Alarm guide · Yaskawa · Updated October 2026
Yaskawa A.D00 alarm: position deviation overflow
Yaskawa A.D00 means the position deviation overflowed: the motor did not follow the position command. Check for a jam, brake, torque limit, gains and the encoder.
By Suresh Sankaran, founder of Star Automations, servo motor repair since 1998.
What the alarm means
The difference between the command and the actual position went beyond the limit. Alarm numbers and wording can differ between series, so confirm with the manual for your unit.
Common causes
- Mechanical lock or heavy friction
- Brake not released
- Torque limit too low
- Acceleration or speed too aggressive
- Motor or encoder fault
Safe first checks
General guidance only. Follow the drive manual and your site's electrical safety rules. Power off, and let the DC bus discharge, before touching connectors.
- Note the exact alarm code and when it appears: at power-up, at start, or under load.
- Power off and turn the shaft by hand if safe: it should turn smoothly.
- Check the motor cable, encoder cable and connectors for damage and loose contacts.
- Check what changed recently: load, speed, settings, cables or a replaced part.
When to send it for repair
If the mechanism is free and the settings are sound, bench test the motor.
We test every motor on our Universal Servo Motor Repair Equipment, which reads and aligns the feedback and runs the motor under load without the original drive.
See Yaskawa servo motor repair, Yaskawa encoder repair and Yaskawa servo drive repair.
Questions
Should I raise the deviation limit?
Only for a test. Fix the cause.
How long does repair take?
Emergency repair is done the same day where the fault and parts allow, urgent in 3 working days and standard in 7 working days, counted from when the unit reaches our bench and the quote is approved. Every unit returns with a printed test report.
Can I get an exchange unit?
If we hold a matching unit, Servo Swap ships a tested exchange unit while yours is repaired. Mark "line down" on the request form and add the part number.