Troubleshooting a A.C90 or A.C9 Error
Topic Description

An A.C90 or A.C9 error is related to an issue with encoder communications or connection. SERVOPACKs require encoder feedback from a Yaskawa servomotor encoder within the same size.

Note:

  • There is no parameter setting to disable this alarm under normal circumstances.
  • The encoder connection is always the connector furthest away from the load shaft for rotational servomotors.

The image below shows the CN2 connector on the servomotor encoder cable.
Resolution
  1. Check connections on the encoder to make sure they are secure and tight, and no physical damage is visible on connectors or wiring. For some connectors, such as on the JZSP-CVP07-xx-E cables, there is an indicator arrow. Be sure the indicator arrow lines up with the indicator arrow on the servomotor.
  2. Remove the connector on the servomotor side and check pins for debris, dirt build-up, or contamination.
  3. Try another cable and/or servomotor with the servopack (if possible).
  4. Check that the correct Yaskawa encoder cables are installed in the system. For example, for 30-meter encoder runs, a 30-meter encoder relay cable must be installed (Part number JZSP-UCMP00-30-E for Sigma-5 servo systems).
  5. Check that the cables for the entire encoder cable run are Yaskawa brand cables. Third-party cables are not guaranteed to carry the encoder signal properly. Junction boxes are not guaranteed to carry the encoder signal properly.
  6. Check that the cables are installed according to the user's manual, especially to prevent electrical noise interference.
  7. Check that there is no excessive vibration in the application. (Check that the vibration in the application is within the vibration specifications of the servomotor for the servomotor side and within the vibration specifications for the SERVOPACK on the SERVOPACK side).
  8. Check that there is no stress on the cable's connectors. For example, as described in the Sigma-5 Product Catalog YEA-KAEPS80000042, "Make sure there is no bending or tension on the cables themselves, the connections, or the cable lead inlets. Be especially careful to wire encoder cables so that they are not subject to stress because the core wires of encoder cables and main circuit cables are very thin at only 0.2 to 0.3 mm2."
  9. Replace the servomotor or SERVOPACK.

Refer to the product's user manuals (SERVOPACK and servomotor) for additional details, causes, and resolutions.


Product Types
SGD7S Analog, SGAGS, SGDS, FSP, SGD7S EtherCAT, SGDV, SGDG, SGD7S Mechatrolink-III, SGLC, SGDH, SGLFW with Sigma-5, SGDJ, Sigma-7Siec - Servopack, SGLGW with Sigma-5, SGDK, SGD7W EtherCAT, SGD7W Mechatrolink-III, SGLTW with Sigma-5, SGDM, SGLF2, SGLFW with Sigma-7, SGMAV, SGMAH, SGLGW with Sigma-7, SGMCS with Sigma-5, SGMAJ, SGLTW with Sigma-7, SGMCV with Sigma-5, SGMBH, SGM7A, SGMGV, SGMCS with Sigma-2, SGM7D, SGMJV, SGMDH, SGM7E Direct Drive, SGM7F, SGMMV, SGMDM, SGM7G, SGMSV, SGMGH, SGM7J, SGMVV, SGMKS, SGM7P, SGT1F, SGMPH, SGMCS with Sigma-7, SGTMF, SGMPS, SGMCV with Sigma-7, SGTMM, SGMSH, S7G, Sigma-5-SD, SGMUH, S7A, SigmaLogic, SGMVH, S7P, SGDV Mini, Sigma Trac, S7J, Sigma Trac SGT, SigmaLogic7 Compact, Sigma Trac STF, SigmaLogic7 Modbus, SGD7S EtherCAT with FSoE,
All Applications
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Last Modified Date: 10-16-2024ID: 12719