INVT DA180 Servo Drive Fault Codes List (2026) – Complete reference list of INVT DA180 Basic Servo Drive fault codes. Learn to troubleshoot common errors like Er02 (Encoder), Er06 (Overload), and Er22 (Position Error).
The INVT DA180 is the “Standard” or “Basic” series in the INVT servo family. Designed for cost-effective automation like packaging machines, labeling, and simple CNC axes, it focuses on essential Pulse/Direction control and Modbus communication. While it shares the “Er” code structure with the high-end DA200, the DA180 has a simplified feature set, meaning its troubleshooting steps often point directly to basic wiring or tuning parameters.
This guide provides the most updated reference data for 2026 to help you resolve common issues on this entry-level servo platform.
INVT DA180 Fault Codes Reference Table
Use the search bar in the table below to quickly find your specific error code.
| Fault Code and Meaning | Cause and Remedy |
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| Er01-0 IGBT fault | Cause: The drive actual output current exceeds the specified value. 1. Drive fault (such as drive circuit or IGBT fault). 2. Drive cables U, V, and W are short connected, or grounded/contacted improperly. 3. The motor breaks down. 4. Drive cables U, V, and W are connected in reverse phases. 5. Improper parameter settings cause system divergence. 6. The ACC/DEC time in the start or stop process is too short. 7. Instantaneous load is too heavy. Remedy:
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| Er01-5 IPM fault | Cause: The drive actual output current exceeds the specified value. 1. Drive fault (such as drive circuit or IGBT fault). 2. Drive cables U, V, and W are short connected, or grounded improperly. 3. The motor breaks down. 4. Drive cables U, V, and W are connected in reverse phases. 5. Improper parameter settings cause system divergence. 6. ACC/DEC time too short. 7. Instantaneous load too heavy. Remedy:
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| Er02-0 Encoder fault–Encoder communication exception | Cause: 1. Encoder not connected. 2. Encoder plug contact is loose. 3. One of encoder signal cables U, V, W, A, B, and Z is disconnected. 4. Encoder phases A and B are reverse. 5. Noise causes communication interruption or data exceptions. 6. Encoder communicates properly but with data exceptions. 7. FPGA timeout. 8. Drive does not support encoder type. Remedy:
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| Er02-1 Encoder fault–Encoder feedback deviation too large | Cause: See Er02-0 or check mechanical coupling. Remedy:
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| Er02-2 Encoder fault–Parity error | Cause: Communication interference or cable fault. Remedy:
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| Er02-3 / Er02-4 / Er02-5 / Er02-6 Encoder CRC/Frame/Short Frame/Exception errors | Cause: Communication data errors (CRC, Frame error, etc). Remedy:
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| Er02-7 Encoder fault–Second-encoder timeout | Cause: Timeout in communication with second encoder. Remedy:
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| Er02-8 Encoder fault–Encoder battery low-voltage alarm | Cause: When multiturn absolute encoder is used, external battery voltage is between 3.0V–3.2V. Remedy:
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| Er02-9 Encoder fault–Encoder battery undervoltage | Cause: Multiturn absolute encoder battery voltage is between 2.5V–3.0V. Remedy:
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| Er02-a Encoder fault–Encoder overheating | Cause: Encoder feedback temperature is higher than the protection threshold. Remedy:
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| Er02-b Encoder fault–Encoder EEPROM writing error | Cause: Communication transmission or data check error during EEPROM update. Remedy:
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| Er02-c Encoder fault–No data in encoder EEPROM | Cause: No data found in encoder EEPROM during power-on read attempt. Remedy:
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| Er02-d Encoder fault–Encoder EEPROM data check error | Cause: Data check error during power-on read attempt. Remedy:
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| Er03-0 Current sensor fault–Phase-U | Cause: 1. Current sensor or detection circuit abnormal. 2. Motor shaft powered on in non-static state. Remedy:
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| Er03-1 Current sensor fault–Phase-V | Cause: See Er03-0. Remedy:
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| Er03-2 Current sensor fault–Phase-W | Cause: See Er03-0. Remedy:
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| Er04-0 System initialization fault | Cause: Failed self-check items after power-on. Remedy:
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| Er05-1 Setting fault–Motor model not exist | Cause: P0.00 is set incorrectly. Remedy:
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| Er05-2 Setting fault–Motor and drive model not match | Cause: Mismatch between selected motor and drive capacity. Remedy:
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| Er05-3 Setting fault–Incorrect software limits | Cause: Software limits set incorrectly. P0.35 is equal to or less than P0.36. Remedy:
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| Er05-4 Setting fault–Incorrect homing mode | Cause: The setting of P5.10 is incorrect. Remedy:
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| Er05-5 Setting fault–PTP-control travel overflow | Cause: The single increment of a PTP idle travel exceeds (2^31 – 1). Remedy:
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| Er07-0 Regenerative brake over-discharge | Cause: 1. Brake resistor power is low. 2. Motor speed too high or deceleration too quick (cannot absorb energy). 3. Duty ratio restricted to 10%. Remedy:
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| Er08-0 AI overvoltage fault–AI 1 | Cause: Voltage input to analog input 1 exceeds setting of P3.22. Remedy:
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| Er08-1 AI overvoltage fault–AI 2 | Cause: Voltage input to analog input 2 exceeds setting of P3.25. Remedy:
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| Er09-0 EEPROM fault–Read/write error | Cause: 1. Data damaged in storage area. 2. Writing data to EEPROM is disturbed. Remedy:
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| Er09-1 EEPROM fault–Data check error | Cause: 1. Data read from EEPROM differs from written data. 2. Driver DSP version is updated. Remedy:
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| Er10-0 Hardware fault–FPGA fault | Cause: The FPGA on the control board reports a fault. Remedy:
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| Er10-1 Hardware fault–Communication card fault | Cause: The external communication card is faulty. Remedy:
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| Er10-2 Hardware fault–Ground short-connection fault | Cause: One of motor cables V and W is short connected to ground. Remedy:
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| Er10-3 Hardware fault–External input fault | Cause: Digital terminal configured with external fault input acts. Remedy:
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| Er10-4 Hardware fault–Emergency stop fault | Cause: Digital terminal configured with emergency stop acts. Remedy:
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| Er10-5 Hardware fault–RS485 communication fault | Cause: Strong EMI on RS485 circuit. Remedy:
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| Er10-6 Hardware fault–AC power phase loss | Cause: One of phases R, S, and T is lost. Remedy:
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| Er11-0 Software fault–Motor control task re-entry | Cause: DSP CPU utilization too high or DSP bugs. Remedy:
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| Er11-1 / Er11-2 Software fault–Periodic task / Illegal operation | Cause: Internal software execution error. Remedy:
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| Er12-0 I/O fault–Duplicate digital input assignment | Cause: Two or more digital inputs configured with same function. Remedy:
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| Er12-2 I/O fault–Pulse input frequency too high | Cause: 1. External input pulse signal frequency is too high. 2. Damage to internal pulse detection circuit. Remedy:
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| Er13-0 Main circuit overvoltage | Cause: DC voltage of main circuit is higher than specified. 1. Grid voltage too high. 2. No brake resistor/pipe connected or damaged. 3. DEC time too short. 4. Internal DC detection circuit damaged. Remedy:
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| Er13-1 Main circuit undervoltage | Cause: 1. Grid voltage too low. 2. Buffer relay not closed. 3. Drive output power too high. 4. Internal DC detection circuit damaged. Remedy:
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| Er14-0 Control power undervoltage fault | Cause: Detected control power DC voltage is lower than specified. Grid voltage too low. Remedy:
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| Er17-0 Drive overload | Cause: Short-time load too heavy; IGBT wafer overtemperature. Remedy:
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| Er17-1 Drive overload 2 | Cause: The short-time load on the drive is too heavy. Remedy:
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| Er18-0 Motor overload | Cause: 1. Long-time over-rated torque operation. 2. Short-time maximum torque operation, overload, collision, jamming, or electromagnetic brake not released. 3. Incorrect cable phase sequence, loose power line, cable damage or open circuit. 4. The motor encounters phase loss or three-phase unbalance. 5. Improper gain parameter settings or system vibration. 6. Multi-shaft system encoder/power line cross-connection. 7. Drive hardware is damaged. Remedy:
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| Er18-1 Motor overtemperature | Cause: The motor temperature is higher than the temperature threshold for protection against overheating. Remedy:
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| Er19-0 Speed fault–Overspeed | Cause: The motor speed absolute value exceeds the setting of P4.32. 1. Motor stalls or phases U, V, W are in reverse sequence. 2. Electronic gear ratio or loop parameters set improperly. 3. Setting of P4.32 is less than P4.31. 4. Encoder feedback signal is interfered. Remedy:
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| Er19-1 Speed fault–CCW overspeed | Cause: The speed feedback exceeds the setting of P4.40 by more than 20ms. Remedy:
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| Er19-2 Speed fault–CW overspeed | Cause: The speed feedback exceeds the setting of P4.41 by more than 20ms. Remedy:
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| Er19-3 Speed fault–Overspeed parameter set incorrectly | Cause: The setting of P4.40 is less than 0 or that of P4.41 is greater than 0. Remedy:
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| Er19-4 Overspeed fault–Motor runaway | Cause: The motor power cable connection is incorrect or the motor code setting is incorrect. Remedy:
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| Er20-0 Speed deviation fault | Cause: In non-torque mode, deviation between motor speed and command exceeds P4.39. 1. Phases U, V, W reverse or cables not connected. 2. Load too heavy (stalling). 3. Drive force insufficient (stalling). 4. Speed loop parameters improper. 5. P4.39 setting too low. Remedy:
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| Er21-0 Position overtravel–CCW | Cause: In position mode, the CCW limit switch is touched or the accumulated feedback pulse exceeds the setting of P0.35. Remedy:
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| Er21-1 Position overtravel–CW | Cause: In position mode, the CW limit switch is touched or the accumulated feedback pulse exceeds the setting of P0.36. Remedy:
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| Er22-0 Position deviation fault | Cause: 1. Server response time too slow (residual pulses > P4.33). 2. Motor load too heavy (stalling). 3. Pulse input frequency too high. 4. Step variable in position command exceeds P4.33. Remedy:
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| Er22-1 Hybrid control deviation too large | Cause: In fully-closed loop control, the feedback position deviation between the grating ruler and encoder exceeds the setting of P4.64. Remedy:
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| Er22-2 Position increment overflow | Cause: The single-variation position command after electronic gear ratio conversion exceeds (2^31 – 1). Remedy:
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| Er23-0 Drive overtemperature | Cause: 1. Ambient temperature exceeds specified limit. 2. The drive is overloaded. Remedy:
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| Er25-4 Application fault–Encoder offset angle test timeout | Cause: An exception occurred in the encoder offset angle test. Remedy:
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| Er25-5 Application fault–Encoder offset angle test failed | Cause: There is great fluctuation in current feedback in the encoder offset angle test. Remedy:
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| Er25-6 Application fault–Homing offside | Cause: The limit switch or software limit is enabled during homing. Remedy:
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| Er25-7 Application fault–Inertia identifying failed | Cause: 1. During identifying, motor stops with vibration longer than 3.5s. 2. Actual ACC time is too short. 3. Identifying speed is lower than 150r/min. Remedy:
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| Er25-8 Application fault–Magnetic pole check failed | Cause: 1. Power cable phase sequence incorrect. 2. Encoder direction conflicts with power cable phase. 3. External force or overload during check. Remedy:
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| Er25-9 Application fault–Overtravel/overspeed in confirmation | Cause: The motor motion range is too large or speed is too fast in the confirmation of magnetic pole. Remedy:
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| Er25-a Application fault–Out-of-range in magnetic pole check | Cause: The motor motion range exceeds the specified range in the magnetic pole check. Remedy:
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| Er22-3 Synchronization signal timeout | Cause: In Interpolation position mode, time interval between two sync signals > twice the comm cycle. Remedy:
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| Er22-4 Full position command buffer | Cause: CANopen PTP position command buffer is full. Remedy:
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| Er26-0 CANopen offline | Cause: The master node does not receive heartbeat packets from a slave node within a period of time. Remedy:
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| Er26-1 SDO index not exist | Cause: Index does not exist in object dictionary or is not supported. Remedy:
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| Er26-2 SDO sub-index not exist | Cause: Index exists, but sub-index does not exist or is not supported. Remedy:
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| Er26-3 Incorrect SDO data length | Cause: Length info in command does not match data length in dictionary. Remedy:
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| Er26-4 SDO data out of range | Cause: Data written exceeds the data range in the dictionary. Remedy:
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| Er26-5 Modification not allowed for read-only | Cause: There are attempts to modify read-only parameters. Remedy:
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| Er26-6 Incorrect PDO mapping length | Cause: The total length of data mapped from the PDO exceeds 64 bits. Remedy:
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| Er26-7 PDO mapping data not exist | Cause: Parameters associated with mapped data not found in object dictionary. Remedy:
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| Er26-8 PDO modification not allowed in operational state | Cause: There are attempts to modify PDO mappings while operational. Remedy:
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| Er26-9 PDO mapping not allowed | Cause: Attempts to map parameters that disallow mapping to PDO. Remedy:
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| Er26-a Synchronization signal too fast | Cause: Frames received by slave exceed range supported by baud rate. Remedy:
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| Er26-b Receiving fault | Cause: CAN communication is offline or error receiving counter > 128. Remedy:
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| Er26-c Sending fault | Cause: CAN communication is offline or error receiving counter > 128. Remedy:
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| Er26-d Duplicate synchronization signal | Cause: Slave configured to generate sync, but external sync signals received. Remedy:
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| Er26-e Bus load ratio too high | Cause: In asynchronous mode, frames received by slave exceed range supported by baud rate. Remedy:
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| Er26-f Incorrect parameter modification status | Cause: SDO attempts to modify parameters in a state that disallows modification. Remedy:
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Troubleshooting Basic Servo Faults
The DA180 uses a 5-digit LED display to indicate status. When a fault occurs, the display switches from the status monitor (e.g., speed or position) to the error code.
- Encoder Connection (Er02): Since the DA180 is often paired with standard incremental encoders (2500 lines), Er02-0 or Er02-1 usually indicates a loose connection at the CN2 port. Ensure the soldering on the DB9 or SCSI connector is solid, as vibration often cracks these joints.
- Control Power vs. Main Power (Er09): The DA180 monitors the main DC bus. If you power up the control circuit (L1C/L2C) but forget the main power (R/S/T), the drive will display Er09 (Under Voltage). This is not a failure; it is a status waiting for the main contactor to close.
- Overload (Er06): This indicates the motor is undersized for the mechanical load or the mechanical system is binding. Check for increased friction in the linear guides or ball screws.
Frequently Asked Questions (FAQ)
Q: How do I fix “Er22” (Position Deviation Too Large)?
A: This happens in Pulse Control mode (Position Mode).
Cause: The PLC is sending pulses faster than the motor can execute them, or the motor is stalling.
Fix:
1. Check if the mechanical load is jammed.
2. Increase the “Position Loop Gain” (P1.00) to make the servo stiffer.
3. Check the “Electronic Gear Ratio” (P0.22) setting; a wrong ratio can demand impossible speeds.
Q: What is the difference between DA180 and DA200 faults?
A: While the codes look similar (e.g., Er02 is encoder fault on both), the **DA200** has more detailed sub-codes for advanced feedback (Absolute encoders, EtherCAT errors). The **DA180** list is shorter and focuses on standard Pulse/Analog/Modbus errors.
Q: Can I reset the fault via the keypad?
A: Yes.
1. Press and hold the SET or Run/Stop button (depending on firmware version) when the error is displayed.
2. You can also configure a Digital Input (DI) to function 0x004 (Fault Reset) and trigger it via your PLC.