<?xml version="1.0" encoding="UTF-8"?>
<SystemConfig Machine="516">
  <WarnConfigInfo>
    <E.051>
      <Alarm_code>E.051</Alarm_code>
      <Alarm_Content>EEPROM parameter exception</Alarm_Content>
      <Alarm_reason>Servo unit EEPROM data abnormal</Alarm_reason>
      <Fault_alarm_checking>Perform factory initialization (F10.INI)</Fault_alarm_checking>
      <Disposal_measures>If it always appears, replace the drive</Disposal_measures>
    </E.051>
    <E.052>
      <Alarm_code>E.052</Alarm_code>
      <Alarm_Content>FPGA communication exception</Alarm_Content>
      <Alarm_reason>Abnormal power on initialization of main control MCU</Alarm_reason>
      <Fault_alarm_checking>Power on again</Fault_alarm_checking>
      <Disposal_measures>Turn off the alarm by setting parameter Pn044. If it always appears, replace the drive</Disposal_measures>
    </E.052>
    <E.053>
      <Alarm_code>E.053</Alarm_code>
      <Alarm_Content>initialization failed</Alarm_Content>
      <Alarm_reason>Power on initialization of master MCU failed</Alarm_reason>
      <Fault_alarm_checking>Power on again</Fault_alarm_checking>
      <Disposal_measures>If it persists, replace the drive.</Disposal_measures>
    </E.053>
    <E.054>
      <Alarm_code>E.054</Alarm_code>
      <Alarm_Content>Operation timeout</Alarm_Content>
      <Alarm_reason>Operation timeout</Alarm_reason>
      <Fault_alarm_checking>Power on again</Fault_alarm_checking>
      <Disposal_measures>If it persists, replace the drive.</Disposal_measures>
    </E.054>
    <E.068>
      <Alarm_code>E.068</Alarm_code>
      <Alarm_Content>Driver DC bus over-current detection</Alarm_Content>
      <Alarm_reason>U. V, W short circuited to earth PE</Alarm_reason>
      <Fault_alarm_checking>Check whether the wiring is correct.
Try to remove the motor power line.</Fault_alarm_checking>
      <Disposal_measures>Correct wiring, and replace the motor wire and motor.
If it persists, replace the drive.</Disposal_measures>
    </E.068>
    <E.108>
      <Alarm_code>E.108</Alarm_code>
      <Alarm_Content>Parameter setting out of range</Alarm_Content>
      <Alarm_reason>Parameter setting out of range</Alarm_reason>
      <Fault_alarm_checking>Check whether the parameter range is reasonable</Fault_alarm_checking>
      <Disposal_measures>Set the parameters correctly.
Perform parameter initialization.</Disposal_measures>
    </E.108>
    <E.106>
      <Alarm_code>E.106</Alarm_code>
      <Alarm_Content>Abnormal setting of frequency division 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. P03-25</Fault_alarm_checking>
      <Disposal_measures>Set the frequency division pulse output parameters correctly
Bus encoder P03-25&lt;65535
Power on the drive again</Disposal_measures>
    </E.106>
    <E.100>
      <Alarm_code>E.100</Alarm_code>
      <Alarm_Content>Abnormal parameter combination</Alarm_Content>
      <Alarm_reason>Parameter setting error</Alarm_reason>
      <Fault_alarm_checking>Check the set parameters</Fault_alarm_checking>
      <Disposal_measures>Set parameters correctly
If it always appears, please initialize the parameter</Disposal_measures>
    </E.100>
    <E.102>
      <Alarm_code>E.102</Alarm_code>
      <Alarm_Content>DI port allocation exception</Alarm_Content>
      <Alarm_reason>At least two input ports have the same function selection</Alarm_reason>
      <Fault_alarm_checking>Check input port function selection parameters (P06-11, P06-12...)</Fault_alarm_checking>
      <Disposal_measures>Set parameters correctly
Perform parameter initialization and power on again</Disposal_measures>
    </E.102>
    <E.107>
      <Alarm_code>E.107</Alarm_code>
      <Alarm_Content>Parameter exception</Alarm_Content>
      <Alarm_reason>Parameter exception</Alarm_reason>
      <Fault_alarm_checking>Check whether the parameter range is reasonable</Fault_alarm_checking>
      <Disposal_measures>Set parameters correctly
Perform parameter initialization</Disposal_measures>
    </E.107>
    <E.061>
      <Alarm_code>E.061</Alarm_code>
      <Alarm_Content>Abnormal combination of motor and driver</Alarm_Content>
      <Alarm_reason>The model of servo unit and servo motor does not match.</Alarm_reason>
      <Fault_alarm_checking>Check whether the servo unit supports the motor.</Fault_alarm_checking>
      <Disposal_measures>Replace the servo unit matching the motor.</Disposal_measures>
    </E.061>
    <E.060>
      <Alarm_code>E.060</Alarm_code>
      <Alarm_Content>Hardware matching exception</Alarm_Content>
      <Alarm_reason>Hardware matching error</Alarm_reason>
      <Fault_alarm_checking>Perform factory initialization (F10. INI)</Fault_alarm_checking>
      <Disposal_measures>If it always appears, contact the manufacturer.</Disposal_measures>
    </E.060>
    <E.063>
      <Alarm_code>E.063</Alarm_code>
      <Alarm_Content>Overcurrent detection</Alarm_Content>
      <Alarm_reason>U, V, W inter phase short circuit
Drive is damaged</Alarm_reason>
      <Fault_alarm_checking>Whether there is short circuit in U, V, W wiring and whether there is short circuit between B1 and B3.
Disconnect the U, V, W connecting cables on the drive, and enable the drive. </Fault_alarm_checking>
      <Disposal_measures>Correct wiring; if there is no alarm, check the power line and motor for short circuit.
If U, V, W are disconnected and the drive still alarms after startup, replace the drive.</Disposal_measures>
    </E.063>
    <E.064>
      <Alarm_code>E.064</Alarm_code>
      <Alarm_Content>Motor overcurrent detection</Alarm_Content>
      <Alarm_reason>---</Alarm_reason>
      <Fault_alarm_checking>---</Fault_alarm_checking>
      <Disposal_measures>---</Disposal_measures>
    </E.064>
    <E.071>
      <Alarm_code>E.071</Alarm_code>
      <Alarm_Content>Abnormal U phase current detection</Alarm_Content>
      <Alarm_reason>Abnormal sampling data of current sensor</Alarm_reason>
      <Fault_alarm_checking>Check whether UVW wiring is correct and reliable</Fault_alarm_checking>
      <Disposal_measures>Correct wiring
P00-46.2 Set 0 to turn off the alarm
If it always appears, replace the drive</Disposal_measures>
    </E.071>
    <E.072>
      <Alarm_code>E.072</Alarm_code>
      <Alarm_Content>Abnormal phase W current detection</Alarm_Content>
      <Alarm_reason>Abnormal sampling data of current sensor</Alarm_reason>
      <Fault_alarm_checking>Check whether UVW wiring is correct and reliable</Fault_alarm_checking>
      <Disposal_measures>Correct wiring
P00-46.3 Set 0 to turn off the alarm
If it always appears, replace the drive</Disposal_measures>
    </E.072>
    <E.120>
      <Alarm_code>E.120</Alarm_code>
      <Alarm_Content>Servo ON command invalid alarm</Alarm_Content>
      <Alarm_reason>When servo is ON, power supply input ports L1, L2 and L3 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>
    </E.120>
    <E.121>
      <Alarm_code>E.121</Alarm_code>
      <Alarm_Content>External input alarm signal</Alarm_Content>
      <Alarm_reason>External input alarm signal</Alarm_reason>
      <Fault_alarm_checking>Check whether there is signal input at relevant external input ports and whether relevant parameters of I/O ports are correct</Fault_alarm_checking>
      <Disposal_measures>Use relevant parameters correctly</Disposal_measures>
    </E.121>
    <E.305>
      <Alarm_code>E.305</Alarm_code>
      <Alarm_Content>Motor cable disconnection</Alarm_Content>
      <Alarm_reason>Motor cable disconnection</Alarm_reason>
      <Fault_alarm_checking>Check whether UVW wiring is correct and reliable</Fault_alarm_checking>
      <Disposal_measures>Ensure correct and reliable UVW wiring
P00-47.0 Set 0 to turn off the alarm</Disposal_measures>
    </E.305>
    <E.420>
      <Alarm_code>E.420</Alarm_code>
      <Alarm_Content>Motor overspeed</Alarm_Content>
      <Alarm_reason>Input speed command too high
The over speed judgment parameter is set incorrectly“
Frequency division output overspeed
Motor power line U, V, W wiring error</Alarm_reason>
      <Fault_alarm_checking>Use a signal detector to check whether the input signal is normal
Check whether P04-05 (overspeed alarm value) is set reasonably</Fault_alarm_checking>
      <Disposal_measures>Adjust the frequency of the input signal
Set P04-05 (overspeed alarm value) correctly</Disposal_measures>
    </E.420>
    <E.500>
      <Alarm_code>E.500</Alarm_code>
      <Alarm_Content>Frequency division output overspeed</Alarm_Content>
      <Alarm_reason>Incorrect motor parameter setting</Alarm_reason>
      <Fault_alarm_checking>Check the frequency division output p03-25</Fault_alarm_checking>
      <Disposal_measures>Set parameters correctly</Disposal_measures>
    </E.500>
    <E.421>
      <Alarm_code>E.421</Alarm_code>
      <Alarm_Content>Out of control detection</Alarm_Content>
      <Alarm_reason>The input power line of the main circuit is out of phase</Alarm_reason>
      <Fault_alarm_checking>Check wiring
Check P00-05; And whether encoder parameter settings are correct</Fault_alarm_checking>
      <Disposal_measures>Correct wiring
Set parameters correctly
In torque mode, please set P00-46 to 0 and turn off the out of control detection function</Disposal_measures>
    </E.421>
    <E.400>
      <Alarm_code>E.400</Alarm_code>
      <Alarm_Content>Power line phase failure</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 main circuit input L1, L2 and L3 are connected</Fault_alarm_checking>
      <Disposal_measures>Make sure that the wiring is correct, use the correct voltage source or connect the voltage regulator in series
P00-39.0 can turn off the phase loss alarm</Disposal_measures>
    </E.400>
    <E.401>
      <Alarm_code>E.401</Alarm_code>
      <Alarm_Content>Undervoltage</Alarm_Content>
      <Alarm_reason>The input voltage of the main circuit is higher than the rated voltage
Drive hardware failure
Regenerative resistor is not connected or the selection of regenerative resistor is incorrect“
The machine is stuck when the motor starts</Alarm_reason>
      <Fault_alarm_checking>Check whether the main circuit inputs L1, L2 and L3 are wired correctly and what the voltage is. The bus voltage can be monitored through d23.dcp</Fault_alarm_checking>
      <Disposal_measures>Make sure the wiring is correct, use the correct voltage source or connect the voltage regulator in series
P00-52 Alarm threshold can be modified</Disposal_measures>
    </E.401>
    <E.402>
      <Alarm_code>E.402</Alarm_code>
      <Alarm_Content>Overvoltage</Alarm_Content>
      <Alarm_reason>P00-50 parameter setting is unreasonable</Alarm_reason>
      <Fault_alarm_checking>Use a voltmeter to test whether the input voltage of the main circuit is correct
Overvoltage alarm still occurs when the input voltage is confirmed to be correct
Confirm that P00-30 setting is consistent with the resistance connection mode</Fault_alarm_checking>
      <Disposal_measures>Use the correct voltage source or connect the voltage regulator in series
Please send it back to the dealer or the original factory for repair
Correctly set parameters and external regeneration resistance</Disposal_measures>
    </E.402>
    <E.410>
      <Alarm_code>E.410</Alarm_code>
      <Alarm_Content>Instantaneous overload</Alarm_Content>
      <Alarm_reason>Drive hardware failure</Alarm_reason>
      <Fault_alarm_checking>Check whether the mechanical connection is stuck
Check P00-50 parameter value
Alarm after confirming that the mechanical part is normal</Fault_alarm_checking>
      <Disposal_measures>Adjust the mechanical structure
Set P00-50 parameters correctly
Please send it back to the dealer or the original factory for repair</Disposal_measures>
    </E.410>
    <E.412>
      <Alarm_code>E.412</Alarm_code>
      <Alarm_Content>Continuous overload</Alarm_Content>
      <Alarm_reason>Continuous use beyond the rated load of the drive
Improper setting of control system parameters
Motor wiring error“
The regenerative resistor is selected incorrectly or is not connected to an external regenerative resistor</Alarm_reason>
      <Fault_alarm_checking>It can be monitored by d13.oL in monitoring mode
1. Whether the mechanical system is installed properly
2. Acceleration setting constant is too fast
3. Whether gain parameters are set correctly
Check U, V, W wiring</Fault_alarm_checking>
      <Disposal_measures>Change to a higher power motor or reduce the load
1. Adjust control loop gain
2. Acceleration and deceleration setting time slows down
Correct wiring</Disposal_measures>
    </E.412>
    <E.430>
      <Alarm_code>E.430</Alarm_code>
      <Alarm_Content>Abnormal regeneration</Alarm_Content>
      <Alarm_reason>Parameter setting error</Alarm_reason>
      <Fault_alarm_checking>Check the connection condition of regeneration resistor
Please confirm P00-30, P00-31, P00-32, P00-33, P00-34 parameter settings</Fault_alarm_checking>
      <Disposal_measures>If the connection is normal, please return the drive to the factory for maintenance
P00-44 can be set to turn off the alarm
Set parameter values correctly</Disposal_measures>
    </E.430>
    <E.431>
      <Alarm_code>E.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>
    </E.431>
    <E.435>
      <Alarm_code>E.435</Alarm_code>
      <Alarm_Content>Surge current limiting resistor overload</Alarm_Content>
      <Alarm_reason>Frequent power on of driver power</Alarm_reason>
      <Fault_alarm_checking>---</Fault_alarm_checking>
      <Disposal_measures>P00-44 can be set to turn off the alarm</Disposal_measures>
    </E.435>
    <E.436>
      <Alarm_code>E.436</Alarm_code>
      <Alarm_Content>DB overload alarm</Alarm_Content>
      <Alarm_reason>---</Alarm_reason>
      <Fault_alarm_checking>---</Fault_alarm_checking>
      <Disposal_measures>---</Disposal_measures>
    </E.436>
    <E.440>
      <Alarm_code>E.440</Alarm_code>
      <Alarm_Content>Abnormal drive temperature</Alarm_Content>
      <Alarm_reason>The internal temperature of the driver is higher than the set value P00-41</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 still occurs, please return the drive to the factory for maintenance
P00-41=150 can be set to turn off the alarm</Disposal_measures>
    </E.440>
    <E.501>
      <Alarm_code>E.501</Alarm_code>
      <Alarm_Content>Excessive position deviation</Alarm_Content>
      <Alarm_reason>Too large position deviation, too small setting parameter
The gain value is set too small
The internal torque limit amplitude is set too small
Excessive external load“
The position deviation is too large when the servo is ON</Alarm_reason>
      <Fault_alarm_checking>Confirm P03-15 (excessive position deviation setting) parameter setting
Confirm whether gain parameters are set reasonably
Confirm internal torque limit amplitude
Check external load</Fault_alarm_checking>
      <Disposal_measures>Increase P03-15 (excessive position deviation setting) setting value
Correctly adjust gain parameters
Correctly readjust the internal torque limit amplitude
Reduce load or replace with high-power motor</Disposal_measures>
    </E.501>
    <E.503>
      <Alarm_code>E.503</Alarm_code>
      <Alarm_Content>The position deviation is too large when the servo is ON</Alarm_Content>
      <Alarm_reason>The gain value is set too small</Alarm_reason>
      <Fault_alarm_checking>Confirm P03-30, P03-31 and P03-33 parameter settings
Confirm whether gain parameters are set reasonably
Confirm internal torque limit amplitude
Check external load</Fault_alarm_checking>
      <Disposal_measures>Set relevant parameters correctly
Correctly adjust gain parameters
Correctly readjust the internal torque limit amplitude
Reduce load or replace with high-power motor</Disposal_measures>
    </E.503>
    <E.510>
      <Alarm_code>E.510</Alarm_code>
      <Alarm_Content>Excessive deviation of gantry position</Alarm_Content>
      <Alarm_reason>The internal torque limit amplitude is set too small</Alarm_reason>
      <Fault_alarm_checking>Confirm P03-53 parameter setting
Confirm whether gain parameters are set reasonably
Confirm internal torque limit amplitude
Check external load</Fault_alarm_checking>
      <Disposal_measures>Set parameter values correctly
Correctly adjust gain parameters
Correctly readjust the internal torque limit amplitude
Reduce load or replace with high-power motor</Disposal_measures>
    </E.510>
    <E.511>
      <Alarm_code>E.511</Alarm_code>
      <Alarm_Content>Gantry axis alarm</Alarm_Content>
      <Alarm_reason>Excessive external load</Alarm_reason>
      <Fault_alarm_checking>Detect out whether each axis alarms</Fault_alarm_checking>
      <Disposal_measures>Perform alarm (other alarms) troubleshooting</Disposal_measures>
    </E.511>
    <E.520>
      <Alarm_code>E.520</Alarm_code>
      <Alarm_Content>Vibration alarm</Alarm_Content>
      <Alarm_reason>---</Alarm_reason>
      <Fault_alarm_checking>---</Fault_alarm_checking>
      <Disposal_measures>---</Disposal_measures>
    </E.520>
    <E.620>
      <Alarm_code>E.620</Alarm_code>
      <Alarm_Content>Encoder disconnection</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>
    </E.620>
    <E.621>
      <Alarm_code>E.621</Alarm_code>
      <Alarm_Content>The built-in data of encoder does not match</Alarm_Content>
      <Alarm_reason>Encoder read/write exception
Abnormal motor parameter setting</Alarm_reason>
      <Fault_alarm_checking>Check encoder wiring,
Correctly set the motor parameters of P00-00~P00-19</Fault_alarm_checking>
      <Disposal_measures>Correct wiring
Set parameters correctly</Disposal_measures>
    </E.621>
    <E.622>
      <Alarm_code>E.622</Alarm_code>
      <Alarm_Content>Encoder built-in data verification error</Alarm_Content>
      <Alarm_reason>Encoder built-in data verification error</Alarm_reason>
      <Fault_alarm_checking>Check encoder wiring
Confirm encoder shield wire is correctly connected</Fault_alarm_checking>
      <Disposal_measures>If the connection is normal, please return the drive to the factory for maintenance</Disposal_measures>
    </E.622>
	<E.623>
      <Alarm_code>E.623</Alarm_code>
      <Alarm_Content>The motor parameter number setting is abnormal.</Alarm_Content>
      <Alarm_reason>The motor parameter number setting is abnormal.</Alarm_reason>
      <Fault_alarm_checking>---</Fault_alarm_checking>
      <Disposal_measures>---</Disposal_measures>
    </E.623>
    <E.649>
      <Alarm_code>E.649</Alarm_code>
      <Alarm_Content>Encoder communication CRC fault</Alarm_Content>
      <Alarm_reason>Encoder communication CRC fault</Alarm_reason>
      <Fault_alarm_checking>Check encoder </Fault_alarm_checking>
      <Disposal_measures>Install encoder correctly</Disposal_measures>
    </E.649>
    <E.646>
      <Alarm_code>E.646</Alarm_code>
      <Alarm_Content>Encoder communication failure</Alarm_Content>
      <Alarm_reason>Encoder communication failure</Alarm_reason>
      <Fault_alarm_checking>Check encoder </Fault_alarm_checking>
      <Disposal_measures>Install encoder correctly</Disposal_measures>
    </E.646>
    <E.644>
      <Alarm_code>E.644</Alarm_code>
      <Alarm_Content>Bus encoder multi turn abnormality</Alarm_Content>
      <Alarm_reason>Bus encoder rotation turns out of range</Alarm_reason>
      <Fault_alarm_checking>The number of turns can be monitored through the monitoring mode d21. ASH, and the multi turn absolute motor cannot rotate in one direction for a long time.</Fault_alarm_checking>
      <Disposal_measures>Use the command F06.En1 to clear the multi turn value</Disposal_measures>
    </E.644>
    <E.645>
      <Alarm_code>E.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>The number of turns can be monitored through the monitoring mode d21. ASH, and the multi turn absolute motor cannot rotate in one direction for a long time.</Fault_alarm_checking>
      <Disposal_measures>Use the command F06.En1 to clear the multi turn value
The alarm can be turned off through parameter P00-07</Disposal_measures>
    </E.645>
    <E.643>
      <Alarm_code>E.643</Alarm_code>
      <Alarm_Content>Bus encoder battery failure</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>When the battery voltage is lower than 3.0V, replace the battery,
Above 3V, use auxiliary function F16.EN0 to clear the alarm
The alarm can be turned off through parameter P00-07</Disposal_measures>
    </E.643>
    <E.641>
      <Alarm_code>E.641</Alarm_code>
      <Alarm_Content>Encoder overheating (inside encoder)</Alarm_Content>
      <Alarm_reason>Encoder overheating (inside encoder)</Alarm_reason>
      <Fault_alarm_checking>Check encoder temperature</Fault_alarm_checking>
      <Disposal_measures>If the temperature is normal, the alarm can be closed by modifying parameter P00-07.2</Disposal_measures>
    </E.641>
    <A.900>
      <Alarm_code>A.900</Alarm_code>
      <Alarm_Content>Excessive position deviation</Alarm_Content>
      <Alarm_reason>Warning of excessive position deviation
The gain value is set too small
The internal torque limit amplitude is set too small
Excessive external load</Alarm_reason>
      <Fault_alarm_checking>"Confirm P03-15/P03-30 (excessive position deviation setting) parameter setting
Confirm whether gain parameters are set reasonably
Confirm internal torque limit amplitude
Check external load</Fault_alarm_checking>
      <Disposal_measures>Increase the setting value of P03-15/P03-30 (excessive position deviation setting)
Correctly adjust gain parameters
Correctly readjust the internal torque limit amplitude
Reduce load or replace with high-power motor</Disposal_measures>
    </A.900>
    <A.901>
      <Alarm_code>A.901</Alarm_code>
      <Alarm_Content>The position deviation is too large when the servo is ON</Alarm_Content>
      <Alarm_reason>Fault alarm reason
The position deviation is too large when the servo is ON
Pulse command frequency is too high when servo is ON</Alarm_reason>
      <Fault_alarm_checking>Confirm P03-31/P03-33 parameter setting
Pulse command frequency is too high when servo is ON</Fault_alarm_checking>
      <Disposal_measures>Increase P03-31/P03-33 setting value
Reduce the pulse command frequency when the servo is ON</Disposal_measures>
    </A.901>
    <A.905>
      <Alarm_code>A.905</Alarm_code>
      <Alarm_Content>FN function cannot be executed when servo is ON</Alarm_Content>
      <Alarm_reason>FN function cannot be executed when servo is ON</Alarm_reason>
      <Fault_alarm_checking>FN function cannot be executed when servo is ON</Fault_alarm_checking>
      <Disposal_measures>Execute FN function under SV-OFF</Disposal_measures>
    </A.905>
    <A.910>
      <Alarm_code>A.910</Alarm_code>
      <Alarm_Content>Overload warning</Alarm_Content>
      <Alarm_reason>Overload warning
Improper setting of control system parameters
Motor wiring error</Alarm_reason>
      <Fault_alarm_checking>It can be monitored by d13. oL in the monitoring mode
1. Whether the mechanical system is installed properly
2. Acceleration setting constant is too fast
3. Whether gain parameters are set correctly
Check U, V, W wiring</Fault_alarm_checking>
      <Disposal_measures>Properly raise P00-51 (overload warning value)
1. Adjust control loop gain
2. Acceleration and deceleration setting time slows down
Correct wiring</Disposal_measures>
    </A.910>
    <A.911>
      <Alarm_code>A.911</Alarm_code>
      <Alarm_Content>Vibration warning</Alarm_Content>
      <Alarm_reason>Vibration warning</Alarm_reason>
      <Fault_alarm_checking>Drive temperature monitoring can be performed through d24.Ath in monitoring mode</Fault_alarm_checking>
      <Disposal_measures>When the equipment is normal, set the value of P02-51 correctly, or set P02-50 to 0 to close the warning</Disposal_measures>
    </A.911>
    <A.912>
      <Alarm_code>A.912</Alarm_code>
      <Alarm_Content>Abnormal temperature of control board</Alarm_Content>
      <Alarm_reason>Abnormal temperature of control board</Alarm_reason>
      <Fault_alarm_checking>---</Fault_alarm_checking>
      <Disposal_measures>Reboot the device and still alarm
Replace drive</Disposal_measures>
    </A.912>
    <A.913>
      <Alarm_code>A.913</Alarm_code>
      <Alarm_Content>Abnormal drive temperature</Alarm_Content>
      <Alarm_reason>Abnormal drive temperature</Alarm_reason>
      <Fault_alarm_checking>Drive temperature monitoring can be performed through d24.Ath in monitoring mode</Fault_alarm_checking>
      <Disposal_measures>When the equipment is normal, P02-50 can be set to set 0 to close the warning</Disposal_measures>
    </A.913>
    <A.920>
      <Alarm_code>A.920</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>
    </A.920>
    <A.921>
      <Alarm_code>A.921</Alarm_code>
      <Alarm_Content>DB overload warning</Alarm_Content>
      <Alarm_reason>---</Alarm_reason>
      <Fault_alarm_checking>---</Fault_alarm_checking>
      <Disposal_measures>---</Disposal_measures>
    </A.921>
    <A.923>
      <Alarm_code>A.923</Alarm_code>
      <Alarm_Content>Servo unit internal fan stop</Alarm_Content>
      <Alarm_reason>---</Alarm_reason>
      <Fault_alarm_checking>---</Fault_alarm_checking>
      <Disposal_measures>---</Disposal_measures>
    </A.923>
    <A.930>
      <Alarm_code>A.930</Alarm_code>
      <Alarm_Content>Battery failure of absolute encoder</Alarm_Content>
      <Alarm_reason>Battery failure of absolute encoder</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>Battery failure of absolute encoder</Disposal_measures>
    </A.930>
    <A.941>
      <Alarm_code>A.941</Alarm_code>
      <Alarm_Content>Parameter change takes effect after power off and restart</Alarm_Content>
      <Alarm_reason>After the parameters are modified, they will take effect after being powered on again</Alarm_reason>
      <Fault_alarm_checking>---</Fault_alarm_checking>
      <Disposal_measures>Power off and restart</Disposal_measures>
    </A.941>
    <A.971>
      <Alarm_code>A.971</Alarm_code>
      <Alarm_Content>Undervoltage warning</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 main circuit inputs L1, L2 and L3 are wired correctly and what the voltage is. The bus voltage can be monitored through d23.dcp</Fault_alarm_checking>
      <Disposal_measures>Make sure that the wiring is correct, use the correct voltage source or connect the voltage regulator in series
P00-52 can modify the alarm threshold or close the alarm</Disposal_measures>
    </A.971>
    <A.942>
      <Alarm_code>A.942</Alarm_code>
      <Alarm_Content>EEPROM write failed</Alarm_Content>
      <Alarm_reason>---</Alarm_reason>
      <Fault_alarm_checking>---</Fault_alarm_checking>
      <Disposal_measures>---</Disposal_measures>
    </A.942>
    <A.950>
      <Alarm_code>A.950</Alarm_code>
      <Alarm_Content>Overtravel</Alarm_Content>
      <Alarm_reason>---</Alarm_reason>
      <Fault_alarm_checking>---</Fault_alarm_checking>
      <Disposal_measures>---</Disposal_measures>
    </A.950>
    <A.960>
      <Alarm_code>A.960</Alarm_code>
      <Alarm_Content>Input terminal repeated definition</Alarm_Content>
      <Alarm_reason>Input terminal repeated definition</Alarm_reason>
      <Fault_alarm_checking>Check whether there is signal input at relevant external input ports and whether relevant parameters of I/O ports are correct</Fault_alarm_checking>
      <Disposal_measures>Set relevant parameters correctly</Disposal_measures>
    </A.960>
    <A.945>
      <Alarm_code>A.945</Alarm_code>
      <Alarm_Content>FPGA clock exception warning</Alarm_Content>
      <Alarm_reason>---</Alarm_reason>
      <Fault_alarm_checking>---</Fault_alarm_checking>
      <Disposal_measures>---</Disposal_measures>
    </A.945>
    <E.069>
      <Alarm_code>E.069</Alarm_code>
      <Alarm_Content>FPGA clock abnormal fault</Alarm_Content>
      <Alarm_reason>---</Alarm_reason>
      <Fault_alarm_checking>---</Fault_alarm_checking>
      <Disposal_measures>---</Disposal_measures>
    </E.069>
	<A.551>
      <Alarm_code>A.551</Alarm_code>
      <Alarm_Content>Return to original point overtime alarm</Alarm_Content>
      <Alarm_reason>---</Alarm_reason>
      <Fault_alarm_checking>---</Fault_alarm_checking>
      <Disposal_measures>---</Disposal_measures>
    </A.551>	
  </WarnConfigInfo>
</SystemConfig>