No.

300421300421-00005

DOOSAN SERVO MOTOR/DRIVE FOR 1 AXIS

ALARM ACTION MANUAL
REV.
REV. A

- CONTENTS The OverOver-Load

Load Alarm (ALP(ALP-OL) .........................................................
.........................................................
(ALP-OH) .....................................................
The IPM OverOver-Heat Alarm (ALP
.....................................................
Over The Over
-Speed Alarm (ALP(ALP-OS) ........................................................
........................................................
Over(ALP......................................................
The Over
-Current Alarm (ALP
-OC) ................................
......................

1
2

The OverOver-Voltage Alarm (ALP(ALP-OV) ......................................................

......................................................
Low-Voltage Alarm (ALP The Low
(ALP-UV) .......................................................
.......................................................
The Battery Alarm (ALP(ALP-EN) ...........................................................
...........................................................
(ALP...................................................
The Parameter Error Alarm (ALP
-PE) ................................
...................

5
6
7

Th
The
e
The
The
The

3
4

8
Tracking Error Alarm (ALP(ALP-rP) ....................................................
.................................................... 9
Cable Open Alarm (ALP(ALP-CO) .......................................................
....................................................... 10
Calculation Error Alarm (ALP
(ALP................................................
-SE) ................................
................ 11
.....................................................
Turret Index Overtime Alarm ................................
..................... 12

The Turret CLAMP/UNCLAMP SWITCH Alarm ...............................................

............................................... 13
Attachment
Attachment 1 :
Attachment 1 :
Attachment 2 :
Attachment 3 :

Check Input Power Of The Compact Type DOOSAN Servo Drive. ................
Check Input Power Of The Old Type DOOSAN Servo Drive. ....................
Check The Input Power Current Breaker Of DOOSAN Servo Drive. .............
Check The Motor Encoder Cable Of The Compact Type DOOSAN Servo Drive. ....

14
15
16
17

Attachment 3 : Check
Attachment 3 : Check
Attachment 4 : Check
Attachment 4 : Check
Attachment 4 : Check

The Motor Encoder Cable Of The Compact Type DOOSAN Servo Drive. ....
ld Type DOOSAN Servo Drive. ........
The Motor Encoder Cable Of The OOld
The Motor Power Cable Of The Compact Type DOOSAN Servo Drive. ......
The Motor Power Cable Of The Compact Type DOOSAN Servo Drive. ......
The Motor Power Cable Of The Old Type DOOSAN Servo Drive. ..........

18
19

Attachment 4 : Check
Attachment 5 : Check
Attachment 5 : Check
Attachment 6 : Check

The Motor Power Cable Of The Old Type DOOSAN Servo Drive. ..........
The Battery Of The Compact Type DOOSAN Servo Drive. ................
The Battery Of The Old Type DOOSAN Servo Drive. ....................
Compact
ct Type DOOSAN Servo Drive.
24V I/O Contact Point Cable Of The Compa

23
24
25

Attachment 6 : Check
Attachment
Attachment 6 : Check
Attachment 7 : Reset
Attachment 8 : Reset
Attachment 9 : Check
Attachment
Attachment
Attachment

10
11
12

:
:
:

20
21
22

26
24V I/O Contact Point Cable Of The Compact Type DOOSAN Servo Drive. 27
24V I/O Contact Point Cable Of The Old Type DOOSAN Servo Drive. .... 28
After The Parameter Initialization.................................
Initialization................................. 29
.................................................
The Origin Point. ................................
................. 30
..........................................
The Turret Machine Part. ................................
.......... 31

Check
Check
Check

Attachment 13 : Check
Attachment 14 : Check
Attachment 15 : Check
Attachment 15 : Check

The
The
The

Turret Clamp/Unclamp Sol & Sol Relay. .........................

Turret Clamp/Unclamp Proximity Switch. ........................
I/O Card. ....................................................
....................................................

32
33
34

VPF Signal In The NC Display. ....................................

....................................
The VPF Output Contact Point
Point Of The Turret Servo Drive. ...........
I/O Contact Point Of The Tool Number..............................
I/O Contact Point Of The Tool Number In The Servo Drive Display. ..

34
35
36
37

Phenomenon
Display

The Over-Load Alarm (ALP-OL)

FANUC:2149 SERVO DRIVE LOAD ALARM / V380i:PC4-037 Servo Turret Over-Load Alarm / SIEMENS: 700069 OVER LOAD ALARM

Corrective
measure

Phenomenon
Display

The IPM Over-Heat Alarm (ALP-OH)

FANUC: 2146 SERVO DRIVE OVER HEAT ALARM / V380i: PC4-034 Servo Turret Over-Heat Alarm / SIEMENS: 700066 OVER HEAT ALARM
IPM Overheat
alarm(OH) occurrence

Turn OFF the turret

servo drive power and
then turn ON again.

Corrective
measure

Repeat the turret tool

change several times.

Normal condition?

Replace the turret

servo drive.

Y
Finish

Phenomenon
Display

The Over-Speed Alarm (ALP-OS)

FANUC: 2148 SERVO DRIVE OVER SPEED ALARM / V380i: PC4-036 Servo Turret Over-Speed Alarm / SIEMENS: 700068 OVER SPEED ALARM

Corrective
measure

Phenomenon
Display

The Over-Current Alarm (ALP-OC)

FANUC: 2153 SERVO DRIVE OVER CURRENT ALARM / V380i: PC4-041 Servo Turret Over-Current Alarm / SIEMENS: 700073 OVER CURRENT

Corrective
measure

Phenomenon
Display

The Over-Voltage Alarm (ALP-OV)

FANUC: 2145 SERVO DRIVE OVER VOLTAGE ALARM / V380i: PC4-033 Servo Turret Over-Voltage Alarm / SIEMENS: 700065 OVER VOLTAGE ALARM

Corrective
measure

Phenomenon
Display

The Low-Voltage Alarm (ALP-UV)

FANUC: 2144 SERVO DRIVE UNDER VOLTAGE ALARM / V380i: PC4-032 Servo Turret Low-Voltage Alarm / SIEMENS: 700064 UNDER VOLTAGE ALARM

Corrective
measure

Phenomenon
Display

The Battery Alarm (ALP-EN)

FANUC: 2154 SERVO DRIVE BATTERY ALARM / V380i: PC4-042 Servo Turret Battery Alarm / SIEMENS: 700074 BATTERY ALARM

Corrective
measure

Phenomenon
Display

The Parameter Error Alarm (ALP-PE)

FANUC: 2151 SERVO DRIVE PARAMETER ERROR ALARM / V380i: PC4-039 Servo Turret Parameter Error Alarm / SIEMENS: 700071 PARAMETER ERROR
ALARM

Corrective
measure

Phenomenon
Display

The Tracking Error Alarm (ALP-rP)

FANUC: 2152 SERVO DRIVE RESIDUE PULSE ALARM / V380i: PC4-040 Servo Turret RESIDUE PULSE Alarm / SIEMENS: 700072

RESIDUE PULSE

ALARM

Corrective
measure

Phenomenon
Display

The Cable Open Alarm (ALP-CO)

FANUC: 2147 SERVO DRIVE CABLE OPEN ALARM / V380i: PC4-035 Servo Turret Cable Open Alarm / SIEMENS: 700067 CABLE OPEN ALARM

Corrective
measure

10

Phenomenon
Display

The Calculation Error Alarm (ALP-SE)

FANUC: 2150 SERVO DRIVE SE ALARM / V380i: PC4-038 Servo Turret SE Alarm / SIEMENS: 700070 SE ALARM

Corrective
measure

11

Phenomenon
Display

The Turret Index Overtime Alarm

FANUC: 2119 TURRET INDEX OVERTIME/ V380i: PC4-029 After Tool Rotation Commands, The Operation Is Not Completed Within 7 Seconds
/ SIEMENS: 700055 TURRET INDEX OVERTIME

Corrective
measure

12

Phenomenon
Display

The Turret CLAMP/UNCLAMP SWITCH Alarm

FANUC: 2118 TURRET CLAMP/UNCLAMP SWITCH ALARM / V380i: PC4-031 Turret Clamp Confirmation Switch Error / SIEMENS: 700054 TURRET CLAMP/UNCLAMP
SWITCH ALARM

Corrective
measure

13

Attachment 1 : Check Input Power Of The Compact Type DOOSAN Servo Drive.
Drive.
1. To measure the input power voltage of DOOSAN servo drive, disconnect the input power
connector from PCN1.

2. Measure the voltage between R and S of the disconnected input power connector if the
value is between 200V ~ 240V.

3. Measure the voltage between S and T of the disconnected input power connector if the
value is between 200V ~ 240V.

14

Attachment 1 : Check Input Power Of The Old Type DOOSAN Servo Drive.
Drive.
1.To Measure the input power voltage of DOOSAN servo drive, open the terminal block cover
in front of the drive.

The Terminal
Block
The Terminal
Block

2. Measure the
the voltage between R and S of the servo drive terminal block if the value is
between 200V ~ 240V.

3. Measure the voltage between S and T of the servo drive terminal block if the value
value is
between 200V ~ 240V.

15

Attachment 2 : Check The Input Power Current Breaker Of DOOSAN Servo Drive.
Drive.
1. Measure the input voltage of the current breaker that is connected with input power of
DOOSAN servo drive if the value is between 200V ~ 240V.

2. Measure the output voltage of the current breaker that is connected with input power
of DOOSAN servo drive if the value is between 200V ~ 240V.

16

Attachment 3 : Check The Motor Encoder Cable Of The Compact Type DOOSAN Servo Drive.
Drive.
1. To check the motor encoder cable, disconnect the motor encoder connector from CN3.

2. To check the conduction condition between the separated motor encoder connector and
the motor encoder connector separated from the motor, measure the resistance if the
value is below
below 1
1.

MOTOR ENCODER CONNECTOR

CN3
B6
BATBAT-

B5
BAT+

B4
RX/

B3
RX

B2
+5

B1
+5

A6
SHIELD

A5
BAT+

A4
GND

A3
GND

A2
GND

A1
+5

17

Attachment 3 : Check The Motor Encoder Cable Of The Compact Type DOOSAN Servo Drive.
Drive.
3. Check fastened condition for each pin of the motor encoder connector by pulling the
encoder cable backward.
ackward.

18

Attachment 3 : Check The Motor Encoder Cable Of The Old Type DOOSAN Servo Drive.
Drive.
1. To check the motor encoder cable, disconnect the motor encoder connector from CN2.

2. To check the conduction

conduction condition between the separated motor encoder connector and
the motor encoder connector separated from the motor, measure the resistance if the
value is below 1
1.

MOTOR ENCODER CONNECTOR

CN2
19

20

18 17 16 15 14 13 12 11
RX/ RX
GND

SHIELD BATBAT- BAT+

10

1
+5

19

Attachment 4 : Check The Motor Power Cable Of The Compact Type DOOSAN Servo Drive.
Drive.
1. To check the motor power cable,
cable, disconnect the motor power connector from PCN2.

PCN2

2. Measure the resistance between U and V of the separated motor power connector if the
value is below 1
1.

3. Measure the resistance between V and W of the separated motor power connector if the
value is below 1
1.

20

Attachment 4 : Check The Motor Power Cable Of The Compact Type DOOSAN Servo Drive.
Drive.
4. To check insulation condition between U and E of the separated motor power connector,
connector,
measure the resistance if the value is above several M
M.

21

Attachment 4 : Check The Motor Power Cable Of The Old Type DOOSAN Servo Drive.
Drive.
1. To check the motor power cable,
cable, open the terminal block cover in front of the drive.

Terminal
Block

Terminal
Terminal
Block

2. Measure the resistance between U and V of the servo drive terminal block if the value
is below 1
1.

3. Measure the resistance between V and W of the servo drive terminal block if the value
is below 1
1.

22

Attachment 4 : Check The Motor Power Cable Of The Old Type DOOSAN Servo Drive.
Drive.
4. To check insulation condition between U and E of DOOSAN servo drive terminal block,
measure the resistance if the value is above several M
M.

23

Attachment 5 : Check The Battery Of The Compact Type DOOSAN Servo Drive.
Drive.
1. Open the front cover of DOOSAN servo drive and separate the
the battery.
battery.

2. Measure the voltage of separated battery if the value is above 3.3V

3.3V.
: If the battery voltage is below 3.2V,
3.2V, BAT_L warning will occur.
occur.
And if the voltage is below 3.0V
3.0V, the battery alarm will occur.

24

Attachment
Attachment 5 : Check The Battery Of The Old Type DOOSAN Servo Drive.
Drive.
1. Open the front cover of DOOSAN servo drive and separate the battery.
battery.

2. Measure the voltage of separated battery if the value is above 3.3V

3.3V.
: If the battery voltage
voltage is below 3.2V,
3.2V, BAT_L warning will occur.
occur.
And if the voltage is below 3.0V
3.0V, the battery alarm will occur.
occur.

25

Attachment 6 : Check 24V I/O Contact Point Cable Of The Compact Type DOOSAN Servo Drive.
Drive.
1. Verify the conduction condition by measuring
measuring the resistance between the servo drive
side connector pin and the electric panel terminal block side corresponding pin after
disconnect the connector from CN1 and CN2.
At this time, the resistance value should be below 0.5
0.5.

DOOSAN servo drive CN1

CN1 connector terminal block arrangement

CN1
B10
OVR1

B9
OVR3

A10
OVR0

A9
OVR2

B8
SVON

B7
JOGJOG-

B6
SPARE

B5
POSI0

B4
POSI2

B3
POSI4

B2
POSI6

B1
COM2

A8
A7
ALMRST JOG+

A6
STOP

A5
COM1

A4
POSI1

A3
POSI3

A2
POSI5

A1
START

Refer to the electric panel drawings to confirm the arrangement of the

electric panel side terminal block.

26

Attachment 6 : Check 24V I/O Contact Point Cable Of The Compact Type DOOSAN Servo Drive.
Drive.
DOOSAN servo drive CN2 connector terminal block arrangement

CN2
B10
BRAKE+

B9

A10
BRAKEBRAKE-

A9

B8
B7
AUXOUT1 SVRDY

A8

A7
AUXOUT0

B6
BAT_L

B5
VPF

B4
POSO5

A6
ALM

A5
COM3

A4
POSO6

B3
POSO3

A3
POSO4

B2
POSO1

B1
COM4

A2
POSO2

A1
POSO0

Refer to the electric panel drawings to confirm the arrangement of the

electric panel side terminal block.

27

Attachment 6 : Check 24V I/O Contact Point Cable Of The Old Type DOOSAN Servo Drive.
Drive.
1. Verify the conduction condition by measuring the resistance between the servo drive
side connector pin and the electric panel terminal block side corresponding pin after
disconnect the connector from CN1.
At this time, the resistance value should be below 0.5
0.5.

DOOSAN servo drive CN1

CN1 connector terminal block arrangement
28
29
30
31
32
33

34

35

36

POSI4/

BAT_L

ALM

POSO0

POSO1

POSO2

POSO3

POSO4

POSO5

19

20

21

22

23

24

25

26

27

FG

JOG+

ALMRST/

SVON/

JOGJOG-/

POSI0/

POSI1/

POSI2/

POSI3/

10

11

12

13

14

15

16

17

18

SVRDY

COM3

BRAKE+

BRAKEBRAKE-

POSO6

COM4

VPF

GND

VMO

BAT+

BATBAT-

SPARE

STOP/

COM1

POSI5/

POSI6/

START

COM2

CN1
36

19

18

Refer to the electric panel drawings to confirm the arrangement of the

electric panel side terminal block.
28

Attachment
Attachment 7 : Reset After The Parameter Initialization.
Initialization.
1. Press the Mode key in front of the turret servo drive to change the display to the
diagnosis mode, and then press the DOWN key 3 times to change the display to parameter
initialize mode.

State display mode

MODE

Diagnosis display mode

Once

Parameter initialize display

3 times

:Press the SET key to save the parameter.

SET

: Parameters from No. 0 to 46 are saved automatically.

: Return to the original display after saving

the parameter up to 46 automatically.
2. Turn the drive power OFF
OFF and then turn ON again.
3. Set the parameter by reference the parameter sheet of the equipment, after changing
the display to the parameter setting mode by pressing the MODE key twice.

State display mode

MODE

Parameter setting mode

Twice

29

Attachment 8 : Reset The Origin Point.

Point.
1. Press the MODE key twice to change the display to parameter setting mode.

State display mode

MODE

Parameter setting mode

Twice

2. Press the UP key 8 times to change the twotwo-digit address of the beginning as 08.

8 times

3. Set the value of parameter 8 as current post number. In this state, turn
turn the drive
power OFF and then turn ON again.
4. Press the MODE key to change the display to diagnosis mode and then press the DOWN key
once to change the display to origin setting display mode.

State display mode

MODE

Diagnosis display mode

Once

SET

Origin setting display

Once

: Press the SET key for 3 seconds or more to save the

originorigin-related parameter.

: Parameters from No.34 to 46 are saved automatically.

: Return to the original display after saving the parameter up to

46 automatically.
automatically.

30

Attachment 9 : Check The Turret Machine Part.

Part.
1. To check the rotation condition of the turret, spin the turret by hand after unclamp
the turret.
Unclamp Process
[SYSTEM] -> [PMCPRM] -> [KEEPRL] Change keep relay K5.4 to 1.
Spin the turret by hand.
[SYSTEM] -> [PMCPRM] -> [KEEPRL] When the checking is end, change keep relay K5.4
to 0 again.
2. Adjust the bending amounts of the turret motor timing belt as the value in below
table.
Adjust screw(2)
Nut(1)

Adjust screw(2)
Nut(1)

Total bending amounts[Kgf(lbf)]

amounts[Kgf(lbf)]

Standard
Belt
Model

Belt type

Readjustment
quantity

company
Timing Belt

A1.5/10000i/
A1.5/10000i/

(Rotary Tool)

MIZ/FL/REAR

Timing Belt

A1.5/10000i/

(T/P SERVO DRIVE)

MIZ/FL/REAR

Bending

ProductionroductionMin

Max(New)

amounts(in.)

during use

570570-5GT5GT-25/Unita

1.3

2.24

570570-5GT5GT-25/Unita

1.3

2.24

3. For detailed machine part check method, refer to [The Machine Maintenance & Repair
Manual]

31

Attachment 10 : Check
Check The Turret Clamp/Unclamp Sol & Sol Relay.
1. [SYSTEM] -> [PMCPRM] -> [KEEPRL] To confirm the normal operating condition of the
turret Clamp/Unclamp, repeat the action of changing the Keep relay K5.4 as 0 and 1.
2. Seeing the Sol directly, confirm the switching
switching of the Lamp at the time the
Clamp/Unclamp command is inputted.
3. If the Lamp is changing, there is no problem with the connection or operation and the
Sol or hydraulic line is thought as defect. After checking the hydraulic line, if there
is no problem
problem with the line, replace the Sol.
3. If the Lamp is not changing, confirm 24V output of the Sol signal Y output and check
the cable. If the 24V is not outputted at the Sol Y output, check the Sol relay and I/O
board. And if the 24V is outputted, replace
replace the cable.

32

Attachment 11 : Check The Turret Clamp/Unclamp Proximity Switch.

Switch.
1. [SYSTEM] -> [PMCPRM] -> [KEEPRL] To confirm the normal operating condition of the
turret Clamp/Unclamp, repeat the action of changing the Keep relay
relay K5.4 as 0 and 1.
2. Because it is impossible to check the proximity switch seeing directly before
disassembling the turret, check the X signal of corresponding proximity switch if it
repeats 1 and 0 in the NC screen.
3. If the X signal of the proximity switch repeats 1 and 0, the proximity switch is
normal. Therefore, should check the other problems.
4. If the X signal of the proximity switch does not repeat 1 and 0, check if the signal
is outputted on the NC screen by inputting 1L+ terminal to corresponding
corresponding X signal at
the electric panel.
5. If the signal is outputted on the NC screen, should regard as the proximity switch is
defective.

33

Attachment 12 : Check The I/O Card.

1. If the corresponding signal is output(Y) signal, check
check if the output voltage is 24V
using the Multimeter.
Multimeter.
2. If the corresponding signal is input(X) signal, check the state by connecting the
1L+ by force.

Attachment 13 : Check VPF Signal In The NC Display.

Display.
1. Look for the turret part in the electric panel drawings. And look for the part that
is marked as VPF of X signals.
2. Enter as following [SYSTEM] -> [PMCDGN] -> [STATUS] -> [SEARCH] and look for the
corresponding signal.
signal.

34

Attachment 14 : Check The VPF Output Contact Point Of The Turret Servo Drive.
1. To confirm the VPF output signal that is outputted to the NC from servo drive, change
the display as the diagnosis mode by pressing the MODE key once and then press the UP
key 4 times to change as position data output mode.

State display mode

MODE

Diagnosis display

Position data output mode

Once

4 times

2. Because the LED will be lighting when the corresponding signal

signal is ON, check if the LED
that is corresponding with the VPF output signal is lighting.

POSITION
OUPUT
VPF

POSO0

POSO6

POSO1

POSO5

POSO2

POSO4

POSO3

3. Verify the conduction condition by measuring the resistance between servo drive side
VPF connector pin and terminal block side corresponding pin after disconnect
disconnect the CN2
connector from turret servo drive.
At this time, resistance value should be below 0.5
0.5.

B10

A10

B6

B5
VPF

A5

B4

B3

B2

B1

A1

Refer to the electric panel drawings to confirm the arrangement of the

electric panel side terminal block.

35

Attachment 15 : Check I/O Contact Point Of The Tool Number.

Number.
1. To confirm the tool number that is inputted to servo drive from NC, change the display
as the diagnosis mode by pressing the MODE key once and then press the UP key 3 times
to change as position data input mode.

State display mode

MODE

Diagnosis display

Position data input mode

Once

3 times

2. Check the lighting of LED corresponding with tool number input contact point.
Tool number input contact point displayed as binary. Because POSI0 is 1, POSI1 is 2,
POSI2 is 4, POSI3 is 8 and POSI4 is corresponding with 16, tool number is outputted as
these value combination.
Ex) Number 7 input tool : POSI0, POSI1 and POSI2 LED lighting
lighting
Number 11 input tool: POSI0, POSI1 and POSI3 LED lighting

POSITION
INPUT
START

POSI0

POSI6

POSI1

POSI5

POSI2

POSI4

POSI3

3. Verify the conduction condition by measuring the resistance between servo drive side
tool number input connector pin and terminal block side corresponding pin after
disconnect the CN1 connector
connector from turret servo drive.
At this time, the resistance value should be below 0.5
0.5.

CN1
B10
OVR1

B9
OVR3

A10
OVR0

A9
OVR2

B8
SVON

B7
JOGJOG-

B6
SPARE

B5
POSI0

B4
POSI2

B3
POSI4

B2
POSI6

B1
COM2

A8
A7
ALMRST JOG+

A6
STOP

A5
COM1

A4
POSI1

A3
POSI3

A2
POSI5

A1
START

Refer to the electric panel drawings to confirm the arrangement of the

electric panel side terminal block.
36

Attachment 15 : Check I/O Contact Point

Point Of The Tool Number In The Servo Drive Display.
4. To confirm the tool number that is outputted to the NC from drive, change the display
from position data input mode to position data output mode by pressing the UP key once.
once.

Position data input mode

Position data output mode

Once

5. Check the lighting of LED corresponding with tool number output contact point.
Tool number output contact point displayed as binary. Because POSO0 is 1, POSO1 is 2,
2,
POSO2 is 4, POSO3 is 8 and POSO4 is corresponding with 16, tool number is outputted as
these value combination.
Ex) Number 6 output tool: POSO1 and POSO2 LED lighting
Number 9 output tool: POSI0, POSI1 and POSO3 LED lighting

POSITION
OUPUT
VPF

POSO0

POSO6

POSO1

POSO5

POSO2

POSO4

POSO3

6. Verify the conduction

conduction condition by measuring the resistance between servo drive side
tool number output connector pin and terminal block side corresponding pin after
disconnect the CN2 connector from turret servo drive.
At this time, the resistance value should be below
below 0.5
0.5.

CN2
B10
BRAKE+

B9

A10
BRAKEBRAKE-

A9

B8
B7
AUXOUT1 SVRDY

A8

A7
AUXOUT0

B6
BAT_L

B5
VPF

B4
POSO5

A6
ALM

A5
COM3

A4
POSO6

B3
POSO3

A3
POSO4

B2
POSO1

B1
COM4

A2
POSO2

A1
POSO0

Refer to the electric panel drawings to confirm the arrangement of the

electric panel side terminal block.

37