A-TS TECHNOLOGY Pulse Series, User Manual

Page 1: ...1 RT10 Pulse Series AC Servo Drive User Manual A TS TECHNOLOGY CORPORATION LIMITED www a ts cn ...

Page 2: ...compensation All rights including the rights granted by patent rights and the registration rights of application models or designs will be reserved The information provided in this publication will be updated regularly and any necessary corrections will be implemented in subsequent releases Suggestions for improvement are welcome at any time Version Product Release Date Note V 20 01 RT10 20 05 202...

Page 3: ...ne maintenance etc It doesn t include all the security matters or considerations Local laws and regulations All the local laws regulations and codes of practice should be obeyed first besides the instructions in the manual Disclaimer of Liability We have reviewed the contents of this publication to ensure consistency with the hardware and software described Since variance cannot be precluded entir...

Page 4: ...ty WARNING Be careful If there is improper operation it may cause major accident such as equipment damage or physical injury ATTENTION If there is misoperation it may cause bad effects or cannot be operated normally Generally speaking the issues caused could be solved INSTRUCTIONS It is widely used It reminds the instructions and prompts EXAMPLE For the better understanding of the users to show a ...

Page 5: ...8 1 3 Technical specifications 9 1 4 Adapted motor 12 2 Installation and Wiring 13 2 1 Installation 13 2 1 1 Installation environment 13 2 1 2 Products appearance and dimensions 14 2 2 Wiring and terminals 17 2 2 1 Wiring diagram 17 2 2 2 Strong power terminals 18 2 2 3 Command terminal X1 19 2 2 4 Encoder terminal X2 definition 23 ...

Page 6: ...play and Keyboard Operation 30 3 1 Basic operation 30 3 2 Menu level one 31 3 3 Menu level two 32 3 3 1 Monitoring 32 3 3 2 Parameter setting Pa Fn parameter 34 3 3 3 Parameter management 35 4 Running 37 4 1 Set motor type 37 4 2 JOG trial running 39 4 3 Position control 40 4 3 1 Position control simple example 40 4 3 2 Position command 40 4 3 3 Electronic gear setting 42 ...

Page 7: ...y RT10 7 4 4 Speed control 43 4 5 Inertia identification 44 4 6 Automatic gain adjustment 45 5 Parameters 47 5 1 Parameter list 47 5 1 1 PA parameters 47 5 1 2 Fn parameters 57 6 Fault Alarm 64 6 1 Alarm code list 64 The End 67 ...

Page 8: ...magawa BISS EnDat and Nikon Support RS485 communication standard Modbus protocol Supports internal speed mode and demonstration running mode 1 2 Naming rule Code Series PB PA Pulse base type Pulse higher type Code Power voltage L H Low voltage single three phase 220V High voltage three phase 380V Code Increm ental E00 E01 E02 E03 ABZ increm ental BISS Tamag awa Endat Absolute Encoder type RT10 PA ...

Page 9: ...z Three phase AC220V 15 10 50 60Hz Rated current rmsA 1 6 2 8 5 5 11 6 21 0 Maximum current rmsA 4 2 6 6 12 0 19 8 39 6 Peak current o pA 5 9 9 3 16 9 28 0 56 0 Environ ment Temperature Working 0 45 If the temperature is too high please make sure the surrounding air to flow Storage 20 65 Humidity Working 40 80 No condensation Storage Less than 93 No condensation Protection grade IP20 Control metho...

Page 10: ...switch electronic gear selection 1 electronic gear selection 2 position deviation clearance pulse input prohibition origin return homing trigger origin return homing reference point Control output Up to 8 output terminals optoelectronic isolation Servo ready S RDY alarm zero speed positioning complete speed reached torque reached electromagnetic brake servo in operation location nearby positioning...

Page 11: ...r 1 32767 Denominator 1 32767 Speed Analog command input Support 10V 10V input Command ACC DEC Parameter setting Command source Internal speed command analog command Torque Analog command input Support 10V 10V input Speed limitation Parameter setting Command source Internal torque command analog command Special function Origin return homing gain switching mechanical resonant trap filter Monitoring...

Page 12: ...ng abnormal encoder position exceeding tolerance etc Features Speed frequency response 1500Hz Speed fluctuation ratio 0 03 Load 0 100 0 02 Power 15 10 Speed ratio 1 10000 1 4 Adapted motor The RT10 series AC servo drive matches the RT series servo motor Please refer to the RT series servo motor selection guide or contact A TS Company for service ...

Page 13: ...ion below 4 9 m s2 Install in a well ventilated place with little humidity and dust Install in the place without corrosive gas flammable gas pyrophoric gas oil gas cutting fluid cutting powder or iron powder etc WARNING When in a vibration environment to prevent transmitting vibration to the servo drive please install the anti rattle device on the mounting surface of the servo drive When it has to...

Page 14: ...www a ts cn A TS Technology RT10 14 2 1 2 Products appearance and dimensions Figure 2 1 RT10 005L Product appearance and dimensions Unit mm Figure 2 2 RT10 010L Product appearance and dimensions Unit mm ...

Page 15: ...www a ts cn A TS Technology RT10 15 Figure 2 3 RT10 015L Product appearance and dimensions Unit mm Figure 2 4 RT10 020L RT10 030L Product appearance and dimensions Unit mm ...

Page 16: ...www a ts cn A TS Technology RT10 16 Figure 2 5 RT10 050L Product appearance and dimensions Unit mm ...

Page 17: ...urge absorbers Strictly prohibit to use the magnetic contactor to operate or stop the motor Power cable Power Supply three phase AC220V Three phase Transformer AC380V AC220V Resistor The braking resistor is optional By default the B2 and B3 are shorted the internal resistor is used When the internal resistor is not big enough disconnect the B2 and B3 and connect external resistor between the B1 an...

Page 18: ... single 3 phase 220V AC power If is single phase AC 220V use L1 and L2 L2 L3 B1 Braking resistor terminals When using internal braking resistor short circuit B2 and B3 When using external braking resistor disconnect B2 and B3 and connect the braking resistor between B1 and B2 Refer to 5 8 braking resistor setting for the braking resistor selection and others to prevent damage B2 B3 U Motor power l...

Page 19: ...er shall not be used or it will burn the drive out 2 2 3 Command terminal X1 Pulse sequence command mode RT10 command terminal X1 includes pulse and direction input pins digital input pins digital output pins and encoder feedback output pins In the pulse sequence command mode the pins on the terminal X1 are as shown below INSTRUCTIONS It is recommended to use the original RT10 ac servo drive cable...

Page 20: ...tal input 1 The default function servo enable input DI2 A CLR 31 Digital input 2 The default function alarm clearance input DI3 POT 9 Digital input 3 The default function positive drive inhibiting input DI4 NOT 8 Digital input 4 The default function reverse drive inhibiting input DI5 M1 SEL 30 Digital input 5 The default function mode switch 1 input DI6 M2 SEL 26 Digital input 6 The default functi...

Page 21: ...41 DO4 BRKOFF 11 Digital output 4 The default function the motor brake release output single ended output DO5 AT SPD 12 Digital output 5 The default function speed reached output single ended output DO6 18 Digital output 6 single ended output DO7 42 Digital output 7 single ended output DO8 39 Digital output 8 single ended output DO GND 10 Digital IO output common ground Position pulse command OPC1...

Page 22: ... 46 High speed command pulse direction input SIGNH 47 Analog command input AI1 13 Analog command channel 1 input AI1 14 AGND 15 Analog reference ground AI2 16 Analog command channel 2 input AI2 20 AGND 17 Analog reference ground Encoder signal output OA 21 Encoder frequency division output Phase A OA 22 OB 48 Encoder frequency division output Phase B OB 49 OZ 23 Encoder frequency division output P...

Page 23: ...2 definition The servo motor encoder signal is input by the X2 terminal The schematic diagram of encoder terminal pins is below It is recommended to use the original accessory cable of the RT10 AC servo drive The encoder terminal is MDR SCSI 20 core plug Please confirm the pin sequence according to the solder side shown in the diagram above The standard incremental encoder signal input terminals P...

Page 24: ...coder phase Z signal input 20 Z 13 U Encoder phase U signal input 14 U 15 V Encoder phase V signal input 16 V 17 W Encoder phase W signal input 18 W 11 PE Shield ground The absolute encoder signal input terminals Pin No Signal name Description 1 EC 5V Encoder power output 5V 5 2 EC GND Encoder power signal ground 0V 3 SDATA Bidirectional serial data 4 SDATA ...

Page 25: ...used for the upper machine software communication debugging and MCU firmware updating Doing the MCU firmware updating it uses the USB communication by the standard USB2 0 cable When communicating with upper machine the serial communication is used The communication cable is an optional accessory and is the standard USB3 0 cable specially made Only the 5 6 7 pins need to be welded as below Figure 2...

Page 26: ... to the drive or PC port 2 2 6 RS485 communication port X5A X5B definition This terminal is the standard RJ45 interface for RS485 bus communication The RT10 series AC servo drive communicates with the controller through RS485 interface adopting the Modbus protocol or Panasonic A5 driver communication protocol to read and write parameters and monitor the status Please refer to the chapter 10 Commun...

Page 27: ...ive reserved 3 RS485 RS485 Data 4 DGND Reference ground 5 DGND Reference ground 6 RS485 RS485 Data 7 NC N A 8 NC N A ATTENTION The RT10 PB series drive doesn t support this function 2 2 7 Wiring of three control mode The position control mode wiring sample graph ...

Page 28: ... PULS CW Phase A SIGN CCW Phase B Low speed pulse position command High speed pulse position command maximum frequency 4MHz 12 DO5 Spd 18 DO6 42 DO7 39 10 DO8 DO GND Speed reached output DI COM 7 DI1 SRV ON 29 D2 A CLR 31 DI4 NOT 8 DI3 POT 9 24V Servo enable Alarm clearance CW drive prohibit CCW drive prohibit 3 3kΩ DI5 M1 SEL 30 DI7 P ATL 27 DI6 M1 SEL 26 Mode select 1 input Positive torque limit...

Page 29: ...DO8 DO GND Analog command channel input 1 AS 13 AS 14 LPF AGND 17 AGND 15 Note When it is single ended short circuit the negative end AS AT to AGND AD RT10 servo drive Three phase AC 220V Note single phase AC 220V connected to L1 L2 terminals Alarm clearance CW drive prohibit CCW drive prohibit Mode select 1 input Mode select 2 input Positive torque limit input Negative torque limit input Digital ...

Page 30: ... of the rightmost eight segment LED flashes there is alarm Numeric display It adopts 5 LED tubes to display numeric values Some display items have prefix characters If the displayed value is negative the decimal point of the displayed value will be lit up And when the decimal value is greater than 10000 the highest digit displays a negative sign For example indicates positive number 12345 indicate...

Page 31: ... the increase or decrease is EXAMPLE If you need to modify a parameter from 0 to 3000 please follow steps below Step one keep pressing the page up key The value increases from 0 continuously Step two the value increases continuously until the value reaches near the 3000 releasing the page up key Step three press the page up or page down key discontinuously to adjust the value until it reaches 3000...

Page 32: ...vel one Access the corresponding menu level two through a different menu level This section introduces the monitoring mode monitoring motor parameter jog run run test parameter management auxiliary function and parameter setting etc 3 3 1 Monitoring Select in the menu level one press the Enter key to enter the monitoring mode Press the Page up or Page down key to select the parameters that need to...

Page 33: ...ing status Alarm symbol Load inertia ratio Out of range parameter number Software version Reserved Bus voltage Encoder null offset Reserve Reserve Reserve Average load rate Motor speed r min Current position pulse System position command pulse Position deviation pulse low five bit Motor torque Motor phase current Arms Reserved Control mode Position command pulse frequency kHz Speed command r min T...

Page 34: ...ol Press the Return key to return NOTE When the parameter value is being modified the decimal point of the rightmost digital tube is lit and press the Enter key to set the modified value valid At this time the lit decimal point will go out Then pressing the Page up or Page down Key to continue to modify parameters To cancel the modification don t press the Enter key and press the Return key The pa...

Page 35: ...ess the return key to return Parameter save Write the parameters in the parameter table to the EEPROM parameter zone When the parameter is modified it only changes the parameter values in the parameter table If the servo is powered off and then powered up and the original parameter value will be restored by default again If you want to change the parameter value permanently you need to perform par...

Page 36: ...art the drive One is to power off and restart directly The second is soft reset Which way to choose it depends on the situation Parameter management mainly includes parameter save restoring factory value and system soft reset Each parameter management performs read write operation in the MCU memory and the EEPROM RAM Parameter default value System reset is equal to the drive power up again EEPROM ...

Page 37: ...e modify the motor type INSTRUCTIONS RT10 series servo drive supports standard motor and user defined motor If it is standard motor set the motor type code according to the motor adaptation table in the motor selection guide If it is user defined motor need to set the parameters of motor manually 3 Modify the motor type code Follow the steps below to modify the motor type Change the PA0 parameter ...

Page 38: ...the EEPROM Then wait 1 2 seconds if the operation is successful it will display otherwise display 4 Set user defined motor parameter If it is the user defined motor please set the motor parameters according to the following table If it is the standard motor skip this step and do the test running Table 4 1 Servo motor parameter table Menu Name Description Value range User defined motor manufacturer...

Page 39: ...00 200 00 V Krpm Absolute zero offset low order digit 0 10000 Absolute zero offset high order digit x10000 0 10000 Phase resistance 0 60 00 Ω Phase inductance 0 60 00 mH 4 2 JOG trial running Change to AU mode Press page up 01JOG Long press Enter key Press page up Press page down Motor running Motor running The motor running speed is set by PA21 The servo enable is turned on after long press the E...

Page 40: ...C M NOT 8 POT 9 S RDY 35 S RDY 34 PULS 3 PULS 4 SIGN 5 SIGN 6 CZ 19 GND 25 CCW CCWL CW CWL Servo ready Position command PULS Position command SIGN Open circuit Z signal output Encoder signal ground GND PE 50 Command cable shielded ground Note1 The X1 DI DO port function can be defined by the Fn parameter In this diagram the default values are used and they can be changed by user Note 2 X2 is the e...

Page 41: ...enominator PA14 Position command input pulse mode 0 0 0 pulse direction 1 CW CCW 2 A B orthogonal PA15 Position command input pulse direction reverse 0 0 PA44 Pulse command function selection Appropriate value 0 Select the pulse command type PA52 Position command smoothing time constant 0 0 0 Position command smoothing time PA81 Lower 5 bits of the command pulse number for each rotation of the mot...

Page 42: ...se mode Input pin filtering PA19 PA24 Figure 4 2 Instruction pulse transmission path 4 3 3 Electronic gear setting In the drive if the encoder is 10000 pulses revolution the needed pulse equivalent can be set by the electronic gear parameters PA12 PA13 or PA81 PA84 Table 4 3 The relationship between the input pulse number and revolution The input pulse number Electronic gear numerator Electronic g...

Page 43: ...and Motor Encoder feedback Figure 4 3 The speed control diagram Parameters related to the speed commands Table 4 4 The parameters related to the speed commands Para meter Name Set value Factory default Description PA4 Control mode 9 0 Set to speed control PA15 Speed command direction setting xxx0xb 00000b PA22 Speed command source selection Appropriate value 1 1 internal parameter PA27 input 2 ana...

Page 44: ...set Appropriate value 0 Offset mV Fn53 Analog AI1 dead time Appropriate value 10 Enforcement in the dead time is 0 Fn54 Speed value corresponding to analog 10V Appropriate value 3000 Unit rpm 4 5 Inertia identification Inertia ratio Total rotational inertia of mechanical load Motor rotational inertia The load inertia ratio is an important parameter of the servo system and the setting the proper lo...

Page 45: ... gain adjustment By the rigid equivalence selection function PA33 automatically the servo drive will generate a set of matched gain parameters to meet the requirements of speediness and stability And it is the automatic gain adjustment Below is the rigidity grade description When it is set to 0 the rigidity grade parameter is invalid When it is grade 1 the rigidity is the weakest When it is grade ...

Page 46: ... 8 to 15 Low rigidity applications such as belts Grade 15 to 20 High rigidity applications such as ball screws and ball linear ATTENTION Before using the automatic gain adjustment function make sure to acquire the load inertia ratio correctly ...

Page 47: ... number plus indicates that after modification the parameter needs to be saved to will be effective after the power cycle Parameter number without indicates that after modification the parameter will be effective at once Parameter value plus means the factory default may be different if the drive model is different 5 1 1 PA parameters No Name Parameter range Factory default Unit Applic ability PA0...

Page 48: ...ed feedback filter time constant 0 10 00 0 50 ms P S PA9 Position proportional gain 1 1000 50 P PA10 Speed feed forward gain 0 200 0 P PA11 Speed feed forward filter time constant 0 10 0 0 5 ms P PA12 Position command pulse frequency division numerator 1 32767 1 P PA13 Position command pulse frequency division denominator 1 32767 1 P PA14 Position command pulse input mode 0 4 0 0 pulse direction 1...

Page 49: ...d reverse direction Bit1 Speed command reverse direction Bit2 Torque command reverse direction Bit3 4 rsv All PA16 Location complete range 0 30000 100 pulse P PA17 Location out of tolerance detection range 0 3000 30 x 0 1 laps P PA18 Absolute encoder usage mode 00000b 11111b 00101b Bit0 Whether to use the battery Bit1 ABS source Bit2 Motor parameter ALL ...

Page 50: ...t1 Control mode switch allowed Bit2 IO jog function allowed Bit3 rsv ALL PA21 JOG speed Torque mode max speed 0 3000 300 rpm S PA22 Speed command source selection 0 2 0 S PA23 User sets the max speed percentage limit 1 200 100 ALL PA24 Position command direction signal filter time constant 0 0 20 0 0 0 microsecond us P PA25 Torque command source selection 0 8 0 T PA26 Speed command frequency setti...

Page 51: ...on time 0 12000 3000 ms ALL PA32 Control mode switch allowed 0 1 0 ALL PA33 Rigidity level 0 31 0 ALL PA34 Internal CCW torque limit 0 300 300 ALL PA35 Internal CW torque limit 300 0 300 ALL PA36 Speed command filter time constant 0 10 0 0 2 ms ALL PA37 Torque feed forward filter time constant 0 10 0 0 5 ms ALL PA38 DP menu dynamic display items 0 300 ALL PA39 Serial communication rate 0 15 0 T PA...

Page 52: ...ion selection 00000b 11111b 00000b bit0 High speed pulse selection bit1 get it by hand function P PA45 Absolute encoder lap digits 0 30 0 0 means the default digits ALL PA46 Speed integral filter time constant 0 500 1 0 ms P S PA47 Enable disconnect waiting time when the motor is stationary 0 5000 0 ms ALL PA48 Electromagnetic brake braking waiting time when the motor is running 0 5000 50 ms ALL P...

Page 53: ... bits input terminals forced ON 00000b 11111b 00000b Binary ALL PA55 Lower 5 bits input terminals logical reverse 00000b 11111b 00000b Binary ALL PA56 Higher 5 bits input terminals logical reverse 00000b 11111b 00000b Binary ALL PA57 Output terminal logic reverse 00000b 11111b 00000b Binary ALL PA58 Input terminal debouncing time constant 0 1 800 1 0 ms ALL PA60 Torque command filter time constant...

Page 54: ...7 Increment without HALL 9 Sankyo protocol PA62 Alarm shield setting bits 00000b 11111b 00000b Bit0 Err18 Bit1 Err35 Bit2 Err41 6 Bit3 Err25 Bit4 Err8 ALL PA63 Disturbance torque compensation gain filter cut off frequency 0 2000 50 Hz P S PA64 Current proportional gain 1 500 150 ALL PA65 Current integration time constant 1 100 0 20 0 ms ALL ...

Page 55: ... braking resistor power 0 10000 50 W ALL PA71 Forward friction compensation feedforward gain 0 300 0 P S PA72 Current Loop PID limiting adjustment factor 20 100 100 ALL PA73 Disturbance torque compensation gain 0 200 0 ALL PA74 Internal current command 300 300 0 T PA75 Current loop reserved parameter 1 0 5 0 ALL PA76 RS485 response frame delay time 0 1000 3 ms ALL PA77 Current loop reserved parame...

Page 56: ... setting 00000b 11111b 00000b ALL PA81 The low bits of command pulses per motor revolution 0 32000 0 P PA82 RS485 232 communication address setting 0 255 1 P PA83 RS485 232 communication rate setting 0 6 2 P PA84 The high bits of command pulses per motor revolution 0 10000 0 x10000 P PA85 Vibration detection current percentage 0 500 100 ALL PA86 Zero speed detection value 0 100 10 rpm ALL PA87 RS4...

Page 57: ... constant 0 10 0 1 0 ms P S PA90 UVW encoding Corresponding to Z pulse 0 6 0 ALL PA91 Incremental encoder UVW direction 0 1 0 ALL PA93 System feedback Z pulse polarity setting 0 1 0 ALL PA94 System feedback Z pulse width setting 0 15 4 ALL PA97 Alarm shield setting bits 00000b 11111b 00000b ALL PA98 Origin position confirmation range 0 30 0 ALL 5 1 2 Fn parameters No Name Range Factory default Uni...

Page 58: ...6 ALL Fn6 Digital input DI7 function 0 31 7 ALL Fn7 Digital input DI8 function 0 31 8 ALL Fn8 Digital input DI9 function 0 31 9 ALL Fn9 Digital input DI10 function 0 31 10 ALL Fn10 Digital output DO1 function 0 15 1 ALL Fn11 Digital output DO2 function 0 15 2 ALL Fn12 Digital output DO3 function 0 15 3 ALL Fn13 Digital output DO4 function 0 15 4 ALL Fn14 Digital output DO5 function 0 15 5 ALL Fn15...

Page 59: ...ol selection 0 4 0 0 Reserved 1 Panasonic A5 2 Modbus RTU ALL Fn22 Motor related parameter setting 0000b 1111b 0000b bit0 Auto zero position enable bit1 Electrical angle reverse bit2 Speed feedback reverse bit3 Position feedback reverse ALL Fn23 Auxiliary control policy setting 0000b 1111b 0000b bit0 Zero calibration bit1 dead time compensation bit2 Speed phase compensation bit3 Reserved ALL Fn25 ...

Page 60: ...rn ACC DEC time constant 0 3000 20 ms ALL Fn33 Origin return trigger mode 0 3 0 0 turn off the origin return 1 DI upper edge trigger 2 Auto execute after power on ALL Fn34 U phase current offset compensation amount 0 ALL Fn35 V phase current offset compensation amount 0 ALL Fn36 VF mode running frequency 0 Hz Fn37 VF mode running amplitude 0 Fn40 Current loop bandwidth setting 0 8000 Hz Fn42 Low f...

Page 61: ... Notch filter depth 0 100 2 ALL Fn50 Analog AI1 filter time constant 0 600 2 0 ms S T Fn51 Analog AI1 zero drift 500 500 0 mV S T Fn52 Analog AI1 offset 5000 5000 0 mV S T Fn53 Analog AI1 dead time 0 1000 10 mV S T Fn54 Analog 10v corresponding speed 0 6000 3000 rpm S Fn55 Analog AI2 filter time constant 0 600 2 0 ms S T Fn56 Analog AI2 zero drift 500 500 0 mV S T Fn57 Analog AI2 offset 5000 5000 ...

Page 62: ...ternal speed command 3 9000 9000 0 rpm S Fn65 Internal speed command 4 9000 9000 0 rpm S Fn66 Offline Inertia identification the max speed 100 3000 500 rpm P S Fn67 Offline inertia identification ACC DEC time 20 1000 125 ms P S Fn68 Offline inertia identification waiting time 50 10000 800 ms P S Fn69 Inertia identification mode selection 0 3 0 P S Fn70 Internal position mode target position 1000 0...

Page 63: ...x speed 6000 Fn72 Internal position mode ACC DEC time constant 1 3000 300 ms P Fn73 Internal location mode waiting time 1 10000 500 ms P Fn75 Zero position locked current setting 1 200 50 ALL Fn76 Speed compensation strategy selection 0 P S ...

Page 64: ...rage load current alarm The motor average load current is too large Err 6 Speed amplifier saturation fault Speed regulator is saturated for a long time Err 7 CCWL CWL abnormal CCWL CWL input are OFF Err 8 IPM over temperature alarm IPM temperature exceeds the set value Err 9A b c Encoder A B Z phase error Encoder A B Z phase signal error Err 10 Motor parameter error Motor parameter is out of range...

Page 65: ...encoder EEPROM parameter error Err 25 Encoder AB feedback is abnormal Encoder AB feedback frequency is too high Err 26 IO input terminal function configuration is abnormal Different IO input terminals are configured to the same function Err 27 Absolute encoder battery alarm Battery voltage is lower than 3 1V the battery voltage is low Err 28 Absolute encoder communication timeout alarm Absolute en...

Page 66: ...lti turn data exceeds the set value Multi turn data exceeds the set value Err 52 Main power supply under voltage alarm In the enabled state the bus voltage is lower than 245V Err 53 AC main power supply failure is off The power supply cable L1 L2 L3 is powered down Err 54 AC main power supply phase loss The power supply cable L1 L2 L3 is phase loss Err 55 Dynamic braking overcurrent Dynamic brakin...

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