Troubleshooting Chapter 5 5-2 Alarms If the Servo Driver detects an error, ALM (alarm output) and ALO1 to ALOS (alarm codes) are output, the power drive circuit in the Servo Driver turns OFF, and the alarms displayed. Ifthe Servo Driver detects a warning (@.g., overload warning or regenerative ‘overload warning), WARN (warning output) and ALO1 to ALOS (warning codes) are out- Put, and the warning is displayed. (Operation continues.) Note 1. Warming outputs and waming codes are output only if the parameters have been set (Pn50F.3, Pn001.1) Note 2. Refer to 5-3-1 Error Diagnosis Using Alarm Display tor appropriate alarm countermeasures. Note 3. Cancel the alarm using one of the following methods. + Input a RESET (alarm reset) signal. + Turn OFF the power supply, then turn it ON again. + Press the RESET Key on the Parameter Unit, or press the Up and Down Keys together on the front panel. The following alarms can only be cancelled by turning OFF the power supply, then turning it ON again, however: A.02, A.04, A.10, A81, A.82, A.84, A.C9, and A.C, Note 4. Ifyoucancelan alarm while RUN is turned ON, the Servo Driver willstart as soon as the alarm {s cleared, which is dangerous. Be sure to turn OFF the RUN command before cancelling the alarm. Ifthe RUN commandis ON, orthe servois always ON (setting PnSOA.t = 7), firstcheck safety sufficiently before cancelling the alarm, = Alarm Table Display ‘Alarm code Error detection Cause of error ‘ALOT [ALO2 [ALO3. function Rage [OF [OFF [OFF [Parameter conuption [The checksum for the parameter read from the EEP-ROM does not match. a3 [OFF [OFF [OFF [Main crcut detection [There is an err in the detection data for io error the power supply circu ‘OFF [OFF OFF | Parameter seting er | Incorrect parameter setting ROY pay 95. [OFF [OFF [OFF | Motor mismatch “The Servomotor doss not match the Serve Ros Driver. (ON [OFF [OFF | Overcurrent or radi- | Overcurrent detected, or improper radiation Ao ation shield error shield temperature rise detected. (1.5 to 3kW only) ON [GN OFF [Regeneration error | Regonoration resistor or Regeneration of a3 cuit damaged due to large amount of re- generative energy. g2 [ON [ON [OFF [Regeneration over- | Regenerative energy exceeded the regen- load eration resistance. ‘ON ON OFF | Main circuit Power The AC/DC wiring method from the main A323 ‘Supply setting circuit power supply is different from the Pra perce sane OFF JOR JON ovenatage Tin oe De vlage above Ta ovale a4o a 56Troubleshooting Chapter 5 Display ‘Alarm code Error detection Gause of error ‘ALOT | ALO2 [ALOS function Rai |OFF [OFF JON | Lowvotage Tain cial DG vokage below the allowable range. 51 [ON [OFF [ON | Gverepecd ‘Servomotor rotation speed exceeded the t ‘maximum speed. an, [ON [ON JON lOverioad ‘Output torque excooded 245% of rated tora. ane [O% [ON JON |Ovenoad ‘Output torque continued at 120% to 245% 2 of rated torque. ON [ON [ON [Dynamic brake over- | Regenerative energy exceeded the dynam an load ie brake rasistance during dynamic brake ‘operation, agg [ON [ON [ON —Tinnuh resistance | rush current exceeded the inrush resis- overload tance during power supply inrush. ON [ON [ON |Overheat ‘Abnormal temperature rise detected in radi AA ation shield. (Applicable to drivers 100/200 V, up to 1 KW with external ther- mostat) Qi [OFF |OFF [OFF [Backup error (ABS) _ | Encoder backup power supply Gropped Age [OFF [OFF OFF | Checksum eror ‘Checksum error for encoder memory data. (aes) Ba [OFF [OFF OFF [Battery eror ABS) | Encoder battery votage dropped (2.7 V or lower). RG [OFF [OFF [OFF | Absolute error (ABS) | Encoder intemal data ervor ngs [OFF [OFF OFF Overepeedemor | Servornotor rotation speed exceeded 200 7 (ass) min when encoder power was tuned ON. gE [OFF [OFF |OFF [Encoder overheating | Abnormal encoder temperature rise de- i (ass) focted. Ab 1 [OFF [OFF OFF [Speed commandin- |The ADD end signal was not output rom the putreading eror __| AD converter within a fxed time, Abe [OFF [OFF OFF [Torque commandin- [The AD end signal was not output from the put reading error___| ND converter within a fixed time. AbF [OFF [OFF [OFF | System error ‘A controt circuit system error was detected. AC 1 [ON [OFF [ON [Runaway detected. | The Servomotor runs out of control. Ace [ON [OFF JON |Mutitun deta error | Absolute encoder setup was mneoirect (ss) ACg [ON [OFF JON [Encoder communica- | No communication between encoder and tions error ‘Servo Driver. _ ON [OFF [ON — |Encoder parameter | Encoder parameters are corrupted. ACA error AC ON [OFF JON | Encoderdata error [Data trom the encoder is corrupted, oc JON [OFF JON |Multturntimitdis- | The muti-turn limits for the encoder and the Ee crepancy ‘Servo Driver do not conform. ON [ON [OFF [Deviation counter | Deviation counter’s residual pulses exceed- Ado overflow ed the deviation counter overflow level set in Pn505. GN [ON [OFF | Motorioad deviation | The Motorload Deviation Over Level was Ad! over Level ‘exceeded for fully closed and semiclosed encoders. 5-7Troubleshooting Chapter 5 Display ‘Alarm code Error detection ‘Cause of error ‘ALO’ [ ALO2 | ALOS function RET [OFF [ON [ON |Option detection error [Detects an error an option boards not i connected. AE 1 [OFF [ON [OFF |iissing phase de- | Main-circuit power supply missing phase or tected. disconnection detected. cPeOa|~ |~ |= __ | Parameter Unitrane- Data could not be tranamitied aftr the mmission error 1 ower supply was turned ON. cprail~ |= [= Parameter Unitians- | Transmission timeout error ero irission error 2 Note 1. Alarm codes designated “ re undefined. Note 2. When an alarm occurs, ALM (alarm output) is turned OFF. = Warning Table Display ‘Alarm code ‘Warning detection Meaning ‘ALOT | ALO2 | ALOS function ON OFF OFF | Overload ‘When a warning occurs before the over load alarm (A.71, A72) is reached, the alarm may be generated if the Servomno- {or continues to operate OFF [ON OFF {Regeneration overioad | When a wamning occurs before the re a ‘generation overload alarm (A.92) is Ms reached, the alarm may be generated if the Servomotor continues to operate. agg [ON [ON [OFF _[Batteryiow level Battery has reached a low lovel of Ms 2.7 0G. Note 1. Alarm codes designated ye undefined. Note 2. When a waming occurs, WARN (warning output) is turned OFF. Note 3. When Pn001.3 (warning code output selection) is set to 1, warning codes will be output (de- fault setting is 1), Note 4. Tooutput warnings, allocate the output terminal using PnSOF.3 (WARN signal output terminal allocation). 5.8Troubleshooting Chapter 5 5-3 Troubleshooting Han error ocours in the machinery, check the type of error using the alarm indicatorsand operation status, verity the cause, and take appropriate countermeasures. 5-3-1 Error Diagnosis Using Alarm Display Display Error ‘Status when error ‘occurs Cause of error ‘Countermeasures Paramoters oor rupted ‘Occurs when control circuit power supply Is turned ON. Power supply was Trfiaize (Fn006) the user tumed OFF while | parameters, and then re- parameters were | set the parameters. being written. intemal memary er- ror Replace the Servo Driver. Main circuit detec- ‘Occurs when main Main circuit detec Replace the Servo Driver. error circuit power supply the setting range AG3 |tion enor circult power supply | tion data error is tumed ON. Parameter setting | Occurs when control | A value outside of _ | Reset the parameters ‘within the setting range. Encoder internal data error AgY is turned ON, ‘was previously set in the parameters. Control panel error | Replace the Servo Driver, ‘Servomotor mis- | Occurs when control |Servomotor and | Correct the combination. match circuit power supply | Servo Driver com: Ags is turned ON. bination is incorrect. Replace the Sarvomator. 59Troubleshooting Chapter 5 Display Error Status when error | Cause of error] _ Countermeasures occurs Overcurrent ‘Occurs wien power |Gonirol panel error | Replace the Sewvo Diver supply is tumed ON. | r4ain circuit transis or module error ‘Occurs when servo [Current feedback | Replace the Servo Driver. turned ON. Gircuit error Main circuit transis or module error ‘Servomotor power | Repair the short-ciculted line is shor-circuted | or grounded wire, Gr grounded be- | Measure the insulation eee resistance at the Servo- ‘motor and, if there is a ‘short-circult, replace the ‘Servomotor. io Miswiring betwoen | Correct the wiring. Ae U-phase, V-phase, Wiphase, and round, ‘Servomotor winding | Measure the winding re fs burned out, sistance, andi the wind- ing is burned out, replace the Servomotor. ‘Ambient Servo Diiv- | Lower the Servo Drivers fertemperature ex- | ambient temperature to coeds 55°C. 55°C or less. Radiation shield air | Mount according to convection is poor. _| mounting conditions. The fan has Replace the Servo Driver. stopped. ‘Operating above | Lighten the toad. rated output Regeneration error | Oceurs during op- | Errorin the regen- | Replace the Servo Driver. ration erative orcult parts. Extemal Regenera- | Replace the External Re- tion Resistoris | generation Resistor. age burned out ist ‘Apart froma shor- | Correctly connact the ex- Circuit between B2 | ternal circuit resistor (bo- ‘and BS, the external | twoon Bt and B2). circuit resistor is nat connected. Regeneration over. | Ocours during op- | Regenerative ener- | Calculate the regenera- load) eration. ‘gy exceeds toler- | tive eneray, and connect ance. an external Regeneration Resistor with the required A32 regeneration absorption capacity, Setting erorin | Set Pn800 correctly. P00 (regeneration rosistor capacity) 5-10Troubleshooting Chapter 5 Display Ever Status when error | Cause of error] Countermeasures, occurs fgg | ManSIGAE Power | Geaurs when sono [Wing wrong Fis-wire power SUppIy. ‘Supply Setting Is turned on. Pn0O1.2 setting | Change setting Pnoot.2 ‘wrong ‘Overvohage ‘Occurs when power |Main circuit power | Change the main aout supply is turned ON. |suppiy volage is | power supply voltage to outside tolerance | within tolerance range. range. Occurs when Servo- |Load inertia is too | Decelevation time is too motor is decelerat- | great. long. ing. Calculate the regenera- tive energy, and connect an external Regeneration Resistor with the required regeneration absorption capacity. on Nain creat power | Reduce main circu pow- supply votage ex- | er supply voltage to with- ceeds tolerance |in tolerance range. range. ‘Occurs during de- Gravitational torque | Add a counterbalance to_ ‘scent (vertical axis) | is too large. the machinery to lower gravitational torque. Siow the descent speed. Calculate the regenera tive energy, and connect and external Regenera- tion Resistor withthe re- quired regeneration ab- 4 Sorption capacty Low voltage Occurs wt Control panel error | Replace the Servo Driver. Control circuit power supply only is turned ON aut ‘cours when the | Main cout power —_| Change the main arcu main circuit power | supply voltage is | power supply voltago to supply is tured ON. outside tolerance | within tolerance range. range. Main circuit power | Replace the Servo Diver supply is damaged SUTroubleshooting Chapter 5 Display Error ‘Status when error ‘Cause of error ‘Countermeasures: occurs Overspeed ‘Occurs when tie | Encoder signal be. | Rewire correctly. servo is ON. {ween controllers is wired incorrectly Servomotor power | Rewire coveatly. line is wired incor- really. ‘Occurs along with [Position and speed [Input command values high-speed rotation | command inputs are | correctly when acommand is |too large. a input. Png00 (speed com- | Set the parameters cor- IS mand scale), and | rectly Pn2oe and Pn203 {electronic gear) set- tings are too large. ‘Speed limtis not | Set Pré07 (epeed im) pporformed during torque contol Rotation limit has | Adjust the gain. been exceeded due Lower the maximum sj to overshooting. | Grea speed oe Overoad ‘Occurs during op- | Running at over | Repair the Servomotor ‘ration. 245% of rated shaft if itis locked torque {effective | ifthe Servomotor power torque), line is wired incorrectly, rewire t correctly Lighten the toad. ant Lengthen the accelera- tion and deceleration times. Adjust the gain Power supply volt- | Check the power supply ‘age has falen voltage, and lower to ‘within tolerance range, ‘Overload ‘Occurs during op- | Running at 120% to | Lighten the load. eration. 245% of rated Lengthen the accelera- torque (effective | tion and deceleration torque). fines. Ane Adjust the gain. Power supply volt- | Check the power supply age has fallen. voltage, and lower to. within tolerance range. Dynamic brake | Occurs when the | Energy required for | Lower the rotation speed. overload servo is tumed OFF | stopping exceeds ' after operating. the dynamic brake | Reduce the load inertia resistor tolerance, | Reduce the frequency of AIZ dynamic brake use. ‘Decurs when the |Control panel eror _| Replace the Servo Driver. power supply is fumed ON. 512Troubleshooting Chapter 5 Display Evor ‘Status when error | Cause of error | Countermeasures ‘occurs Tnrush resistance [Occurs when the | Inrush current whan | Reduce the frequency by overload main circuit power | the main circuit pow J which the main circuit supply is turned ON. | er supply is tumed | power supply is turned ON exceeds incush | ON and OFF. ANY resistor tolerance. Occurs when the | Control panel error | Replace the Servo Driver. control crcult power supply oniy is turned ON, Gverheat ‘Occurs when the | Control panel error | Replace the Servo Driver. control crcult power supply only is tumed ON, ‘Occurs during op- | Control panel error | Replace the Servo Diver. eration. ‘Ambient Servo Driv- |Lower the Servo Driver's er temperature ex- | ambient temperature to AIA coeds 55°C. 55°C oF less. Radiation shield sink | Mount according to air convection is | mounting conditions. poor. The fan has Replace the Servo Driver. stopped. ‘Operating abave | Lighten the load ratod output Backup error (ABS) | Occurs when control | Absolute encoder __| Set up the absolute en- iroult power supply |tackup voltage has | coder correctly ABI is turned ON. fallen ‘Occurs the first ime tive encoder is used. Checksum sor | ccurs when control [Absolute encoder | Setup the absolute en- AB2 | (ABS) circuit power supply | memory check error | coder correctly is turned ON. Battery error (ABS) | Occurs when control [Absolute encoder | Replace the battery while Ae3 Circuit power supply | battery vortage has _| the control circuit power is turned ON. fallen (to 2.7 V or | supply is ON. less) ‘Absolute error (ABS) | Occurs when control [Absolute encoder | Tum OFF the power sup- circuit power supply | sensor check ertor | ply, then ON again ney is tured ON. (internal encoder €r- | replace the Servomotor ma {ifthe cause is encoder erro ‘Overspeed error | Occurs when control | Servomotor is rotat- | Turn ON the control ei (ABS) ‘circuit power supply ing at 200 r/min. or | cuit power supply while Ags is tured ON. more when the con- | the Servomotor is OFF. rol circu power supply is turned ON. 513Troubleshooting Chapter 5 Display Error ‘Status when error | Cause of error_| Countermeasures occurs Encoder ovetheat- | Occurs when the Encoder is defec- Replace the Servormotor ing (ABS) control circult ower | tive. supply is turned ON. ‘ecurs during op- | Ambient Servamotor | Lower the ambient tem eration, temperature ex- | perature to 40°C or less. ceeds 40°C. ABS Servomoior spring [Use @ spring mounting mounting clip is too | clip the same dimensions sill or greater than those of the radiation shield i cated in the Servomotor efficiency specifications. ‘Operating above Lighten the load rated output ‘ommand input | Oeaurs daring op- | Command input | Reset the alarm, than r= Ay) |te2ding enor eration reader misoperation_| start the operation id ‘Command input Replace the Servo Driver. reader is broken. ‘Commandinput | Ocavrs during op- | Command input | Reset the alarm, then re reading error eration. reader misoperation_| start the operation Abe ‘Command input Replace the Servo Driver. reader is broken. Abr | Sistemeror ‘Ocaurs during op- | Control panel evor | Replace the Servo Driver. eration Runaway detected | Occurs when there | Encoder is wired in- | Correct the wiring. is aslight movement | correctly. ACT upon startup. Servomotor power line is wired incor- rectly Rotation data error | Occurs when the | Encoders defective | Replace the Servomator ACB (ABS) Control circuit power [Servo Driveris de- | Replace the Servo Driver. supply is tuned ON. | fects Encoder commu- Occurs when the Encoder signal is Correct the wiring, nications error Control ckrcult power | wired ineorrectly ACS supply setumed ON, | Encoder is defective | Replace the Servomotor 0 a00u"S JUFIPG OP Servo Drivers de] Replace the Servo Diver fective Encoder parameter | Occurs when the Encoder is defective | Replace the Servomotor ACA [error contol circuit power Servo Driver is de- | Replace the Servo Driver supply is turned ON. | tective. Encoder data error | Occurs when the Encoder signa! is Correct the wiring. Control circuit power | wired incorteeily ALb supply is turned ON. [Encoder is detective | Replace the Servemotor ‘Servo Driver is de- | Replace the Servo Driver fective. 5-14Troubleshooting Chapter 5 Display Error ‘Status when orfor | Cause of vor | Countermeasures occurs Rotalion speed mis- | Occurs when the | Pnd05 (absolute en [Perform absolute encod maich (ABS) control circut power | coder rotation limit | er rotation limit setng ‘supply s turned ON. |seting) changed. _| change (Fn03), ACE Pn205 (absolute en- | Set P05 correctly ‘coder rotation limit setting) changed by mistake. Deviation counter | Servamnotor willnat | Servomator power | Rewire correctly. overtiow rotete even wien | or encoder line is ‘command pulses | wired incorrectly. are input. Locked mechanical- | Repairif the Servomotor y shafts looked ‘Control panel error | Replace the Servo Driver. ‘Occurs when rotat- | Servomotor power | Rewire correctly. ing athigh speed | or encoder lin is miswired, Ado ‘Occurs when tong | Gain adjusimentis | Adjust the gain. ‘command pulses | insuficient. sare sent ‘Acceleration and de- | Lengthen acceleration cceleration is too vio- | and deceleration time. en Use position command ‘iter (Pn207.0, Pn204, and Pne08). Toad is too large. [Lighten the load. Reselact the Servomotor. Motorioad deviation | Occurs during op- | Difarence between ra} |overlevelerror eration internal and external : ‘encoder exceeds the seting of Pr51A ‘Option Unit detec- | Occurs fan option [Option board has | Goto Fn014, Prose data tion error hhas boon connected | been removed Display shows “O unit’ RET tothe driver Press mode, display ‘shows “dono”. leset the equipment. ‘Missing phase de- | Occurs when servo | Main crcut power | Check the main araut tected, 1s ON supply is not con- | power supply wiring. ected. RET Main circuit power supply phase is mis- sing, oF wie Is burned out CPFQQ [Parameter Unit ~~ Occurs when power | Servo Drivers de- | Replace the Servo Driver. transmission orror 1_| suppiy is turned ON. | fective. ply Parameter Unit [Occurs when Pa- internal element | Reset the alarm, then re- cpgg 1 |tarsmission eror2 |rameter Untisin|misoperation start the operation. c use. intemal elementis | Replace the Servo Driver. broken 515Troubleshooting Chapter 5 5-3-2 Troubleshooting by Means of Operating Status Syinpiom Probable cause items to check Countermeasures] Gonirot made The power sup-| Powor supply Tnes are in | Cheek th power supply | Correct he power supply, | Al modes plyindieator | comecty wires valiage. ceric ie-wrns (POWER) does ‘Check the power supply notlight even Ghee when the power supp is tured ON ee ‘The Senomo-_ [The RUN signals OFF. | Ghock the AUN signal's ON | Input te RUN signal ‘Almodes tor does m0! op and OFF by means ofthe | Correct te wing erate even ‘monitor made (Und). L when a.com. [The POT and NOT signals | Check whether POT ard | Turn ON the POT and NOT | Allmodes mandis ven. | aro OFF (exceptwnen [NOTaredeplayed in iatus | signal Suputy”” | PROAS.and Pst, 0 are | cepay mode. POT and NOT are not be- 8. ing used, set to “Aways OFF” (PnS5OAS and 500.0 = 8) The contol made isnot | Creek Pn000.1 (cone | Set the convo moda to | A modes sight mode selection) match the command type. “The deviation counter reset | With monitor meds, check | Turn OFF the ECRST sig- | Postion input (EGRST) is ON. ine ONOFF staus ofthe [na ECRST signal (Un008). | Correct the wiring. 200.1 (Deviation counter | Reset Pn200.1 to mich the | Postion resel) geting is ncorrect_| Controle ‘An eror oocured with the Check the RESET signal's | Turn the RESET signal OFF |All modes RESET (alarm reve) signal [ON and OFF by means of | and ake measures ON. ve monitor mod ancording tothe alarm afepiay. ‘Pn200.0 (Command pulse | Check the Controller’s com- | Set the mode to match the | Position rode) seting's incorrect. [mand pulso ype and the | Contoters command pulse Servo Drivers command | ype pulse mode. [Fhe speed command (REF) | Check the spoed command | Correct te wing, Speed voltage i 0. by moans of the monitor mode (Un001). (Check the speed command voltage. The PLOGK sgnalis ON, | Cheek the PLOOK signal by | Turn the PLOGK signal | Speed means of the manor mode | OFF. {internal status bit) Cheek the Pn501 (Position lock rotation speed) value. SEN fensor ON) is tuned” | Cheek whether the SEN sg: | Turn ON the SEN signal. [Alrmodes OFF (When using an abso- | nal ie ON or OFF using {ute encoder) rmontor mode. The Senvomo- | The Servomator power Fnes | Check the Servomolor sow: | Correct the wing ‘Almodes tor oporates jor encoder ines are wired | erie U, V, and W phases, momentary, | ncorecl and the encoder ine wing buttnen it does not operate 5-16Troubleshooting Chapter 5 Symptom Probable cause Tema to check Countermeasures] Control ‘made Servomaterop- | The Senvomoter power Ines | Check tne Servomotor pow | Creche wining Allmnodes ‘oration is uneta-| or encoder nas are wired |e ine U, Vand W phases, la incoreti and the énéoder line wiring. “The bas funaton seing is |—- ‘Agjust PatO7 (bas rolaon- | Postion incorrect ‘el speed) and Prt fbias scation width) “The polary ofthe speed | Check the speed command | Careat the wing, ‘Speed ‘command (REF) input is input wiring. ‘wrong. Thee ie coeiies °[Gheckthenachnewy. | Adttemecninen, [Anodes looseness nthe coupling | ty oy perating the Servomo- ‘connecting the Servomotor ‘shaft and the mechanical | '0F Without a load. system, or thore are load torque fuctualons accorc- ing to how the pulley gears are engaging. Gain is wrong = Use autosuning Poation ‘Adustthe gain manualy. _ | Speed Sevontors | The ambient temperatura s | Oheckto be sure thatthe | Lower the ambient tempera-| Al modes overeating. | too high. ‘smbioat temperature around {ture 40°C ortess. (Use @ the Servamotors no nigher | cooler or fan}, than 40°C. ‘Venilation is absirucied, | Gheck to see whether any- | Ensure adequaia venti; | Al modes thing s Blocking ventilation. | on There isan overload. | Gheck te torque command | Lighten th load Almodes value by means of monitor | gp ange toa larger capacty mode (Un002). Servornotor and Servo Driv- Tho soreapondence be- | Cheak tie models ‘Combine models tat care: |All modes tween the Serve Driver and spond corecty, the Servomoteris neorrect H EH There are un- [The machinery fs vibrating, | epeat the machinery to | Fixany problems causing | Allmodes| usual noises. s00 whether there are any | vibration foreign oojees inthe mev- able parts, or whether there ‘is any damage, detorma- tion, 0 looseness, Pni00 Speed oop gains ‘Use one aufotuning. | Postion it Adjust the gain manually Speed (epeed oop gai). VViraton is oo" [Inductive nol s occuring. | Ghedko see whether the | shorten the conoT signal — Al modes curing athe Seve Driver contol signe! ines same frequoncy ines are too long. Sarasota z Signal tines aeihe appt ‘Ohecketo see whether con- | fom power supply ines Soe ‘trol signal fines and power ply. ny ‘Use a low-impedance pow- supply ines are to0 6638 0 | er guppy for contol signal Tie Servomo- | The speed command vol- | Check the speed command | Adust ihe speed command | Speed foroperates” |age and the speed com-. | voltage. ‘fet (F003 or Fn00A)., vernon | mand input scten ae ot iJeasigoed eons wih peson fk fueton, (Control mode setecton: Pn000.1 = A) 8-17