>
    <AL.103>
      <Alarm_code>AL.103</Alarm_code>
      <Alarm_Content>DO allocation failure</Alarm_Content>
      <Alarm_reason>At least two output ports have the same function selection parameters</Alarm_reason>
      <Fault_alarm_checking>Check the port output function selection parameters</Fault_alarm_checking>
      <Disposal_measures>Set parameters correctly
Power on the drive again</Disposal_measures>
    </AL.103>
    <AL.105>
      <Alarm_code>AL.105</Alarm_code>
      <Alarm_Content>Electronic gear setting error</Alarm_Content>
      <Alarm_reason>The electronic gear ratio is set incorrectly or the gantry output pulse is set too small</Alarm_reason>
      <Fault_alarm_checking>Check the electronic gear ratio setting parameters.P03-10, P03-11 or check the number of feedback pulses when the gantry function motor rotates for one circle: P03-52 must be greater than 128</Fault_alarm_checking>
      <Disposal_measures>Correctly set the electronic gear ratio or correctly set the number of feedback pulses for one revolution of the gantry function motor</Disposal_measures>
    </AL.105>
    <AL.106>
      <Alarm_code>AL.106</Alarm_code>
      <Alarm_Content>Abnormal setting of frequency division pulse output</Alarm_Content>
      <Alarm_reason>Frequency division pulse output parameter setting out of range</Alarm_reason>
      <Fault_alarm_checking>Check the setting parameters of frequency division pulse output.
P03-22，P03-23，P03-25</Fault_alarm_checking>
      <Disposal_measures>Set the frequency division pulse output parameters correctly
Incremental encoder P03-22 ≤ P03-23
Bus encoder P03-25&lt;65535
Power on the drive again</Disposal_measures>
    </AL.106>
    <AL.110>
      <Alarm_code>AL.110</Alarm_code>
      <Alarm_Content>Power on again after parameter setting</Alarm_Content>
      <Alarm_reason>After the servo parameters are set, they can take effect only after being powered on again</Alarm_reason>
      <Fault_alarm_checking>Power on the drive again</Fault_alarm_checking>
      <Disposal_measures>Power on the drive again</Disposal_measures>
    </AL.110>
    <AL.120>
      <Alarm_code>AL.120</Alarm_code>
      <Alarm_Content>Servo ON command invalid alarm</Alarm_Content>
      <Alarm_reason>Servo ON command performs auxiliary function
R.S and T voltage ports are not powered</Alarm_reason>
      <Fault_alarm_checking>Check wiring and input voltage</Fault_alarm_checking>
      <Disposal_measures>Check wiring
Power on the drive again</Disposal_measures>
    </AL.120>
    <AL.400>
      <Alarm_code>AL.400</Alarm_code>
      <Alarm_Content>Power line phase failure</Alarm_Content>
      <Alarm_reason>R, S, T three-phase power supply of driver is out of phase</Alarm_reason>
      <Fault_alarm_checking>Check the power cord connected to the drive</Fault_alarm_checking>
      <Disposal_measures>Reconnect the power cord according to the wiring mode in the manual</Disposal_measures>
    </AL.400>
    <AL.401>
      <Alarm_code>AL.401</Alarm_code>
      <Alarm_Content>Undervoltage</Alarm_Content>
      <Alarm_reason>The input voltage of the main circuit is lower than the rated voltage or there is no input voltage</Alarm_reason>
      <Fault_alarm_checking>Check whether the input R, S and T wiring of the main circuit is correct and what the voltage value is</Fault_alarm_checking>
      <Disposal_measures>Make sure the wiring is correct, and use the correct voltage source or connect the voltage regulator in series</Disposal_measures>
    </AL.401>
    <AL.402>
      <Alarm_code>AL.402</Alarm_code>
      <Alarm_Content>Overvoltage</Alarm_Content>
      <Alarm_reason>1.The input voltage of the main circuit is higher than the rated voltage
2.Drive hardware failure
3.Regenerative resistor is not connected or the selection of regenerative resistor is incorrect</Alarm_reason>
      <Fault_alarm_checking>1.Use a voltmeter to test whether the input voltage of the main circuit is correct
2.Overvoltage alarm still occurs when the input voltage is confirmed to be correct
3.Confirm P00-30 is set to 0 or 1</Fault_alarm_checking>
      <Disposal_measures>1.Use the correct voltage source or connect the voltage regulator in series
2.Please send it back to the dealer or the original factory for repair
3.Correctly set and externally connect regeneration resistance</Disposal_measures>
    </AL.402>
    <AL.410>
      <Alarm_code>AL.410</Alarm_code>
      <Alarm_Content>Overload (instantaneous maximum load)</Alarm_Content>
      <Alarm_reason>1.The machine is stuck when the motor starts
2.Drive hardware failure</Alarm_reason>
      <Fault_alarm_checking>1.Check whether the mechanical connection is stuck
2.Alarm after confirming that the mechanical part is normal</Fault_alarm_checking>
      <Disposal_measures>1.Adjust the mechanical structure
2.Please send it back to the dealer or the original factory for repair</Disposal_measures>
    </AL.410>
    <AL.411>
      <Alarm_code>AL.411</Alarm_code>
      <Alarm_Content>Drive overload</Alarm_Content>
      <Alarm_reason>Reason 26</Alarm_reason>
      <Fault_alarm_checking>Check 26</Fault_alarm_checking>
      <Disposal_measures>Disposal 26</Disposal_measures>
    </AL.411>
    <AL.412>
      <Alarm_code>AL.412</Alarm_code>
      <Alarm_Content>Motor overload (continuous maximum load)</Alarm_Content>
      <Alarm_reason>1.Continuous use beyond the rated load of the drive
2.Improper setting of control system parameters
3.Motor wiring error</Alarm_reason>
      <Fault_alarm_checking>1.It can be monitored through d13.oL in the monitoring mode
2.1 Whether the mechanical system is installed properly
2.2 Acceleration setting constant is too fast
2.3.Whether gain parameters are set correctly
3.Check U, V, W wiring</Fault_alarm_checking>
      <Disposal_measures>1.Replace the motor or reduce the load
2.1 Adjust the gain of control circuit
2.2 Slow down the acceleration and deceleration setting time
3.Correct wiring</Disposal_measures>
    </AL.412>
    <AL.420>
      <Alarm_code>AL.420</Alarm_code>
      <Alarm_Content>Overspeed</Alarm_Content>
      <Alarm_reason>1.The input speed command is too high
2.The over speed judgment parameter is set incorrectly</Alarm_reason>
      <Fault_alarm_checking>1.Use a signal detector to check whether the input signal is normal
2.Check whether P04-05 (overspeed alarm value) is set reasonably</Fault_alarm_checking>
      <Disposal_measures>1.Adjust the frequency of the input signal
2.Set P04-05 (overspeed alarm value) correctly</Disposal_measures>
    </AL.420>
    <AL.421>
      <Alarm_code>AL.421</Alarm_code>
      <Alarm_Content>Out of control detection</Alarm_Content>
      <Alarm_reason>1.Motor power line U, V, W wiring error
2.Incorrect motor parameter setting</Alarm_reason>
      <Fault_alarm_checking>1.Check the wiring
2.Check P00-05; And whether encoder parameter settings are correct</Fault_alarm_checking>
      <Disposal_measures>1.Correct wiring
2.Set parameters correctly</Disposal_measures>
    </AL.421>
    <AL.422>
      <Alarm_code>AL.422</Alarm_code>
      <Alarm_Content>Runaway fault</Alarm_Content>
      <Alarm_reason>Reason 30</Alarm_reason>
      <Fault_alarm_checking>Check 30</Fault_alarm_checking>
      <Disposal_measures>Disposal 30</Disposal_measures>
    </AL.422>
    <AL.425>
      <Alarm_code>AL.425</Alarm_code>
      <Alarm_Content>AI sampling voltage is too high</Alarm_Content>
      <Alarm_reason>Reason 31</Alarm_reason>
      <Fault_alarm_checking>Check 31</Fault_alarm_checking>
      <Disposal_measures>Disposal 31</Disposal_measures>
    </AL.425>
    <AL.430>
      <Alarm_code>AL.430</Alarm_code>
      <Alarm_Content>Abnormal regeneration</Alarm_Content>
      <Alarm_reason>1.The regenerative resistor is selected incorrectly or is not connected to an external regenerative resistor
2.Parameter setting error“</Alarm_reason>
      <Fault_alarm_checking>1.Check the connection of regeneration resistor
2.Please confirm P00-30, P00-31, P00-32 parameter settings</Fault_alarm_checking>
      <Disposal_measures>1.If the connection is normal, please send the drive back to the original factory for maintenance
2.Set parameter values correctly</Disposal_measures>
    </AL.430>
    <AL.431>
      <Alarm_code>AL.431</Alarm_code>
      <Alarm_Content>Regeneration overload</Alarm_Content>
      <Alarm_reason>The regenerative resistor is selected incorrectly or is not connected to an external regenerative resistor</Alarm_reason>
      <Fault_alarm_checking>Check the connection of the regeneration resistor and whether the resistance value and power of the regeneration resistor are appropriate</Fault_alarm_checking>
      <Disposal_measures>Select appropriate regeneration resistance</Disposal_measures>
    </AL.431>
    <AL.432>
      <Alarm_code>AL.432</Alarm_code>
      <Alarm_Content>Regenerative short circuit open circuit</Alarm_Content>
      <Alarm_reason>1.Regenerative short circuit
2.Regeneration open circuit</Alarm_reason>
      <Fault_alarm_checking>1.Check whether B1/B3 ports are short circuited
2.Please confirm P00-30, P00-31, P00-32 parameter settings</Fault_alarm_checking>
      <Disposal_measures>1.If B1/B3 is free of short circuit and the alarm still appears, please send the driver back to the original factory for maintenance
2.Set parameter values correctly</Disposal_measures>
    </AL.432>
    <AL.435>
      <Alarm_code>AL.435</Alarm_code>
      <Alarm_Content>Surge current limiting resistor overload</Alarm_Content>
      <Alarm_reason>Reason 35</Alarm_reason>
      <Fault_alarm_checking>Check 35</Fault_alarm_checking>
      <Disposal_measures>Disposal 35</Disposal_measures>
    </AL.435>
    <AL.436>
      <Alarm_code>AL.436</Alarm_code>
      <Alarm_Content>DB overload</Alarm_Content>
      <Alarm_reason>Reason 36</Alarm_reason>
      <Fault_alarm_checking>Check 36</Fault_alarm_checking>
      <Disposal_measures>Disposal 36</Disposal_measures>
    </AL.436>
    <AL.440>
      <Alarm_code>AL.440</Alarm_code>
      <Alarm_Content>heatsink OT </Alarm_Content>
      <Alarm_reason>The internal temperature of the driver is higher than 95 ℃</Alarm_reason>
      <Fault_alarm_checking>Check whether the cooling condition of the drive is good</Fault_alarm_checking>
      <Disposal_measures>Improve the cooling condition of the drive.If the alarm occurs again, please send the drive back to the original factory for maintenance</Disposal_measures>
    </AL.440>
    <AL.441>
      <Alarm_code>AL.441</Alarm_code>
      <Alarm_Content>Motor overheating fault</Alarm_Content>
      <Alarm_reason>Reason 38</Alarm_reason>
      <Fault_alarm_checking>Check 38</Fault_alarm_checking>
      <Disposal_measures>Disposal 38</Disposal_measures>
    </AL.441>
    <AL.500>
      <Alarm_code>AL.500</Alarm_code>
      <Alarm_Content>Frequency division pulse output overspeed</Alarm_Content>
      <Alarm_reason>Reason 39</Alarm_reason>
      <Fault_alarm_checking>Check 39</Fault_alarm_checking>
      <Disposal_measures>Disposal 39</Disposal_measures>
    </AL.500>
    <AL.501>
      <Alarm_code>AL.501</Alarm_code>
      <Alarm_Content>Excessive position deviation</Alarm_Content>
      <Alarm_reason>1.The position deviation is too large, and the setting parameter is too small
2.The gain value is set too small
3.The internal torque limit amplitude is set too small
4.Excessive external load</Alarm_reason>
      <Fault_alarm_checking>1.Confirm P03-15 (excessive position deviation setting) parameter setting
2.Confirm whether gain parameters are set reasonably
3.Confirm internal torque limit amplitude
4.Check external load</Fault_alarm_checking>
      <Disposal_measures>1.Increase P03-15 (excessive position deviation setting) setting value
2.Correctly adjust gain parameters
3.Correctly readjust the internal torque limit amplitude
4.Reduce load or replace with high-power motor</Disposal_measures>
    </AL.501>
    <AL.502>
      <Alarm_code>AL.502</Alarm_code>
      <Alarm_Content>The deviation between full closed loop encoder position and motor position is too large</Alarm_Content>
      <Alarm_reason>Reason 41</Alarm_reason>
      <Fault_alarm_checking>Check 41</Fault_alarm_checking>
      <Disposal_measures>Disposal 41</Disposal_measures>
    </AL.502>
    <AL.505>
      <Alarm_code>AL.505</Alarm_code>
      <Alarm_Content>Abnormal P command input pulse</Alarm_Content>
      <Alarm_reason>Pulse command frequency is higher than rated input frequency</Alarm_reason>
      <Fault_alarm_checking>Check whether the input frequency is higher than the rated input frequency with a pulse frequency detector</Fault_alarm_checking>
      <Disposal_measures>Set input pulse frequency correctly</Disposal_measures>
    </AL.505>
    <AL.510>
      <Alarm_code>AL.510</Alarm_code>
      <Alarm_Content>Gantry synchronization deviation is too large</Alarm_Content>
      <Alarm_reason>Reason 43</Alarm_reason>
      <Fault_alarm_checking>Inspection 43</Fault_alarm_checking>
      <Disposal_measures>Disposal 43</Disposal_measures>
    </AL.510>
    <AL.550>
      <Alarm_code>AL.550</Alarm_code>
      <Alarm_Content>Inertia identification failure</Alarm_Content>
      <Alarm_reason>Reason 44</Alarm_reason>
      <Fault_alarm_checking>Inspection 44</Fault_alarm_checking>
      <Disposal_measures>Disposal 44</Disposal_measures>
    </AL.550>
    <AL.551>
      <Alarm_code>AL.551</Alarm_code>
      <Alarm_Content>Home timeout fault</Alarm_Content>
      <Alarm_reason>Time out for executing home operation</Alarm_reason>
      <Fault_alarm_checking>Confirm whether parameter P03-68 (maximum time limit for searching the origin) is reasonable</Fault_alarm_checking>
      <Disposal_measures>Set P03-68 correctly</Disposal_measures>
    </AL.551>
    <AL.552>
      <Alarm_code>AL.552</Alarm_code>
      <Alarm_Content>Angle identification failure</Alarm_Content>
      <Alarm_reason>Reason 46</Alarm_reason>
      <Fault_alarm_checking>Inspection 46</Fault_alarm_checking>
      <Disposal_measures>Disposal 46</Disposal_measures>
    </AL.552>
    <AL.600>
      <Alarm_code>AL.600</Alarm_code>
      <Alarm_Content>Short circuit fault of encoder output power</Alarm_Content>
      <Alarm_reason>Encoder power wiring error</Alarm_reason>
      <Fault_alarm_checking>Check whether encoder power supply+5V and GND are connected reversely</Fault_alarm_checking>
      <Disposal_measures>Correct wiring</Disposal_measures>
    </AL.600>
    <AL.610>
      <Alarm_code>AL.610</Alarm_code>
      <Alarm_Content>Incremental encoder out of line</Alarm_Content>
      <Alarm_reason>The signals of HallU, HallV and HallW of incremental encoder are abnormal</Alarm_reason>
      <Fault_alarm_checking>Check encoder wiring</Fault_alarm_checking>
      <Disposal_measures>Correct wiring</Disposal_measures>
    </AL.610>
    <AL.611>
      <Alarm_code>AL.611</Alarm_code>
      <Alarm_Content>Incremental encoder Z signal loss</Alarm_Content>
      <Alarm_reason>Reason 49</Alarm_reason>
      <Fault_alarm_checking>Inspection 49</Fault_alarm_checking>
      <Disposal_measures>Disposal 49</Disposal_measures>
    </AL.611>
    <AL.620>
      <Alarm_code>AL.620</Alarm_code>
      <Alarm_Content>Bus encoder is disconnected</Alarm_Content>
      <Alarm_reason>Bus encoder communication failure</Alarm_reason>
      <Fault_alarm_checking>Check encoder wiring</Fault_alarm_checking>
      <Disposal_measures>Correct wiring</Disposal_measures>
    </AL.620>
    <AL.621>
      <Alarm_code>AL.621</Alarm_code>
      <Alarm_Content>Abnormal EEPROM parameter reading and writing motor encoder</Alarm_Content>
      <Alarm_reason>Encoder read/write exception</Alarm_reason>
      <Fault_alarm_checking>Check encoder wiring</Fault_alarm_checking>
      <Disposal_measures>Correct wiring</Disposal_measures>
    </AL.621>
    <AL.622>
      <Alarm_code>AL.622</Alarm_code>
      <Alarm_Content>Data verification error in motor encoder EEPROM</Alarm_Content>
      <Alarm_reason>Reason 52</Alarm_reason>
      <Fault_alarm_checking>Check 52</Fault_alarm_checking>
      <Disposal_measures>Disposal 52</Disposal_measures>
    </AL.622>
    <AL.640>
      <Alarm_code>AL.640</Alarm_code>
      <Alarm_Content>Bus encoder overspeed</Alarm_Content>
      <Alarm_reason>Bus encoder speed value exceeds 6000rpm</Alarm_reason>
      <Fault_alarm_checking>Check encoder wiring
Confirm encoder shield wire is correctly connected</Fault_alarm_checking>
      <Disposal_measures>Reduce speed
If the connection is normal, please send the drive back to the original factory for maintenance</Disposal_measures>
    </AL.640>
    <AL.641>
      <Alarm_code>AL.641</Alarm_code>
      <Alarm_Content>Bus encoder overheating</Alarm_Content>
      <Alarm_reason>Reason 54</Alarm_reason>
      <Fault_alarm_checking>Check 54</Fault_alarm_checking>
      <Disposal_measures>Disposal 54</Disposal_measures>
    </AL.641>
    <AL.642>
      <Alarm_code>AL.642</Alarm_code>
      <Alarm_Content>Bus encoder battery low voltage alarm</Alarm_Content>
      <Alarm_reason>When bus encoder is set to multi turn absolute value, external battery voltage is low</Alarm_reason>
      <Fault_alarm_checking>Check the external battery voltage of encoder and confirm it is higher than 3.0V</Fault_alarm_checking>
      <Disposal_measures>Replace the battery</Disposal_measures>
    </AL.642>
    <AL.643>
      <Alarm_code>AL.643</Alarm_code>
      <Alarm_Content>Low voltage fault of bus encoder battery</Alarm_Content>
      <Alarm_reason>When bus encoder is set to multi turn absolute value, external battery voltage is low</Alarm_reason>
      <Fault_alarm_checking>Check the external battery voltage of encoder and confirm it is higher than 3.1V</Fault_alarm_checking>
      <Disposal_measures>Replace the battery</Disposal_measures>
    </AL.643>
    <AL.644>
      <Alarm_code>AL.644</Alarm_code>
      <Alarm_Content>Bus encoder multi turn fault</Alarm_Content>
      <Alarm_reason>Reason 57</Alarm_reason>
      <Fault_alarm_checking>Check 57</Fault_alarm_checking>
      <Disposal_measures>Disposal 57</Disposal_measures>
    </AL.644>
    <AL.645>
      <Alarm_code>AL.645</Alarm_code>
      <Alarm_Content>Bus encoder multi turn overflow fault</Alarm_Content>
      <Alarm_reason>Bus encoder rotation turns out of range</Alarm_reason>
      <Fault_alarm_checking>P00-09 is set as 1, and it cannot rotate in one direction</Fault_alarm_checking>
      <Disposal_measures>Use instruction AF_ En1 Clear multi turn value</Disposal_measures>
    </AL.645>
    <AL.646>
      <Alarm_code>AL.646</Alarm_code>
      <Alarm_Content>Bus encoder communication exception 1</Alarm_Content>
      <Alarm_reason>Reason 59</Alarm_reason>
      <Fault_alarm_checking>Check 59</Fault_alarm_checking>
      <Disposal_measures>Disposal 59</Disposal_measures>
    </AL.646>
    <AL.647>
      <Alarm_code>AL.647</Alarm_code>
      <Alarm_Content>Bus encoder count abnormal 2</Alarm_Content>
      <Alarm_reason>The installation position deviation of the split encoder is too large</Alarm_reason>
      <Fault_alarm_checking>Check encoder</Fault_alarm_checking>
      <Disposal_measures>Install encoder correctly</Disposal_measures>
    </AL.647>
    <AL.648>
      <Alarm_code>AL.648</Alarm_code>
      <Alarm_Content>Bus encoder communication exception 3</Alarm_Content>
      <Alarm_reason>Reason 61</Alarm_reason>
      <Fault_alarm_checking>Check 61</Fault_alarm_checking>
      <Disposal_measures>Disposal 61</Disposal_measures>
    </AL.648>
    <AL.649>
      <Alarm_code>AL.649</Alarm_code>
      <Alarm_Content>Bus encoder communication exception 4</Alarm_Content>
      <Alarm_reason>Reason 62</Alarm_reason>
      <Fault_alarm_checking>Check 62</Fault_alarm_checking>
      <Disposal_measures>Disposal 62</Disposal_measures>
    </AL.649>
    <AL.650>
      <Alarm_code>AL.650</Alarm_code>
      <Alarm_Content>Bus encoder communication exception 5</Alarm_Content>
      <Alarm_reason>Reason 63</Alarm_reason>
      <Fault_alarm_checking>Check 63</Fault_alarm_checking>
      <Disposal_measures>Disposal 63</Disposal_measures>
    </AL.650>
    <AL.651>
      <Alarm_code>AL.651</Alarm_code>
      <Alarm_Content>Bus encoder communication exception 6</Alarm_Content>
      <Alarm_reason>Reason 64</Alarm_reason>
      <Fault_alarm_checking>Check 64</Fault_alarm_checking>
      <Disposal_measures>Disposal 64</Disposal_measures>
    </AL.651>
    <AL.652>
      <Alarm_code>AL.652</Alarm_code>
      <Alarm_Content>Bus encoder multiple turns and multiple faults</Alarm_Content>
      <Alarm_reason>Reason 65</Alarm_reason>
      <Fault_alarm_checking>Check 65</Fault_alarm_checking>
      <Disposal_measures>Disposal 65</Disposal_measures>
    </AL.652>
    <AL.900>
      <Alarm_code>AL.900</Alarm_code>
      <Alarm_Content>Excessive position deviation</Alarm_Content>
      <Alarm_reason>Reason 66</Alarm_reason>
      <Fault_alarm_checking>Check 66</Fault_alarm_checking>
      <Disposal_measures>Disposal 66</Disposal_measures>
    </AL.900>
    <AL.901>
      <Alarm_code>AL.901</Alarm_code>
      <Alarm_Content>The position deviation is too large when the servo is ON</Alarm_Content>
      <Alarm_reason>Reason 67</Alarm_reason>
      <Fault_alarm_checking>Check 67</Fault_alarm_checking>
      <Disposal_measures>Disposal 67</Disposal_measures>
    </AL.901>
    <AL.910>
      <Alarm_code>AL.910</Alarm_code>
      <Alarm_Content>motor overload </Alarm_Content>
      <Alarm_reason>Reason 68</Alarm_reason>
      <Fault_alarm_checking>Check 68</Fault_alarm_checking>
      <Disposal_measures>Disposal 68</Disposal_measures>
    </AL.910>
    <AL.912>
      <Alarm_code>AL.912</Alarm_code>
      <Alarm_Content>Drive overload</Alarm_Content>
      <Alarm_reason>Reason 69</Alarm_reason>
      <Fault_alarm_checking>Check 69</Fault_alarm_checking>
      <Disposal_measures>Disposal 69</Disposal_measures>
    </AL.912>
    <AL.920>
      <Alarm_code>AL.920</Alarm_code>
      <Alarm_Content>Regeneration overload</Alarm_Content>
      <Alarm_reason>Reason 70</Alarm_reason>
      <Fault_alarm_checking>Check 70</Fault_alarm_checking>
      <Disposal_measures>Disposal 70</Disposal_measures>
    </AL.920>
    <AL.921>
      <Alarm_code>AL.921</Alarm_code>
      <Alarm_Content>DB overload</Alarm_Content>
      <Alarm_reason>Reason 71</Alarm_reason>
      <Fault_alarm_checking>Check 71</Fault_alarm_checking>
      <Disposal_measures>Disposal 71</Disposal_measures>
    </AL.921>
    <AL.925>
      <Alarm_code>AL.925</Alarm_code>
      <Alarm_Content>External regeneration discharge resistance is too small</Alarm_Content>
      <Alarm_reason>Reason 72</Alarm_reason>
      <Fault_alarm_checking>Check 72</Fault_alarm_checking>
      <Disposal_measures>Disposal 72</Disposal_measures>
    </AL.925>
    <AL.930>
      <Alarm_code>AL.930</Alarm_code>
      <Alarm_Content>Battery failure of absolute encoder</Alarm_Content>
      <Alarm_reason>Reason 73</Alarm_reason>
      <Fault_alarm_checking>Check 73</Fault_alarm_checking>
      <Disposal_measures>Disposal 73</Disposal_measures>
    </AL.930>
    <AL.941>
      <Alarm_code>AL.941</Alarm_code>
      <Alarm_Content>Parameter change to be powered on again</Alarm_Content>
      <Alarm_reason>Reason 74</Alarm_reason>
      <Fault_alarm_checking>Check 74</Fault_alarm_checking>
      <Disposal_measures>Disposal 74</Disposal_measures>
    </AL.941>
    <AL.942>
      <Alarm_code>AL.942</Alarm_code>
      <Alarm_Content>Write EEPROM frequent warning</Alarm_Content>
      <Alarm_reason>Reason 75</Alarm_reason>
      <Fault_alarm_checking>Check 75</Fault_alarm_checking>
      <Disposal_measures>Disposal 75</Disposal_measures>
    </AL.942>
    <AL.943>
      <Alarm_code>AL.943</Alarm_code>
      <Alarm_Content>Serial port communication exception</Alarm_Content>
      <Alarm_reason>Large serial communication interference
Serial port baud rate is set too high</Alarm_reason>
      <Fault_alarm_checking>Check wiring
Check the baud rate parameter P00-21 of serial communication</Fault_alarm_checking>
      <Disposal_measures>Add a filter on the wire
Reduce the baud rate of serial communication</Disposal_measures>
    </AL.943>
    <AL.950>
      <Alarm_code>AL.950</Alarm_code>
      <Alarm_Content>Overtravel warning prompt</Alarm_Content>
      <Alarm_reason>Reason 77</Alarm_reason>
      <Fault_alarm_checking>Check 77</Fault_alarm_checking>
      <Disposal_measures>Disposal 77</Disposal_measures>
    </AL.950>
    <AL.951>
      <Alarm_code>AL.951</Alarm_code>
      <Alarm_Content>Absolute encoder angle initialization warning</Alarm_Content>
      <Alarm_reason>Reason 78</Alarm_reason>
      <Fault_alarm_checking>Check 78</Fault_alarm_checking>
      <Disposal_measures>Disposal 78</Disposal_measures>
    </AL.951>
    <AL.971>
      <Alarm_code>AL.971</Alarm_code>
      <Alarm_Content>Undervoltage warning</Alarm_Content>
      <Alarm_reason>Reason 79</Alarm_reason>
      <Fault_alarm_checking>Check 79</Fault_alarm_checking>
      <Disposal_measures>Disposal 79</Disposal_measures>
    </AL.971>
    <AL.990>
      <Alarm_code>AL.990</Alarm_code>
      <Alarm_Content>Radiator overheat warning</Alarm_Content>
      <Alarm_reason>Reason 80</Alarm_reason>
      <Fault_alarm_checking>Check 80</Fault_alarm_checking>
      <Disposal_measures>Disposal 80</Disposal_measures>
    </AL.990>
    <AL.991>
      <Alarm_code>AL.991</Alarm_code>
      <Alarm_Content>Input phase failure warning</Alarm_Content>
      <Alarm_reason>Reason 81</Alarm_reason>
      <Fault_alarm_checking>Check 81</Fault_alarm_checking>
      <Disposal_measures>Disposal 81</Disposal_measures>
    </AL.991>
	<AL.601>
	 <Alarm_code>AL.601</Alarm_code>
      <Alarm_Content>Encoder Exception</Alarm_Content>
      <Alarm_reason>Encoder feedback direction,off-line,short line.</Alarm_reason>
      <Fault_alarm_checking>Check encoder wiring and encoder parameter configuration.</Fault_alarm_checking>
      <Disposal_measures>Correct wiring.
Check the configuration of encoder parameters such as feedback direction.</Disposal_measures>
	  </AL.601>
  </WarnDescribeInfo>
</SystemConfig>