INVT DA200 Servo Drive Fault Codes List (2026) – Complete reference list of INVT DA200 AC Servo Drive fault codes. Learn to troubleshoot encoder alarms (Er02), position deviation (Er22), and servo tuning errors.
The INVT DA200 (SV-DA200) is a high-performance AC servo drive designed for precision motion control in CNC machines, packaging lines, and robotics. Unlike standard frequency inverters, the DA200 operates in a closed loop with a motor encoder. Consequently, its fault codes (displayed as ErXX-X) often relate to position accuracy, feedback signal integrity, and control loop stability.
This guide provides the most updated reference data for 2026 to help you decipher these servo-specific errors and distinguish between a tuning issue and a hardware failure.
INVT DA200 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 actual output current exceeds the specified value. 1. Drive fault (drive circuit, IGBT fault). 2. Short circuit of motor cable U, V, W, or the motor cable is grounded or connected improperly. 3. Motor burn down. 4. Reverse sequence of U, V, W phase. 5. Parameters are inappropriate and cause system divergence. 6. ACC/DEC of start/stop process is too short. 7. Instantaneous load is too large. Remedy:
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| Er01-1 Brake tube fault (7.5kW and above models) | Cause: Brake unit fault. Remedy:
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| Er02-0 Encoder fault– The encoder cable broken | Cause: 1. The encoder is not connected. 2. The encoder connector becomes loose. 3. One of U, V, W, A, B, Z phase cables is broken. 4. Reversed A/B phase of the encoder. 5. Communication break or abnormal data caused by noise. 6. Normal encoder communication but abnormal communication data. 7. FPGA communication overtime. 8. The drive does not support the encoder type. Remedy:
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| Er02-1 Encoder fault–Encoder feedback error is too large | Cause: (Refer to Er02-0 Causes) Common issues: Encoder connection, noise, or phase reversal. Remedy:
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| Er02-2 Encoder fault– Parity error | Cause: Communication interference or cable fault. Remedy:
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| Er02-3 Encoder fault–CRC check error | Cause: Communication interference or abnormal data. Remedy:
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| Er02-4 Encoder fault–Frame error | Cause: Encoder communication abnormal. Remedy:
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| Er02-5 Encoder fault–Short frame error | Cause: Data packet incomplete or noise. Remedy:
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| Er02-6 Encoder fault– Encoder overtime | Cause: Communication timeout. Remedy:
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| Er02-7 Encoder fault –FPGA overtime | Cause: Internal communication timeout or encoder failure. Remedy:
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| Er02-8 Encoder fault –Low voltage alarm of the encoder | Cause: If multi-turn encoder is used, the battery voltage of the external encoder is between 3.0V–3.2V. Remedy:
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| Er02-9 Encoder fault –Undervoltage alarm of the encoder battery | Cause: If multi-turn encoder is used, the battery voltage of the external encoder is between 2.5V–3.0V. Remedy:
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| Er02-a Encoder fault –Encoder over-temperature | Cause: The feedback encoder temperature is higher than the set over-temperature value. Remedy:
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| Er02-b Encoder fault– EEPROM write-in error | Cause: If the motor is used with communication encoder, and when the drive updates the data to encoder EEPROM, there is communication transmission error or data check error. Remedy:
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| Er02-c Encoder fault– EEPROM no data | Cause: If the motor is used with communication encoder, and when read encoder EEPROM during power on, there is no data. Remedy:
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| Er02-d Encoder fault– EEPROM data check error | Cause: If the motor is used with communication encoder, and when read encoder EEPROM during power on, there is data check error. Remedy:
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| Er03-0 Current sensor fault–U phase current sensor fault | Cause: 1. Current sensor or abnormal detection circuit. 2. Power on when the motor shaft is in a state of non-stationary. Remedy:
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| Er03-1 Current sensor fault–V phase current sensor fault |
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| Er03-2 Current sensor fault–W phase current sensor fault |
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| Er04-0 System initialization fault | Cause: The self-inspection is not passed after initialization. Remedy:
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| Er05-1 Setting fault– Motor model does not exist | Cause: Wrong P0.00 setting. Remedy:
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| Er05-2 Setting fault–Motor and drive model does not match | Cause: Wrong P0.00 setting (Model mismatch). Remedy:
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| Er05-3 Setting fault– Software limit setting error | Cause: Software limit values setting is improper. The setting value of P0.35 is less than or equal to the setting value of P0.36. Remedy:
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| Er05-4 Setting fault–return to homing mode setting fault | Cause: Mode of P5.10 is set incorrectly. Remedy:
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| Er05-5 Setting fault– Point control travel overflow fault | Cause: The signal increment of idle travel of the bit exceeds 231-1. Remedy:
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| Er07-0 Regeneration of discharge overload fault | Cause: 1. The power of the built-in braking resistor is relatively low. 2. The motor speed is too high or the deceleration is too fast. 3. The action limit of the external braking resistor is restricted to 10% of the duty ratio. Remedy:
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| Er08-0 Analog input overvoltage fault– Analog input 1 | Cause: The voltage inputted to analog input 1 port exceeds the setting value of P3.22. Remedy:
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| Er08-1 Analog input overvoltage fault– Analog input 2 | Cause: The voltage inputted to analog input 2 port exceeds the setting value of P3.25. Remedy:
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| Er08-2 Analog input overvoltage fault– Analog input 3 | Cause: The voltage inputted to analog input 3 port exceeds the setting value of P3.75. Remedy:
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| Er09-0 EEPROM fault– Read-write fault | Cause: 1. The data stored in data storage area is damaged when reading data from EEPROM. 2. There is interference to EEPROM write operation. Remedy:
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| Er09-1 EEPROM fault– data check fault | Cause: 1. The data read from EEPROM when power on is different from that during writing. 2. The drive DSP software version updates. Remedy:
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| Er10-0 Hardware fault– FPGA fault | Cause: FPGA chip fault. Remedy:
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| Er10-1 Hardware fault– Communication card fault | Cause: External communication card fault. Remedy:
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| Er10-2 Hardware fault– Ground short circuit fault | Cause: During the earth test after power on, one of motor cables V, W is short-circuited to the ground. Remedy:
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| Er10-3 Hardware fault– External input fault | Cause: This fault occurs when the digital terminal configured as external fault input function acts. Remedy:
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| Er10-4 Hardware fault–Emergency stop fault | Cause: This fault occurs when the digital terminal configured as emergency stop button acts. Remedy:
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| Er10-5 Hardware fault– 485 communication fault | Cause: Strong EMI of 485 communication circuit causes drive serial communication alarms. Remedy:
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| Er11-0 Software fault– Reentry of motor control mission | Cause: 1. CPU loading ratio is too high. 2. DSP software fault. 3. Illegal operation (Er11-2). Remedy:
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| Er11-1 Software fault– Reentry of cycle mission |
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| Er11-2 Software fault – Illegal operation |
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| Er12-0 IO fault– Digital input distribution repeated | Cause: Two or more digital inputs are configured to the same functions. Remedy:
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| Er12-1 IO fault–Analog input distribution repeated | Cause: If the drive is standard, the analog input 3 is speed command. Remedy:
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| Er12-2 IO fault–Pulse input frequency is too high | Cause: The pulse input frequency detected by the drive is higher than the designated value. 1. External input pulse signal frequency is too high. 2. Damage of internal drive pulse frequency detection circuit. Remedy:
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| Er13-0 Main circuit overvoltage fault | Cause: The DC voltage of the main circuit is higher than the designated value. 1. The grid voltage is too high. 2. No braking resistor or pipe during braking or the braking resistor is damaged. 3. DEC time is too short during the stopping. 4. The internal DC voltage test circuit is damaged. Remedy:
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| Er13-1 Main circuit undervoltage fault | Cause: The DC voltage of the main circuit is less than the designated value. 1. The grid voltage is too low. 2. The buffer relay is not switched on. 3. The drive output power is too large. 4. The internal DC voltage test circuit is damaged. Remedy:
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| Er14-0 Control circuit undervoltage fault | Cause: The DC voltage of the control power is less than the designated value. 1. The grid voltage is too low. 2. The internal control power DC voltage test circuit is damaged. Remedy:
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| Er17-0 Drive overload fault | Cause: Short-time load of the drive is too heavy. Remedy:
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| Er18-0 Motor overload fault | Cause: 1. Long-term overload running. 2. The load is too heavy during short time. Remedy:
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| Er18-1 Motor overtemperature fault | Cause: Motor temperature exceeds the protection value. Remedy:
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| Er19-0 Speed fault – Overspeed fault | Cause: The absolute value of the motor speed exceeds the setting value of P4.32. 1. U, V, W phases of the motor are connected reversely. 2. Incorrect setting of the electronic gear ratio or motor speed loop control parameters. 3. The setting value of P4.32 is less than the setting value of P4.31 (max. speed limit). 4. Interference to the encoder feedback signal. Remedy:
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| Er19-1 Speed fault-FWD overspeed fault | Cause: Speed feedback exceeds the value of P4.40 by more than 20ms. Remedy:
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| Er19-2 Speed fault-REV overspeed fault | Cause: Speed feedback exceeds the value of P4.41 by more than 20ms. Remedy:
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| Er19-3 Speed fault-Overspeed parameter setup is wrong | Cause: The value of P4.40 is less than 0 or P4.41 is larger than 0. Remedy:
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| Er20-0 Speed deviation fault | Cause: In non-torque mode, the deviation between motor speed and speed command exceeds the set value of P4.39. 1. U, V, W phases connected reversely or cable not connected. 2. Motor load is so heavy it causes stall. 3. Insufficient drive force causing stall. 4. Speed loop parameters improper. 5. P4.39 value too small. Remedy:
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| Er21-0 Position overtravel-FWD overtravel | Cause: Under position mode, the FWD limit switch is touched or the accumulated feedback pulse exceeds P0.35. Remedy:
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| Er21-1 Position overtravel-REV overtravel | Cause: Under position mode, the REV limit switch is touched or the accumulated feedback pulse exceeds P0.36. Remedy:
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| Er22-0 Hybrid control deviation is too large | Cause: 1. Server response time too slow (retention pulse > P4.33). 2. Motor load too heavy causing stall. 3. Pulse input frequency too high (exceeds max speed). 4. Position command input step change > P4.33. Remedy:
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| Er22-1 Position increment overflow fault | Cause: In fully-closed loop control, the deviation between feedback position of linear encoder and that of the encoder exceeds P4.64. Remedy:
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| Er22-2 Position increment overflow fault | Cause: The position command of single variation after converting via electronic gear ratio exceeds (2^31 – 1). Remedy:
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| Er23-0 Drive over-temperature fault | Cause: 1. Ambient temperature exceeds designated value. 2. Drive overload. Remedy:
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| Er25-4 Application fault–Encoder offset angle test failed | Cause: Abnormity occurred during encoder offset angle test. Remedy:
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| Er25-5 Application fault–Encoder offset angle test failed | Cause: The current feedback wave fluctuate violently during encoder offset angle test. Remedy:
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| Er25-6 Application fault–Offside of homing | Cause: Encounter the limit switch or software limit during homing. Remedy:
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| Er25-7 Application fault–Inertia identification failed | Cause: 1. Vibration in stopping exceeds 3.5s. 2. Too short ACC time. 3. The identification speed is below 150r/min. Remedy:
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| Er22-3 Sync signal overtime (CANopen) | Cause: Under interpolation position mode, time interval between two sync frame signals exceeds twice the communication time cycle. Remedy:
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| Er22-4 Position command buffer is full | Cause: CANopen PTP position command buffer is full. Remedy:
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| Er26-0 CANOpen disconnection | Cause: The master does not receive the heartbeat message from the slave during a period of time. Remedy:
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| Er26-1 SDO index does not exist | Cause: SDO read or write parameters, the corresponding index does not exist or is not supported. Remedy:
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| Er26-2 SDO sub index does not exist | Cause: SDO read or write parameters, the corresponding sub index does not exist or is not supported. Remedy:
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| Er26-3 SDO data length error | Cause: The length of SDO read or write command does not match with the data length in drive object dictionary. Remedy:
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| Er26-4 SDO write data exceeds the range | Cause: The range of SDO write command exceeds the data range of drive object dictionary. Remedy:
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| Er26-5 Read-only and non-modifiable error | Cause: Modify the read-only parameters. Remedy:
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| Er26-6 PDO mapping length error | Cause: The mapping length of PDO data exceed 64 bit. Remedy:
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| Er26-7 PDO mapping data does not exist | Cause: PDO mapping data cannot be found in the object dictionary. Remedy:
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| Er26-8 PDO not allowed to be changed in the operating | Cause: Modify the PDO mapping during operation. Remedy:
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| Er26-9 PDO not allow the mapping | Cause: Map the parameters not allowed into PDO. Remedy:
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| Er26-a Sync signal is too fast | Cause: The received frame exceeds the range allowed by baud rate. Remedy:
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| Er26-b Receiving fault | Cause: CAN communication offline or the received error exceed 128. Remedy:
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| Er26-c Transmission fault | Cause: CAN communication offline or received error exceed 128. Remedy:
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| Er26-d Sync signal repeat | Cause: Receive the synchronization signal of external input when synchronization signal is from slave station. Remedy:
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| Er26-e Bus load rate is too high | Cause: In asynchronous work mode, the number of frames received by the slave exceeds the scope allowed by baud rate. Remedy:
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| Er26-f Parameter modification state error | Cause: Modify the parameter in the state not allowed. Remedy:
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| Er24-0 PWK ID error | Cause: PWK ID error. Remedy:
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| Er24-1 PWK exceed the range | Cause: The setting of PWK exceed the range allowed by the corresponding parameter. Remedy:
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| Er24-2 Read-only PWK parameter | Cause: PWK parameter performs write operation to read-only parameters. Remedy:
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| Er24-3 PZD configuration parameter does not exist | Cause: The selected ID is not right. Remedy:
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| Er24-4 PZD configuration parameter does not matching | Cause: The parameter is not valid instantly. Remedy:
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| Er24-8 Initialization fault | Cause: Poor contact of EtherCAT chip. Remedy:
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| Er24-9 EEPROM fault | Cause: EtherCAT EEPROM has no data or data reading failed. Remedy:
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| Er24-a DC Sync0 signal abnormal | Cause: DC Sync0 interruption signal is not detected during a period of time under DC sync working mode. Remedy:
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| Er24-b Disconnection fault | Cause: After the drive is enabled, the network cable is detected to be inserted improperly or EtherCAT master is running improperly. Remedy:
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| Er24-c PDO data loss fault | Cause: No PDO data is received after the drive is enabled for a period of time. Remedy:
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Troubleshooting Common Servo Faults
The DA200 diagnostics are centered around the “Er” (Error) codes. The format is typically Er + Main Code + Sub Code (e.g., Er02-1).
- Encoder Faults (Er02-X): These are the most common servo issues.
- Er02-0 (Wire Break): The drive cannot see the encoder. Check the CN2 cable.
- Er02-8 (Battery Low): For absolute encoders, this means the battery voltage is dropping below 3.0V. Replace the battery while the power is ON to avoid losing the absolute position data.
- Position Deviation (Er22-0): This occurs in Position Mode when the motor cannot keep up with the command pulses from the PLC.
- Mechanical Jam: Something is physically blocking the axis.
- Gain Tuning: The “Position Loop Gain” is too low (motor is too “soft”). Increase the stiffness in the P1 parameter group.
- Regenerative Overload (Er07-0): Common in vertical axes or fast stop/start applications. The internal braking resistor cannot dissipate the energy. You may need to install an external braking resistor and adjust parameter P0.15.
Frequently Asked Questions (FAQ)
Q: What is the difference between “Er” codes and “AL” codes?
A: The INVT DA200 natively displays faults as ErXX-X. If you see AL-XX (Alarm), you might be looking at a specific HMI interpretation or a different brand of servo. However, within the DA200 software, some warnings (like Overload or Battery Low) act as alarms that allow the motor to continue running briefly before tripping.
Q: How do I fix “Er21-0” (Forward Limit Exceeded)?
A: This is a safety over-travel fault.
1. The axis has physically hit the Forward Limit Switch (connected to DI inputs).
2. To reset, you must switch the drive to “Manual/Jog” mode and move the motor in the Reverse direction to back off the switch.
Q: Why does the motor vibrate and then trip on “Er02-X”?
A: Vibration followed by an encoder fault usually indicates Noise Interference.
Fix:
1. Ensure the encoder cable is shielded and grounded at the drive end (FG).
2. Separate the encoder cable from the heavy motor power cable in the cable tray.
3. Check the ground connection of the motor frame.