Ultra 3000 Drive E21 Error

[glenncovington]

Hello all need some help. I have a CNC machine that uses 5 Ultra 3000 servo drives. The X axis drive goes into a E21 fault sporatically.

Occasionally 2 other axis also get an E21 error.

We have replaced the Drive, Encoder Cable, and Servo Motor. The error still exist. It refers to the Auxiliary encoder, but I am not sure what this is. There is the main encoder incorporated in the servo motor, but what is the auxiliary encoder?

Anyone fought the E21 error before and succeeded?

 

[kolyur]

The auxiliary encoder is not the motor encoder. It is an external device used for following and electronic gearing applications. If you have one, it would be connected to pins 1-9 of connector CN1.

 

[glenncovington]

Here is a snapshot of the Ultraware file.

 

[kolyur]

From your screenshot it appears that you are using an auxiliary encoder. I'd suggest checking those connections. It's actually pins 4-9 of CN1.

 

[keithkyll]

... Ultra 3000 servo drives. The X axis drive goes into a E21 fault sporatically.
Occasionally 2 other axis also get an E21 error.
...
Anyone fought the E21 error before and succeeded?

It's noise. In my case, added diodes to solenoids and relays. Added caps to a DC brush motor.
Drives are very sensitive to noise. Check cable routing/grounding. Did someone recently replace a solenoid? Check for missing noise suppression.
Look to see what's turning on/off when you get the fault. Don't need to be driving. You can fault the drives at idle. Manually activate things until you fault the drive(s).