@Denis_Subbota As per suggestion , we used --charset=utf8 but same error . Please find below script
pt-archiver --source h=localhost,u=$USERNAME,p=$PASSWORD,D=$DATABASE,t=$TABLE --where ‘AUDIT_DATE <(NOW() - INTERVAL 240 DAY)’ --charset=utf8 --limit=5000 --commit-each --file ${ARCHIVAL_PATH}/%Y-%m-%d-%D.%t 2>> $LOGPATH/arch_cp.err