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MR-J4 Servo amplifier INSTRUCTION MANUAL

1. When any alarm has occurred eliminate its cause ensure safety and deactivate the alarm before restarting operation Provide an adequate protection to prevent unexpected restart after an instantaneous power failure About the manual This Instruction Manual covers the following models These include servo amplifiers drive units which have optional units MR J4 _A MR J4 _A4 MR J4 _A1 MR J4 _A RJ MR J4 _A4 RJ MR J4 _A1 RJ MR J4 _B MR J4 _B4 MR J4 _B1 MR J4 _B RJ MR J4 _B4 RJ MR J4 _B1 RJ MR J4W_ _B MR J4 _B RJ010 MR J4 _B4 RJ010 MR J4 DU_A MR J4 DU_A4 MR J4 DU_A RJ MR J4 DU_A4 RJ MR J4 DU_B MR J4 DU_B4 MR J4 DU_B RJ MR J4 DU_B4 RJ MR CR55K MR CR55K4 MR J4 03A6 MR J4 03A6 RJ MR J4W2 0303B6 The symbols in the target column mean as follows A MR J4 _A MR J4 _A4 MR J4 _A1 MR J4 _A RJ MR J4 _A4 RJ MR J4 _A1 RJ MR J4 DU_A MR J4 DU_A4 MR J4 DU_A RJ MR J4 DU_A4 RJ MR J4 03A6 MR J4 03A6 RJ B MR J4 _B MR J4 _B4 MR J4 _B1 MR J4 _B RJ MR J4 _B4 RJ MR J4 _B1 RJ MR J4 DU_B MR J4 DU_B4 MR J4 DU_B RJ MR J4 DU_B4 RJ WB MR J4W_ _B MR J4W2 0303B6 RJ010 MR J4 _B RJ010 MR J4 _B4 RJ010 MEMO CONTENTS 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT 1 1 to 1 116 1 1 Explanation forthe listS x c0ten eee eerie et eee ide RE ae Aa ee ee 1 1 1 2 AlarmulliSt 37 aa ani ol ee ie eee eee ee 1 3 E Warong T dense tekdaad codk budicetwaa E Senge eeddadi cena lad altead bes eaglagscobiaed cote ob
2. 1 89 It is not set Set it correctly It is not repeatable Take countermeasures against its cause It is repeatable Check 3 It is not repeatable Review the parameter It is repeatable Check 4 It is not repeatable Replace the servo amplifier It is repeatable Check 5 It is not repeatable Replace the functional safety unit It is repeatable Check 6 It has a failure Take countermeasures against its cause Turn on disabled STO command SS1 command of the functional safety unit It is off enabled 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Alarm No 96 Name Home position setting warning Alarm content Home position setting could not be made 96 1 In position INP In position did not Check the droop It is In position Adjust gains to set A warning at turn on within the pulses during home range or more droop pulses within B home specified time during positioning the In position WB positioning home positioning range Remove the RJ010 cause of droop pulse occurrence and make home position setting Command A command has already Check if a command A command is Set it after home input warning inputted at the time of is inputted at home inputted positioning at home home positioning positioning A command is not Check 2 positioning inputted Creep speed is high Decrease the creep It is not repeatable Decelerate the speed and then c
3. For the drive unit the converter unit is malfunctioning The bus voltage dropped during the Check the parameter setting MR J4 03A6 RJ Pr PC27 MR J4W2 0303B6 Pr PCO5 Check if the bus voltage is lower than the prescribed value 200 V class 215 V DC 400 V class 430 V DC 100 V class 215 V DC The voltage is equal 48 V DC setting 38 V to or higher than the DC prescribed value 24 V DC setting 18 V DC Replace the servo amplifier and then check the repeatability Replace the converter unit and then check the repeatability Check the bus voltage It is lower than the prescribed value The setting is incorrect The setting is correct The voltage is lower than the prescribed value It is not repeatable It is not repeatable Set it correctly Check 8 Review the wiring Check the power supply capacity Check 9 10 Replace the servo amplifier Replace the converter unit Review the power supply capacity Increase the acceleration time constant 200 V class 200 V DC 400 V class 430 V DC 100 V class 200 V DC 48 V DC setting 35 VDC 24 V DC setting 15 VDC servo motor driving under 50 r min E9 2 Bus voltage drop during low speed operation E9 3 Ready on signal Check it with the check method for AL E9 1 on during main circuit off Check if the forced stop of the converter unit is enabled Deactivate the forced stop of the con
4. error 2 Alarm No 1A Alarm content Detal name Detal name pause Servo motor combination error 1 ee The servo amplifier and the servo motor was connected incorrectly The setting of Pr PAO1 is not corresponding to the connected servo motor Pr PA17 and Pr PA18 were not set according to the linear servo motor to be used An encoder is dran Name Servo motor combination error The combination of servo amplifier and servo motor is incorrect Check method Check result Check the model name of the servo motor and corresponding servo amplifier Check the Pr PAO1 setting Rotary servo motor 0 Linear s servo motor 4 Direct drive motor pa 6 Check if Pr PA17 and Pr PA18 are set correctly Replace the servo motor and then check the repeatability 1 25 IA B WB RJO10 The combination is Use them in the incorrect correct combination The combination is Check 2 correct The combination is Set Pr PA01 incorrect correctly When using a linear servo motor also check 3 The combination is Check 4 correct It is not set correctly Set them correctly according to the linear servo motor to be used Replace the servo motor It is not repeatable A B WB RJO10 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Alarm No 1A Name Servo motor combination error Alarm content The combination of s
5. power supply wiring Check the main circuit power supply wiring of the converter unit RJO10 It is connected Check 2 Check the wiring It is disconnected between P3 and P4 Check the wiring between P1 and P2 of the converter unit Connect it correctly Check 3 It is disconnected Connect it correctly It has no failure Check 4 Check the bus bar It is disconnected Connect it correctly between the converter unit and drive unit It has no failure Check 5 Increase the voltage of the main circuit power supply It is connected Check the magnetic contactor control connector of the converter unit Check if the voltage of The voltage is the the main circuit power prescribed value or supply is the lower prescribed value or lower 200 V class 160 V AC 400 V class 280 V AC 100 V class 83 V AC 48 V DC setting 35 V DC 24 V DC setting 15 V DC Check if the bus voltage during acceleration is lower than the prescribed value 200 V class 200 V DC 400 V class 380 V DC 100 V class 158 V DC 48 V DC setting 35 V DC 24 V DC setting 15 V DC The voltage is higher than the prescribed value Check 6 Increase the acceleration time constant Or increase the power supply capacity The voltage is lower than the prescribed value The voltage is equal to or higher than the prescribed value Check 7 1 17 1 TROUBLESHOOTING FOR SERVO AMPLIFIER
6. Check the content of the occurring is occurring alarm warning and remove its cause The system has been in the A Check if the lower right Cancel the test operation test operation mode point is flickering mode B WB RJ010 Check if the test operation setting switch SW2 1 is on up The motor less operation has A Check the Pr PC60 Disable the motor less been enabled setting operation B WB RJ010 Check the Pr PCO5 setting The torque is insufficient due Check instantaneous torque Reduce the load or use a to large load using status display only A larger capacity servo motor or MR Configurator2 if the load exceeds the maximum torque or torque limit value An unintended torque limit Check if the torque limit is Cancel the torque limit has been enabled enabled Note indicates axis No 1 106 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Check result The servo motor does not The setting of the torque limit Check if the torque limit is Set it correctly A operate is incorrect o B A Pr PA11 and Pr WB PA12 or analog input RJO10 B WB RJ010 Setting on controller side Machine is interfering with Check if machine is Remove the interference the motor interfering For a servo motor with an Check the power supply of Turn on the electromagnetic electromagnetic brake the the electromagnetic brake brake power brake has not released
7. Power supply voltage high regenerative resistor regenerative option Failure of the detection circuit in the converter unit The regenerative load ratio has been over 100 5 Wire breakage of the A regenerative transistor in the converter unit is malfunctioning Something near the device caused it 1 2 2 3 4 5 6 7 8 Disconnect the cables It is repeatable Replace the except for the control converter unit circuit power supply It is not repeatable Check 2 It has a failure Take countermeasures against its cause The setting value is Set it correctly incorrect It is set correctly Check 2 It is not connected Connect it correctly correctly It is connected Check 3 correctly It is higher than the Reduce the power prescribed value supply voltage and then check the repeatability Check the noise ambient temperature etc Check the regenerative resistor regenerative option and Pr PA01 setting value Check if the regenerative resistor regenerative option is connected correctly Check if the voltage of the input power supply is over the prescribed value It is the prescribed 200 V class 260 V AC value or lower 400 V class 520 V AC Check the regenerative load ratio when alarm occurs Check 4 When the regenerative option is used Reduce the frequency of positioning Reduce t
8. amplifier switches are off 11 2 Disabling 1 The setting of the Check the setting of Check if the setting Set it correctly control axis disabling control axis the disabling control is as follows setting error switch is incorrect axis switch 1 Only A axis is disabled 2 Only B axis is disabled 3 A axis and B axis are disabled 4 A axis and C axis are disabled 5 All axes are disabled The setting is other Replace the servo than above amplifier 1 18 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Alarm No 12 Name Memory error 1 RAM Alarm content A part RAM in the servo amplifier is failure 12 1 RAM error 1 1 A part in the servo Disconnect the cables It is repeatable Replace the servo A amplifier is failure except for the control amplifier B circuit power supply WB and then check the It is not repeatable Check 2 RJ010 repeatability 2 Something near the Check the power It has a failure Take device caused it supply for noise countermeasures against its cause Alarm No 13 Name Clock error A part in the servo amplifier is failure Alarm content A clock error transmitted from the controller occurred RJ010 MR J3 T10 came off 13 1 Clock error 1 1 The MR J3 T10 came Check if AL 74 It is occurring Check it with the RJ010 off during the CC Link Option card error 1 check method for IE communication occurred with
9. eee es Point table setting is incorrect 37 2 Parameter 1 A parameter setting Check the parameter A setting value is Correct the setting A combination contradicts another error No and setting incorrect value When the B error value master slave WB function is set also RJ010 check 2 2 Pr PAO1 on the Check the parameter Pr PA01 is setto Set Pr PA01 to B master side was setto setting other than standard standard control master control mode or fully fully closed loop closed loop control other than standard control mode or mode or fully closed loop control control mode mode mode Pr PAO1 is setto Check 4 standard control mode or fully closed loop control mode Pr PA01 on the slave Check the parameter Pr PA01 is setto Set Pr PA01 to B side was set to other setting other than standard standard control slave than standard control control mode mode mode Pr PA01 is setto Check 4 standard control mode Forced stop Check the parameter Forced stop Disable forced stop B deceleration function setting deceleration deceleration master selection in Pr PA04 function selection function selection slave is enabled setting in Pr PA04 in Pr PA04 is enabled 1 47 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Alarm No 37 Name Parameter error Parameter setting is incorrect A
10. force The moving part servo lock status moved by external of the linear servo motor force was moved by external Itis not rotated by Check 11 force external force It was not moved by external force An encoder is Replace the servo It is not repeatable Replace the servo malfunctioning motor and then check motor the repeatability warning during command while the 0 torque limit torque limit value is Error excessive 1 The torque limit has Check the torque limit The torque limit has Do not input a 0 Alarm No 9C Name Converter warning Alarm content A warning occurred in the converter unit during the servo on 9C 1 Converter unit 1 A warning occurred in Check the warning of the converter unit and take the action warning the converter unit during following the remedies for warnings of the converter unit the servo on Alarm No 9D Name CC Link IE warning 1 The station No switch setting was changed after power on The station No setting differs from that of master station Station number The station No switch Check if the switch It was changed Restore the setting RJ010 Alarm content switch change setting was changed was changed Do not change the warning after power on station No switch after power on 2 The servo amplifier is Replace the servo It is not repeatable Replace the servo malfunctioning amplifier and then amplifier check the repeatability Mas
11. ground plate of the It is connected Check 3 connector An encoder is Replace the servo It is not repeatable Replace the servo malfunctioning motor and then motor repeatability Something near the Check the noise It has a failure Take device caused it ambient temperature countermeasures vibration etc against its cause 21 2 Encoder data An encoder is Replace the servo It is not repeatable Replace the servo A update error malfunctioning motor and then check motor B ine Tene arity bye The external conductor Check if it is It is not connected Connect it correctly RJO10 of the encoder cable is connected not connected to the ground plate of the It is connected Check 3 connector Something near the Check the noise It has a failure Take device caused it ambient temperature countermeasures etc against its cause 21 3 Encoder data Check it with the check method for AL 21 2 waveform error 21 4 Encoder non 1 A signal of the encoder Check if the encoder It has a failure Review the wiring A signal error has not been inputted cable is wired B correctly It has no failure Check 2 WB The external conductor Check if it is It is not connected Connect it correctly of the encoder cable is connected not connected to the S ground plate of the It is connected Check 3 connector Something near the Check the noise It has a failure Take device caused it
12. more servo amplifier use the communication that the servo amplifier was one manufactured in January manufactured in January 2015 or later 2015 or later MR J4 _A_ servo amplifier or Check if MR J4 _A_ servo MR J4 03A6 RJ servo amplifier or MR J4 03A6 RJ amplifier is not compatible servo amplifier is being used with Modbus RTU communication A communication cable is Check if the communication Replace the communication malfunctioning cable has any failure such as cable damage RS 422 communication The servo amplifier is not set Check if communication Select RS 422 RS 485 Mitsubishi general purpose to RS 422 communication protocol selection in Pr communication Mitsubishi AC servo protocol is not protocol PC71 is correctly set general purpose AC servo established protocol The communication setting is Check if Pr PC20 Station Check Pr PC20 Station not set correctly number setting is set number setting and the correctly station No specified by the controller if they are matched together Check if RS 422 Check RS 422 communication baud rate communication baud rate selection in Pr PC21 is set selection and the correctly communication baud rate setting of the controller if they are matched together A communication cable is Check if the communication Replace the communication malfunctioning cable has any failure such as cable damage 1 116 2 TROUBLESHOOTING FOR MR CR55K 4 CONVE
13. 1 82 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Alarm No 8E Alarm content Name USB communication error serial communication error Modbus RTU communication error A communication error occurred between the servo amplifier and a personal computer controller An error occurred in USB communication serial communication Mitsubishi general purpose AC servo protocol or Modbus RTU communication Modbus RTU communication receive error 1 The setting of the controller servo amplifier etc is incorrect A communication cable is malfunctioning The servo amplifier is malfunctioning Modbus RTU communication message frame error The communication protocol is failure Check the setting of the controller servo amplifier etc such as communication protocol selection baud rate parity Check the communication cable and then check the repeatability Replace the servo amplifier and then check the repeatability Check if transmission data conforms the communication protocol It is incorrect Review the settings It is correct Check 2 It is not repeatable Replace the communication cable It is repeatable Check 3 It is not repeatable Replace the servo amplifier It is not conforming Modify the transmission data according to the communication protocol Check 2 It is conforming The setting of the controller servo amplifier etc is inc
14. 2 was started station position stations per rotation Pr PT28 or more value was not specified 1 2 The power of the servo Check if the power of The power was not Cycle the power of amplifier was not cycled the servo amplifier cycled the servo amplifier after the number of was cycled after the stations per rotation number of stations per Pr PT28 was rotation Pr PT28 changed was changed 1 90 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Alarm No 98 Name Software limit warning Alarm content A software limit set with the parameter was reached for the positioning function Forward A software limit was set Check if the parameter The setting was out Set Pr PT15 to rotation side within the actual settings Pr PT15 to of operation range Pr PT18 correctly software stroke operation range Pr PT18 to the The setting was Check 2 limit reached operation range are l within operation correct range A point table of the Check if the target The setting was out Set the point table position data which position of the point of operation range correctly exceeds the software data to the operation The setting was Check 3 limit was executed range was correct within operation range A software limit was Check if the JOG It reached to the out Operate within the reached by using the operation or manual of operation range software limit JOG operation or pul
15. 3 3 A program has Replace the servo It is not repeatable Replace the servo changed due to a servo amplifier and then amplifier amplifier malfunction check the repeatability 39 3 Register No 1 A specified number of Check if the command It has a failure Correct the error the general purpose description has a command register used for a failure description out of specifications 2 A program has Replace the servo It is not repeatable Replace the servo changed due to a servo amplifier and then amplifier amplifier malfunction check the repeatability Non A used command is not Check if the command It has a failure Correct the correspondence command error correspondent to the description has a command program failure description It has no failure Check 2 A program has Replace the servo It is not repeatable Replace the servo 2 39 2 Command A program has never Check if a program argument been written since was written 2 3 1 2 1 2 changed due to a servo amplifier and then amplifier amplifier malfunction check the repeatability 1 48 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Alarm No 3A Name Inrush current suppression circuit error Alarm content The inrush current suppression circuit error was detected 3A 1 Inrush current Inrush current Replace the servo It is not repeatable Replace the servo A suppression circuit error
16. A load side encoder is malfunctioning Check the model the Itis not compatible Replace it with a A servo motor linear with the servo compatible one B encoder amplifier WB It is compatible with Check 2 RJ010 the servo amplifier Check if the software Itis not compatible Replace the servo version supports the with amplifier to one servo motor linear which software encoder version supports the servo motor linear encoder It is compatible with Check 3 Replace the servo It is not repeatable Replace the servo motor or linear motor or linear encoder and then encoder check the It is repeatable Replace the servo repeatability amplifier Check the model of It is not compatible Use a load side the load side with the servo encoder which is encoder amplifier compatible with the servo amplifier It is compatible with Check 2 the servo amplifier Check if the software Itis not compatible Replace the servo version of the servo with amplifier to one amplifier supports the which software load side encoder version supports the load side encoder encoder and then side encoder repeatability amplifier 1 27 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Alarm No 20 Name Encoder normal communication error 1 Alarm content An error occurred in the communication between an encoder and servo amplifier Encoder 1 An encoder cable is Check if the encoder
17. It is used They are Take in contact countermeasures against its cause Check 6 It has a failure It is not used They are not in contact It is not repeatable Replace the servo amplifier It is repeatable Check 7 It is not repeatable Replace the servo amplifier It is repeatable Check 8 It is not repeatable Replace the controller It is repeatable Check 9 It has a failure Take countermeasures against its cause A B 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Alarm No 7D Alarm content Name Safety observation error The safety observation function detected an error Stop observation error 1 During activation of SOS function the position of the servo motor has changed by more than the SOS allowance value set by parameter During activation of SOS function the servo motor speed has changed by larger than the SOS allowance value set by parameter and that state has continued for longer than the set time specified by Pr PSA15 During activation of SOS function the speed command has changed by larger than the SOS allowance value set by parameter and that state has continued for longer than the set time specified by Pr PSA15 An encoder is malfunctioning The functional safety unit is malfunctioning The servo amplifier is malfunctioning Something near the device caused it Check that the actual The trave
18. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual 2012 MITSUBISHI ELECTRIC CORPORATION MEMO Country Region USA Mexico Brazil Germany UK Italy Spain France Czech Republic Poland Russia Sweden Turkey UAE South Africa China Taiwan Korea Singapore Thailand Indonesia Vietnam India Australia Sales office MITSUBISHI ELECTRIC AUTOMATION INC 500 Corporate Woods Parkway Vernon Hills IL 60061 U S A MITSUBISHI ELECTRIC AUTOMATION INC Mexico Branch Mariano Escobedo 69 Col Zona Industrial Tlalnepantla Edo C P 54030 Mexico MITSUBISHI ELECTRIC DO BRASIL COMERCIO E SERVICOS LTDA Rua Jussara 1750 Bloco B Anexo Jardim Santa Cecilia CEP 06465 070 Barueri SP Brasil MITSUBISHI ELECTRIC EUROPE B V German Branch Gothaer Strasse 8 D 40880 Ratingen Germany MITSUBISHI ELECTRIC EUROPE B V UK Branch Travellers Lane Hatfield Hertfordshire AL10 8XB U K MITSUBISHI ELECTRIC EUROPE B V Italian Branch Centro Direzionale Colleoni Palazzo Sirio Viale Colleoni 7 20864 Agrate Brianza Milano Italy MITSUBISHI ELECTRIC EUROPE B V Spanish Branch Carretera de Rub 76 80 Apdo 420 08173 Sant Cugat del Vall s Barcelona Spain MITSUBISHI ELECTRIC EUROPE B V French Branch 25 Boulevard des Bouvets F 92741 Nanterre Ce
19. No diagnosis error safety observation Func ional any unit a o function 2 communication data error Note 7 safety observation function i 7D 1 Stop observation error rd Safety observation ote 3 error 2 7D 2 Speed observation error ote 7 82 Master slave 82 1 Master slave operation error 1 operation error 1 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Stop Alarm deactivation Process Stop Alarm code Note 8 No Name S Detail name CPU ae ae E system ee ACD1 ACDO reset power Note 9 Note 9 Bit 3 Bit 2 Bit 1 Bit 0 USB USB communication time out 8A 1 error serial communication time out error communication time out error serial communication time out error Modbus RTU BA2 Modbus RTU communication communication time out error time out error eee hi NNN error 1 error 2 B 8D 3 Master station setting error 1 D O O O 8D 5 Master station setting error 2 soue SDS Mester a os T o T o vl lel T so T o T o o IA IXINAK itor errory SI Tee To D OO error 4 eager fe Te E O error 5 communication error serial 8E communication error Modbus RTU communication error 8E 8 Modbus RTU communication CRC error 88888 Watchdog 8888 _ Watchdog DB iV WV IIZ V7 MZ ENNE Fa 80 9 Synchronization error so o o 8D A Synchronization eror2_ so M o o M USB communication receive error serial communication SD Common
20. Process error 6 Load side encoder normal communication Receive data error 1 Load side encoder normal communication Receive data error 2 Load side encoder normal communication Receive data error 3 Load side encoder normal Load side encoder 2 communication Transmission normal data error 1 communication Load side encoder normal error 1 6 communication Transmission data error 2 Load side encoder normal communication Transmission data error 3 Load side encoder normal communication Receive data error 4 Load side encoder normal communication Receive data error 5 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Alarm deactivation Process Alarm code Note 8 code Alarm code Note 8 8 S Stop Detail l i in No Name No Detail name Alarm CPU E m system acp3 acp2 AcD1 acpo reset reset power Note 9 Note 9 Bit 3 Bit 2 Bit 1 Bit 0 axis axis 722 Load side encoder data update Each Each error axis axis 723 Load side encoder data Each Each Load side encoder waveform error axis axis 72 normal 72 4 Load side encoder non signal Each Each communication error axis axis error 2 error 1 axis axis error 2 8 N N axis axis Load side encoder data error 2 EDB Each axis axis Ta Option carderort o 74 2 Option carder 08 95 Alarm 74 Option card error 1 Option card error 3 Option card error 4 Option card error 5 75 Option card error 2 O
21. Replace the servo amplifier It does not occur Check 3 It takes an hour or Replace the servo more amplifier t takes less than an Check 4 hour It has a failure Take countermeasures against its cause It is repeatable Replace the servo A amplifier It is not repeatable Check 2 It has a failure Make home position setting again It has no failure Check 3 It has a failure Take countermeasures against its cause It has no failure Check 4 It was changed Replace the servo amplifier Change the process to use parameters less frequently after replacement It is occurring RJ010 A B WB RJ010 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Alarm No 16 Name Encoder initial communication error 1 Alarm content An error occurred in the communication between an encoder and servo amplifier 16 1 Encoder initial 1 An encoder cable is Check if the encoder It has a failure Replace or repair A communication malfunctioning cable is disconnected the cable B Receive data or shorted It has no failure Check 2 WB error 1 RJ010 When you use a linear Check if the servo The servo amplifier Use a servo servo motor with an amplifier MR J4 _A_ is not compatible amplifier which is A B Z phase differential RJ or MR J4 _B_ RJ with it compatible with it output linear encoder is compatible with the the servo amplifier is A B Z phase not
22. The ABS transfer mode is Check if ABSM is on Turn off ABSM A selected when the absolute position detection system is used The settings of the electronic Check the setting value of Set a proper value of the gear are incorrect the electronic gear electronic gear The setting of point tables is Check the point table setting Review the point table setting incorrect Wiring or the command pulse When using an MR HDP0O1 Review the wiring and the multiplication setting is manual pulse generator command pulse incorrect check the wiring and the multiplication setting command pulse multiplication setting assignment of TPO TP1 and Pr PT03 setting Power is not supplied to the A power supply is not Connect a power supply MR HDP01 manual pulse connected between 5 V to between 5 V to 12 V and 0 generator 12 V and 0 V of MR HDP0O1 V of MR HDP0O1 Power is not supplied to OPC Between DICOM and OPC of Connect between DICOM power input for open the CN1 connector of the and OPC collector sink interface servo amplifier is not connected Power is not supplied to OPC Between DICOM and OPC of Connect between DICOM power input for open the CN1 connector of the and OPC collector sink interface servo amplifier is not connected The axis is disabled Check if the disabling control Turn off the disabling control B axis switch is on axis switch WB B SW2 2 WB SW2 2 to 4 An error is occurring on the Che
23. The initial magnetic pole detection was not executed The speed deviation exceeded the detection level Check the setting of The setting is Set it correctly A Pr PLO2 and Pr incorrect B PLO3 The setting is Check 2 WB correct Check polarities of the The mounting Mount it correctly linear encoder and the direction is incorrect Review the encoder linear servo motor pulse count polarity selection setting of the parameter as required A Pr PC45 B WB Pr PC27 The mounting Check 3 direction is correct Check the wiring The wiring is Connect it correctly incorrect The wiring is Check 4 correct Execute the magnetic It is not repeatable Execute the pole detection and magnetic pole then check the detection repeatability It is repeatable Check 5 Check the value of The deviation is Review the operation droop pulses large status Review the Pr PLO5 setting depending on circumstances Check the setting of The setting is Set it correctly Pr PLO2 and Pr incorrect PLO3 The setting is Check 2 correct Check polarities of the The mounting Mount it correctly linear encoder and the direction is incorrect Review the encoder linear servo motor pulse count polarity selection setting of the parameter as required A Pr PC45 B WB Pr PC27 The mounting Check 3 direction is correct Check the wiring The wiring is Connec
24. The voltage of the control circuit power supply is low The power was cycled before the internal control circuit power supply stopped An instantaneous power failure has occurred for longer time than the specified time The time will be 60 ms when Pr PA20 is _ 0 The time will be the value set in Pr PF25 when Pr PA20 is _ 1 The time will be 60 ms when Pr PX25 is _ 0 __ and the J3 extension function is used The time will be the value set in Pr PX28 when Pr PX25 is 1 G An instantaneous power failure of 15 ms or longer has occurred on MR J4 03A6 RJ or MR J4W2 0303B6 When a power regeneration converter is used the voltage of the control circuit power supply is distorted Check the connection lt has a failure has a failure of the control circuit power supply the control circuit power supply is lower than prescribed value 200 V class 160 V AC 400 V class 280 V AC 100 V class 83 V AC 24 V DC input 17 V DC Check the power on method if it has a problem lower The voltage is higher than the prescribed value Check if the power has a problem It has no problem Check if the power has a problem When power supply impedance is high power supply voltage will be distorted due to current at power regeneration and it may be recognized as undervoltage 1 16 It has a problem It has a problem It has a problem Connect it corr
25. acceleration is the thrust ation time constant WB time of acceleration maximum torque Or reduce the load RJ010 maximum thrust It is less than the Check 6 maximum torque maximum thrust 6 The servo system is Check if the servo It is oscillating Adjust the servo unstable and oscillating motor is oscillating gain Or reduce the load It is not oscillating Check 7 The velocity waveform Check if it is It is overshooting Increase the has overshot overshooting because acceleration deceler the acceleration time ation time constant constant is too short Itis not Check 8 overshooting For MR J4 03A6 RJ Check if a bus voltage The bus voltage has Review the capacity A and MR J4W2 0303B6 drops temporarily of the 24 V DC main WB the speed has overshot during an operation circuit power supply when the power was Increase the voltage restored from a of the 24 V DC main temporary bus voltage circuit power supply drop during an within the operation permissible voltage fluctuation range Change the main circuit input voltage to 48 V DC Check operation pattern The bus voltage has Check 9 not dropped The connection Check the connection WB destination of the destinations of CN2A encoder cable is CN2B and CN2C It is correct Check 10 incorrect 1 40 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Alarm No 31 Name Overspeed
26. suppressor circuit is amplifier and then amplifier B malfunctioning check the WB repeatability RJ010 Alarm No 3D Name Parameter setting error for driver communication Alarm content The control parameter setting value for driver communication is incorrect 3D 1 Parameter 1 The master transmit Check the settings of The setting is Set it correctly B combination data selection for driver Pr PD16 and incorrect slave error for driver communication is not Pr PD17 on the communication set correctly master side on slave 3D 2 Parameter Check it with the check method for AL 3D 1 B combination master error for driver communication on master Alarm No 3E Name Operation mode error Alarm content The operation mode setting was changed 3E 1 Operation 1 The MR J4 servo Check if the The connection was Initialize the servo B mode error amplifier used in J3 connection was changed amplifier with the WB compatibility mode was changed to like these built in application connected to the other software MR SSCNET III H controller J4 W B mode Or an MR J4 servo selection of MR amplifier which was Configurator2 and connected to SSCNET then connect the III H controller was amplifier to the connected to another controller SSCNET III controller 2 The Pr PA01 setting Check if Pr PA01 It was changed Set Pr PA01 value was changed was changed correctly 3E 6 Operatio
27. the wiring constitution The voltage of the main circuit power supply is low Magnetic contactor failed Magnetic contactor drive circuit is malfunctioning A part in the converter unit is failure Any of the wirings L1 L2 and L3 is disconnected Or disconnected A part in the converter unit is failure Check the parameter It is out of setting Set it within the setting range range It is within the Check 2 setting range Check the The setting value is Set it correctly regenerative resistor incorrect regenerative option and Pr PA01 setting It is set correctly Check 3 value Check if parameters It was changed Replace the have been used very converter unit frequently Change the process to use parameters less frequently after replacement It was not changed Check 4 Replace the converter It is not repeatable Replace the unit and then check converter unit the repeatability Check the output of It is not correct magnetic contactor control connector CNP 1 Power supply voltage It is correct Check 2 is applied to this connector Take care to avoid an electric shock at connecting Check the Pr PA02 The setting or wiring Review the setting and the wiring is incorrect Pr PA02 setting constitution The setting and Check 3 The bus voltage is Increase the voltage voltage is lower than lower than the of the main circuit the prescribed value
28. 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Alarm No 17 Name Board error Alarmcontent content A part in the servo amplifier is malfunctioning control axis setting switch SW2 was not read properly Something near the device caused it 1 The setting value of the Disconnect the cables except for the control circuit power supply and then check the repeatability Check the noise a temperature It is not repeatable Check 2 Take countermeasures against its cause It has a failure It is repeatable Replace the servo B amplifier WB Check it with the check method for TIAL 17 4 B Inrush current suppressor circuit is malfunctioning Alarm No 19 Alarmcontent content Replace the servo amplifier and then check the repeatability Name Memory error 3 Flash ROM A part Flash ROM in the servo amplifier is failure It is not repeatable Replace the servo amplifier B WB Flash ROM error 1 1 The Flash ROM is malfunctioning 2 Something near the device caused it Disconnect the cables except for the control circuit power supply and then check the repeatability Check the noise a temperature A B WB RJ010 It is repeatable Replace the servo amplifier It is not repeatable Check 2 It has a failure Take countermeasures against its cause Flash ROM Check it with the check method for TAL 19 1
29. 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Alarm No 7D Name Safety observation error Alarm content The safety observation function detected an error 7D 2 Speed 1 The command pulse Check the command The command pulse Check operation A observation frequency is high pulse frequency frequency is high pattern B error The command pulse Check 2 frequency is low The settings of the Check the setting The setting value is Review the settings electronic gear are value of the electronic incorrect incorrect gear The setting value is Check 3 correct The command from the Check if the command It is over the Check operation controller is excessive from the controller is permissible speed pattern the SLS speed Pr PSA11 to Pr It is less than the Check 4 PSA14 or more permissible speed A larger speed Check that the actual The servo motor Review the setting command than the SLS servo motor speed is speed is higher than value of the SLS speed Pr PSA11 to higher than the setting the SLS speed speed Pr PSA14 was value of the SLS The servo motor Check 5 inputted speed speed is lower than the SLS speed The servo system is Check if the servo It is oscillating Adjust the servo unstable and motor is oscillating gain Or reduce the oscillating load It is not oscillating Check 6 The velocity waveform Check if it is It is overshooting Increase the
30. 2499 886 2 2299 2509 82 2 3660 9510 82 2 3664 8372 8335 65 6473 2308 65 6476 7439 66 2682 6522 to 6531 66 2682 6020 62 21 3192 6461 62 21 3192 3942 84 8 3910 5945 84 8 3910 5947 91 20 27 10 2000 91 20 2710 2100 61 2 9684 7777 61 2 9684 7245 Warranty 1 Warranty period and coverage We will repair any failure or defect hereinafter referred to as failure in our FA equipment hereinafter referred to as the Product arisen during warranty period at no charge due to causes for which we are responsible through the distributor from which you purchased the Product or our service provider However we will charge the actual cost of dispatching our engineer for an on site repair work on request by customer in Japan or overseas countries We are not responsible for any on site readjustment and or trial run that may be required after a defective unit are repaired or replaced Term The term of warranty for Product is twelve 12 months after your purchase or delivery of the Product to a place designated by you or eighteen 18 months from the date of manufacture whichever comes first Warranty Period Warranty period for repaired Product cannot exceed beyond the original warranty period before any repair work Limitations 1 You are requested to conduct an initial failure diagnosis by yourself as a general rule It can also be carried out by us or our service company upon y
31. A servo motor with functional safety is not connected The functional safety unit is malfunctioning The servo amplifier is malfunctioning An encoder is malfunctioning Something near the device caused it It has a failure Check if a servo motor It is not a servo with functional safety is connected Replace the functional safety unit and then check the repeatability Replace the servo amplifier and then check the repeatability Replace the servo motor and then check the repeatability Check the noise ambient temperature etc 1 62 motor with functional safety It is a servo motor with functional safety It is repeatable It has a failure Name Encoder initial communication error safety observation function The connected encoder is not compatible with the servo amplifier An error has occurred in the communication between an encoder and servo amplifier 1 2 3 4 It has a failure Replace or repair the cable It has no failure Check 2 It is not repeatable Replace the servo amplifier It is repeatable Check 3 It is not repeatable Replace the servo motor It is repeatable Check 4 Take countermeasures against its cause Connect a servo motor with functional safety Check 2 It is not repeatable Replace the functional safety unit It is repeatable Check 3 Itis not repeatable Replace the servo amplifier It is repe
32. DRIVE UNIT Alarm No 10 Name Undervoltage P The voltage of the GL L power supply has dropped The voltage of the main circuit power supply has dropped No Voltage drop in 7 The servo amplifier is Check the bus The bus voltage is Replace the servo the main circuit malfunctioning voltage value less than the amplifier power prescribed value although the voltage RJO10 of the main circuit power supply is within specifications 200 V class 200 V DC 400 V class 380 V DC 100 V class 158 V DC 48 V DC setting 35 V DC 24 V DC setting 15V DC 8 For the drive unit the Replace the converter It is not repeatable Replace the converter unit is unit and then check converter unit malfunctioning the repeatability Alarm No 11 Name Switch setting error The setting of the axis selection rotary switch or auxiliary axis number setting switch is incorrect Alarm content E l ta Ra The setting of the disabling control axis switch is incorrect 11 1 Axis number 1 The setting of the axis Check the settings of When both of the Set the axis No setting error No is incorrect the auxiliary axis auxiliary axis correctly number setting number setting switches SW2 switches are on 5 SW2 6 and axis check the axis selection rotary switch selection rotary SW1 switch if F is selected for MR J4W2 E or F is selected for MR J4W3 Both of the auxiliary Replace the servo axis number setting
33. Effective 3 5 speed command command ae rative load load ratio AL 33 ratio Doa son GTH am ne mR RD _ sTO e Analog Motor Torque Current Command Droop Speed Bus 0 888 AL35 speed command pulse pulses command voltage frequency 1 pulse Doa son GTH am WP weR RD _ sTO e Analog Motor Torque Motor side Motor side Command Droop Load side 0 888 speed load side load side pulse pulses droop position speed frequency 100 pulses AL 42 deviation deviation speed pulses 100 100 unit pulses pulses Doa son _ EMBIEW Atma ne mR Ro fso p Analog Motor Torque Current Internal Tempera Bus Effective 56 8 speed command tempera ture of voltage load ratio AL 46 ture of motor encoder thermistor Doa SON GT am WP me RD sto F Analog Motor Torque Current L Overload Bus Effective 56 8 speed command pulses alarm voltage load ratio AL 50 100 margin Doa son emzem am ne mR Ro fso e Analog Motor Torque Current Overload Bus Effective 56 8 speed command pulses alarm voltage load ratio margin Doa SON GT am WP wer RO sto r __ H 3 DRIVE RECORDER Samolin Measure Data 1 Data 2 Data 3 Data 4 Data 5 Data 6 Data 7 Data 8 A Png ment time time ms ms Analog Motor Torque Current Speed Bus Error 3 5 speed command pulses command voltage excessive AL 52 alarm margin Doa son _ EMBIEMT am e eR o fso mo __ Analog Motor Torque Load side Load
34. FOR SERVO AMPLIFIER DRIVE UNIT Alarm No 20 Alarm content Detail No Encoder normal communication Transmission data error 1 1 When you use an A B Z phase differential output linear encoder the wiring of the linear encoder is incorrect 2 An encoder cable is malfunctioning 3 The external conductor of the encoder cable is not connected to the ground plate of the connector 4 When you use an A B Z phase differential output linear encoder the parameter setting is incorrect 5 The servo amplifier is malfunctioning 6 An encoder is malfunctioning 7 Something near the device caused it When you use an A B Z phase differential output linear encoder the wiring of the linear encoder is incorrect Encoder normal communication Transmission data error 2 of the encoder cable is not connected to the ground plate of the connector 4 When you use an A B Z phase differential output linear encoder the parameter setting is incorrect 5 The servo amplifier is malfunctioning 6 An encoder is malfunctioning 7 Something near the device caused it Encoder normal communication Transmission data error 3 Name Encoder normal communication error 1 An error occurred in the communication between an encoder and servo amplifier Check if the A B phase pulse signals PA PAR PB and PBR of the encoder cable are disconnected or shorted Check i
35. FOR SERVO AMPLIFIER DRIVE UNIT Alarm No 36 Name SSCNET receive error 2 Alarm content No 36 1 interval Check the SSCNET Ill cable connection Continuous communication data error 1 The SSCNET III cable was disconnected 2 The surface at the end of SSCNET III cable Wipe off the dirt from the cable tip and then check the repeatability Check if the SSCNET Ill cable is malfunctioning got dirty The SSCNET III cable is broken or severed A vinyl tape is stacked to the SSCNET III cable Or a wire insulator containing migrating plasticizer is adhered to the cable Check if a vinyl tape is used Check if the cable is contacting with other cables 8 The servo amplifier is malfunctioning Replace the servo amplifier and then check the repeatability Replace the previous and next servo amplifier of the axis alarm occurred and then check the repeatability The previous or next axis servo amplifier of the alarm occurred is malfunctioning The controller is malfunctioning and then check the repeatability Check the noise ambient temperature etc Check it with the check method for AL 36 1 Something near the device caused it Continuous communication data error safety observation function 1 46 Replace the controller Turn off the control circuit power supply of the servo amplifier and then connect the SSCNET III cable It is connect
36. IE cable is malfunctioning Check the setting of Pr Po02 and Pr Po03 It has a failure incorrect Battery voltage for absolute position detection system decreased Take countermeasures against its cause RJO10 It has no failure Check 2 It is disconnected Turn off the control circuit power supply of the servo amplifier and then connect the CC Link IE cable It is connected Check 3 The wiring is incorrect Wire it correctly The wiring is correct Check 4 It has a failure Replace the CC Link IE cable It has no failure Check 5 The setting value is Review the communication settings 9F 1 Low battery The battery is not connected to CN4 2 The battery voltage is low The battery is consumed 9F 2 Battery 1 The absolute position degradation storage unit has not warning connected Check if the battery is It is not connected Connect it correctly A connected correctly Check the battery voltage with a tester When an MR BAT6V1BJ battery for junction battery cable was used check the voltage of the connector orange for servo amplifier Check if the absolute position storage unit is connected correctly Alarm No EO Name Excessive regeneration warning Alarm content regenerative resistor or regenerative option Excessive regeneration warning 1 The regenerative power exceeded 85 of the permissible regene
37. It is less than 3 V Replace the battery DC It is 3 V DC or more Check 5 It is not used Use a recommended wire It has a failure Replace the battery cable It has no failure Check 7 It has a failure Repair or replace the encoder cable Check 8 It is not repeatable Replace the servo amplifier It is repeatable Check 9 Replace the scale measurement encoder It was removed Check if the power was turned off in this state Check the battery voltage with a tester Check if a recommended cable is used for the encoder cable Check for the loose connection with a tester Check for the loose connection with a tester Measure the voltage on the scale measurement encoder side Replace the servo amplifier and then check the repeatability Replace the scale measurement encoder and then check the repeatability It has no failure It is not repeatable 1 35 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Alarm No 27 Name Initial magnetic pole detection error Alarm content The initial magnetic pole detection was not completed properly Check result 27 1 Magnetic pole detection Abnormal 27 2 Magnetic pole detection termination Time out error 2 3 4 5 1 2 3 A moving part collided against the machine The wiring of the servo motor power cable is incorrect The linear encoder resolution setting differs from the se
38. MR J4 _A_ RJ enabling disabling the drive recorder function can be made with the display diagnostic mode When an alarm occurs at the servo amplifier the conditions such as motor speed and droop pulses of the servo amplifier before after alarm occurrences will be recorded You can refer to the recorded data with MR Configurator2 The drive recorder records sixteen data at alarm occurrences in the past Occurring an alarm deletes the oldest data However sixteen data at alarm occurrences are recorded in total of A axis B axis and C axis for MR J4W_ _B Therefore alarms fewer than sixteen will be displayed on the alarm history display for each axis 3 DRIVE RECORDER 1 Trigger setting of drive recorder When you operate the drive recorder only for any alarms set Drive recorder arbitrary alarm trigger setting Pr PA23 For settings refer to explanation for Pr PA23 of each instruction manual When the setting value is 0 0 0 0 initial value in Drive recorder arbitrary alarm trigger setting Pr PA23 the drive recorder will operate at alarm occurrences other than alarms described in above POINT S Recordable data by drive recorder When the setting value is 0 0 0 0 initial value in Drive recorder arbitrary alarm trigger setting Pr PA23 the drive recorder will record data of standard column in table 3 1 or 3 2 for all alarms When you set an alarm in table 3 1 or 3 2 to Pr PA23 each data desc
39. Measure the The resonance Change the setting frequency has changed resonance frequency frequency of the value of the 3 encoder is motor or linear motor or linear malfunctioning encoder and then encoder check the repeatability 1 58 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Alarm No 56 Name Forced stop error Alarm content No 56 2 Over speed during forced stop 1 The forced stop deceleration time constant is short A Pr PC51 B WB RJ010 Pr PC24 The torque limit has been enabled The servo system is unstable and oscillating 56 3 Estimated distance over during forced stop The forced stop deceleration time constant is short A Pr PC51 B WB RJ010 Pr PC24 The torque limit has been enabled The encoder or liner encoder is malfunctioning 2 3 4 1 2 3 3 The encoder or liner encoder is malfunctioning Alarm No 61 Name Operation error Alarm content 61 1 Point table setting range error sub function of the last point table 255 The servo motor does not decelerate normally during forced stop deceleration Check method Check result Increase the parameter setting value and then check the repeatability Check if the limiting torque is in progress Check if the servo motor is oscillating Check the torque ripple with MR Configurator2 Replace the servo motor or linear encoder
40. Repair or replace A ABS data signals is incorrect wire is disconnected o the I O signal wire Alarm content transfer connected loosely lamers a rene eee is incorrect program program is incorrect program E5 2 ABSM off Check it with the check method for AL E5 1 during ABS data transfer SON off during ABS data transfer Alarm No E6 Name Servo forced stop warning Alarm tonteni EM2 EM1 Forced stop turned off SS1 command was inputted Detail name Detail name Cause Check method Check result Forced stop 1 EM2 EM1 Forced Check the status of It is off Ensure safety and warning stop turned off EM2 EM1 turn on EM2 EM1 Forced stop An external 24 V DC Check if the external power supply have not 24 V DC power Raid power supply inputted is inputted The servo amplifier is Replace the servo It is not repeatable Replace the servo malfunctioning amplifier and then amplifier check the repeatability E6 2 SS1 forced stop The SS1 command is Check if the SS1 The SS1 command _ Turn on the SS1 warning 1 off enabled command is off is off enabled input disabled safety enabled observation An external 24 V DC is Check if an external It is not inputted Input the 24 V DC function not inputted to the 24 V DC is inputted to power supply functional safety unit the functional safety T It is inputted Check 3 unit The functional safety Replace the functional It is not repe
41. cable It is connected Check 2 It is not repeatable Take measure to keep the cable tip clean It is repeatable Check 3 It has a failure Replace the SSCNET III cable It has no failure Check 4 It is used They are Take in contact countermeasures against its cause Check 5 It is disconnected Wipe off the dirt from the cable tip and then check the repeatability Check if the SSCNET Ill cable is malfunctioning Check if a vinyl tape is used Check if the cable is contacting with other cables It is not used They are not in contact It is not repeatable Replace the servo amplifier It is repeatable Check 6 It is not repeatable Replace the servo amplifier Check 7 It is not repeatable Replace the controller It is repeatable Replace the servo amplifier and then check the repeatability Replace the previous and next servo amplifier of the axis alarm occurred and then check the repeatability Replace the controller and then check the It is repeatable repeatability Check the noise ambient temperature etc Check it with the check method for AL 34 1 8 Something near the It has a failure device caused it 1 44 Check 8 Take countermeasures against its cause WB 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Alarm No 35 Name Command frequency error Alarm content Input pulse frequency of command
42. correct setting of internal speed with BCD input An analog signal is not input Check the value of VC Set the VC Analog override correctly in the positioning Analog override using the and input the analog signal mode point table method status display or MR correctly and program method Configurator2 The selection of OVO Digital Check OVO Digital override Review the wiring override selection 1 OV1 selection 1 OV1 Digital Review the settings of OVO Digital override selection 2 override selection 2 OV2 Digital override selection 1 OV2 Digital override Digital override selection 3 OV1 Digital override selection 3 or OV3 Digital and OV3 Digital override selection 2 OV2 Digital override selection 4 is selection 4 and then check if override selection 3 and incorrect in the positioning the selected override level OV3 Digital override mode indexer method is correct selection 4 The servo motor vibrates The estimated value of the If the servo motor may be Execute auto tuning and with low frequency load to motor inertia ratio by driven with safety repeat one touch tuning to reset the auto tuning is incorrect acceleration and deceleration load to motor inertia ratio When the load to motor several times to complete Set the load to motor inertia RJ010 inertia ratio is set by manual auto tuning Check if the load ratio correctly for manual the setting value is incorrect to m
43. displayed This indicates a Z phase pulse information 1 counter for the INC linear encoder The value is counted up from 0 based on the home position reference mark This indicates an absolute position for the ABS linear encoder It is displayed in load side encoder pulse unit Load side encoder Multi revolution counter of the load side encoder is displayed pulse information 2 Load side encoder This indicates the number of cumulative errors during a communication with the load side times error counter 1 encoder Load side encoder The same as load side encoder error counter 1 times error counter 2 EN N oa x me ne n ro ne n D n 2 3 DRIVE RECORDER S rane T HTS G RIT status of he servo on Signal from the controlen Sd This will turn on when an alarm is detected in the servo amplifier This changes faster than ALM of the external output signal This indicates MBR status of the external output signal This indicates RD status of the external output signal This Indicates the STO status of the external input signal This will turn on when the control circuit power becomes instantaneous power failure status This indicates INP status of the external output signal AV 3 DRIVE RECORDER 3 2 How to display drive recorder information Select Diagnosis and Drive Recorder from the menu bar of MR Configurator2 The window shown in the right hand image will be d
44. for AL 72 2 Load side encoder data error 2 Check it with the check method for AL 72 1 Alarm No 74 Name Option card error 1 Alarmicontent MR J3 T10 came off MR J3 T10 is not properly recognized Option card error 1 Option card error 2 The MR J3 T10 came off during the CC Link IE communication MR J3 T10 is malfunctioning Check if the MR J3 T10 is mounted correctly Replace the MR J3 T10 and then check the repeatability It is not mounted correctly It is mounted correctly It is not repeatable Install it correctly Check 2 Replace the MR J3 T10 It is repeatable Check 3 Option card error 3 Option card error 4 Option card error 5 The servo amplifier is malfunctioning Replace the servo amplifier and then check the repeatability Check it with the check method for AL 74 1 1 70 It is not repeatable Replace the servo amplifier RJO10 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Alarm No 75 Name Option card error 2 Alarm content MR J3 T10 came off Option card connection error 75 4 Option card disconnected MR J3 110 came off MR J3 T10 is malfunctioning The servo amplifier is malfunctioning MR J3 T10 was not connected correctly MR J3 T10 is malfunctioning The servo amplifier is malfunctioning Check if the MR J3 T10 is mounted c
45. has overshot overshooting because acceleration deceler the acceleration time ation time constant constant is too short Itis not Check 7 overshooting The connection Check the connection It is not correct Wire it correctly destination of the destination of the encoder cable is encoder It is correct Check 8 incorrect The encoder or liner Replace the servo Itis not repeatable Replace the servo encoder is motor and then check motor malfunctioning the repeatability The functional safety Replace the functional unit is malfunctioning safety unit and then functional safety unit repeatability The servo amplifier is Replace the servo malfunctioning amplifier and then amplifier repeatability 11 Something near the Check the noise It has a failure Take device caused it ambient temperature countermeasures etc against its cause Alarm No 82 Name Master slave operation error 1 Alarm content Driver communication error was detected 1_ Master slave Check it with the check method for AL 34 1 B operation error slave 1 1 78 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Name USB communication time out error serial communication time out error Modbus RTU communication time out error Communication between the servo amplifier and a personal computer controller stopped for the specified time or longer An error occurred in USB communication
46. inputted signal A point table was executed A positioning to the same Multiple operation starts Review the setting of the but the operation did not start position is repeated which have the same point table or procedures of specified number of point the operation table are in progress Positioning to a same point Review the setting of the was endlessly repeated with point table or procedures of automatic continuous the operation operation 8 9 10 11 was selected in sub functions of the point table operation The electromagnetic brake The wiring is incorrect Check the SBC output signal Review the output signals cannot be canceled A signal of output device is Check if the output device Review the wiring or load not outputted correctly cable is wired correctly Or check if a load of output device is over specifications The functional safety unit is Replace the functional safety Replace the functional safety malfunctioning unit and then check the repeatability A vertical axis falls while the The STO function is used Check if the SS1 function is Enable the SS1 function SBC output is used during servo on enabled A signal of output device is Check if the output device Review the wiring or load not outputted correctly cable is wired correctly Or check if a load of output device is over specifications The functional safety unit is Replace the functional safety Replace the functional safety malfunctioning
47. malfunctioning Encoder 1 An encoder is Replace the servo It is not repeatable Replace the servo A malfunction malfunctioning motor and then motor B It is repeatable Check 2 WB RJ010 repeatability Something near the device caused it countermeasures Check the noise ambient temperature vibration etc against its cause Replace the load side It is not repeatable Replace the load A encoder and then side encoder B A load side encoder is malfunctioning repeatability check the It has a failure Take 1E 2 Load side encoder malfunction Something near the device caused it Check the noise ambient temperature vibration etc 1 26 It has a failure Take countermeasures against its cause 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Alarm No 1F Name Encoder initial communication error 3 Alarm content The connected encoder is not compatible with the servo amplifier 1F 1 Incompatible encoder Incompatible load side encoder 1 A servo motor or linear encoder which is not compatible with the servo amplifier was connected The software version of the servo amplifier does not support the servo motor or linear encoder An encoder is malfunctioning A load side encoder which is not compatible with the servo amplifier was connected The software version of the servo amplifier does not support the load side encoder
48. min by an external WB failure 6000 r min by an force RJ010 external force during servo amplifier power off Note The acceleration time is 0 2 s or less The servo amplifier power Check if the servo amplifier Review the power on timing turned on while the servo power turned on while the motor was rotated exceeding servo motor was rotated 3000 r min by an external exceeding 3000 r min by an force external force Transfer data to the Check the ABS data with MR Review the controller A controller is incorrect Configurator2 programs The servo gain is low or too Check the velocity waveform Adjust the response of auto high with a graph using MR tuning and execute the gain The response of auto tuning Configurator2 if overshoot adjustment again is low or too high undershoot is occurring The setting of Pr PBO6 Check that the setting value Set it correctly Load to motor inertia ratio of Pr PBO6 Load to motor load to motor mass ratio is inertia ratio load to motor incorrect mass ratio and the actual load moment of inertia or load mass are matched Capacity shortage or Check the instantaneous Reduce the effective load shortage of the maximum torque using status display if ratio by increasing torque thrust due to too the maximum torque acceleration deceleration large load maximum thrust exceeds time and reducing load the torque limit value thrust limit value The setting of the torque lim
49. on of the servo status display or MR amplifier Configurator2 The servo motor starts to An analog signal is inputted Check the status of analog Review the timing of drive immediately after from the beginning speed command and analog inputting analog signals servo on torque command using status display or MR Configurator2 Zero point of an analog Check if the servo motor Execute the VC automatic signal deviates drives while 0 V is inputted to offset or adjust offset of the the analog signal analog signal with Pr PC37 or Pr PC38 For a servo motor with an Check the brake release Review the brake release A electromagnetic brake the timing timing B brake release timing is not WB correct RJ010 The connection of the servo Check the wiring of U V and Connect it correctly motor is incorrect W 1 111 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Check resul Home position deviates at For the dog type home Check if a fixed amount in Adjust the dog position home position return position return the point one revolution deviates which the dog turns off and the point which Z phase pulse is detected CR input position are too close The in position range is too Check the setting of the in Set a narrower in position large position range in Pr PA10 range The proximity dog switch is Check if the proximity dog Repair or replace the failure Or mounting signal is inputted correctly p
50. other axis of AL 32 on the other axis side It did not occur Check 3 3 All alarms of Target Check the Pr PF02 All alarms is Remove the cause alarm selection of the setting selected of the occurring other axis error warning alarm at other axis is selected in Pr PF02 AL 32 occurred at Check if AL 32 is It is occurring Eliminate the cause Alarm No EC Name Overload warning 2 Alarm content Operations over rated output were repeated while the servo motor shaft was not rotated EC 1 Overload 1 The load is too large or Check the effective The effective load Reduce the load A warning 2 the capacity is not load ratio ratio is high Replace the servo B enough motor with the one WB of larger capacity RJ010 Alarm No ED Name Output watt excess warning The status in which the output wattage speed x torque of the servo motor exceeded the rated output Alarm content S i continued steadily Detail s No Detail name Cause Check method Check result Action Target ED 1 Output watt 1 The status in which the Check the servo motor The output wattage Reduce the servo A excess warning output wattage speed speed and torque or is 120 of rating motor speed B x torque or thrust of check the motor speed Reduce the load WB the servo motor and thrust RJ010 exceeded 120 of the rated output continuous thrust continued steadily 1 100 1 TROUBLESHOO
51. power on Multiple rotation data saved as a home position and read from EEP ROM were failure Something near the device caused it The number of write times exceeded 100 000 Disconnect the cables except for the control circuit power supply and then check the repeatability Check the power supply for noise Check if the connector is shorted Check if parameters point tables or programs are changed very frequently Check if AL 74 Option card error 1 occurred with alarm history Check if the error occurs when you change parameters during normal operation Check if the alarm occurs after an hour from power on Check the power supply for noise Check if the connector is shorted Disconnect the cables except for the control circuit power supply and then check the repeatability Check if the home position was set correctly Check the power supply for noise Check if the connector is shorted Check if parameters has been used very frequently 1 21 A B WB RJ010 It is repeatable Replace the servo amplifier It is not repeatable Check 2 It has a failure Take countermeasures against its cause It has no failure Check 3 It was changed Replace the servo amplifier Change the process to use parameters point tables and programs less frequently after replacement Check it with the check method for AL 74 It did not occur Check 2 It occurs
52. power supply prescribed value supply voltage is over the prescribed value 200 V class 264 V AC 400 V class 528 V AC 100 V class 132 V AC It is the prescribed 48 V DC setting 75 v UP Or lower DC 24 V DC setting 55 V DC Check the noise ambient temperature etc Check 6 Take countermeasures against its cause It has a failure 1 43 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Alarm No 34 Name SSCNET receive error 1 Alarm content An error occurred in SSCNET III H communication continuous communication error with 3 5 ms interval 34 4 Hardware error signal detection SSCNET receive data error SSCNET connector connection error SSCNET communication data error SSCNET receive data error safety observation function SSCNET communication data error safety observation function 1 The SSCNET III cable was disconnected The surface at the end of SSCNET III cable got dirty The SSCNET III cable is broken or severed A vinyl tape is stacked to the SSCNET III cable Or a wire insulator containing migrating plasticizer is adhered to the cable The servo amplifier is malfunctioning The previous or next axis servo amplifier of the alarm occurred is malfunctioning The controller is malfunctioning Check the SSCNET Ill cable connection Turn off the control circuit power supply of the servo amplifier and then connect the SSCNET III
53. prescribed value power supply 200 V class 215 V DC The bus voltage is Check 4 400 V class 430 V DC the prescribed value or higher Replace the magnetic It is not repeatable Replace the contactor and then magnetic contactor repeatability Replace the converter It is not repeatable Replace the unit and then check converter unit the repeatability Replace the converter It is not repeatable unit and then check the repeatability Check if the wirings of It has a failure Review the wiring L1 L2 and L3 are incorrect It has no failure Check 2 Replace the converter It is not repeatable Replace the unit and then check converter unit the repeatability Connect it correctly Check if the bus Replace the converter unit 2 TROUBLESHOOTING FOR MR CR55K 4 CONVERTER UNIT Ka Name Description Check method Check result Inrush current 1 Turning on and off of Check if the inrush It is turned on and Check operation relay is turned on and off pattern suppression circuit the inrush relay were error The inrush current suppression circuit error was detected Main circuit device overheat The inside of the converter unit overheated 47 Cooling fan error The speed of the converter unit cooling fan decreased Or the fan speed decreased to the alarm occurrence level or less 50 Overload 1 Load exceeded overload protection characteristic of converter u
54. receive error USB communication checksum 8E 2 error serial communication SD Common All axes checksum error USB communication character 8E 3 error serial communication SD Common All axes character error USB communication command 8E 4 error serial communication SD Common All axes command error USB communication data number error serial fa TSH gt axes All axes communication data number error Modbus RTU communication receive error foe m m m O Ln k E N Common All axes fo A a VV aC VV i elie fee oul foals Modbus RTU communication SD message frame error PECA 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Note 1 ODNAN Leave for about 30 minutes of cooling time after removing the cause of occurrence The following shows three stop methods of DB EDB and SD DB Stops with dynamic brake Coasts for the servo amplifier without dynamic brake Coasts for MR J4 03A6 RJ and MR J4W2 0303B6 Note that EDB is applied when an alarm below occurs LAL 30 1 AL 32 2 AL 32 4 AL 51 1 AL 51 2 LAL 888 EDB Electronic dynamic brake stop available with specified servo motors Refer to the following table for the specified servo motors The stop method for other than the specified servo motors will be DB HG KR HG KR053 HG KR13 HG KR23 HG KR43 HG MR HG MR053 HG MR13 HG MR23 HG MR43 HG SR HG SR51 HG SR52 H
55. reference of AL 51 2 is changed AL 52 1 10 is changed AL 70 is added AL 71 is added AL 72 is added The serial communication is added to AL 8A The serial communication is added to AL 8E Section 1 3 AL E8 1 1 is added AL E8 2 is added Feb 2013 SH NA 030109 C Section 1 1 AL 17 8 is added AL 74 is added AL 75 is added AL 8D is added AL 93 is added AL 96 4 is added AL 9D is added AL 9E is added Section 1 2 AL 17 8 is added AL 74 is added AL 75 is added AL 8D is added The part of table is changed Section 1 3 AL 93 is added AL 96 4 is added AL 9D is added AL 9E is added The part of table is changed Section 1 4 Addition Chapter 2 Addition Aug 2013 SH NA 030109 D Section 1 1 AL 25 2 is added AL 3D is added AL 82 is added Section 1 2 AL 11 2 The part of table is changed AL 25 2 is added AL 27 1 The part of table is changed AL 37 The part of table is changed AL 3D is added AL 42 The part of table is changed AL 82 is added Section 1 4 The part of table is changed Section 2 1 The part of table is changed Print Data_ Manual Number Oct 2013 SH NA 030109 E Section 1 2 AL 25 1 The part of table is changed AL 25 2 The part of table is changed Section 1 3 AL 92 1 The part of table is changed AL 9F 1 The part of table is changed Mar 2014 SH NA 030109 F 1
56. repeatable Check 3 The servo amplifier is Replace the servo It is not repeatable Replace the servo malfunctioning amplifier and then amplifier check the It is repeatable Check 4 repeatability 4 The master station is Check if the master It has a failure Replace the master malfunctioning station is station malfunctioning CC Link IE Check it with the check method for AL 8D 7 communication error 5 Synchronization Check it with the check method for AL 8D 1 error 1 Synchronization error 2 6 7 Alarm No 8E Name USB communication error serial communication error Modbus RTU communication error A communication error occurred between the servo amplifier and a personal computer controller Alarm content An error occurred in USB communication serial communication Mitsubishi general purpose AC servo protocol or Modbus RTU communication USB The setting of the Check the setting of Review the settings A personal computer etc the personal B is incorrect computer etc Check 2 WB A communication cable Check the It is not repeatable Replace the RJ010 is malfunctioning communication cable communication and then check the cable repeatability It is repeatable Check 3 The servo amplifier is Replace the servo It is not repeatable Replace the servo communication receive error serial communication receive error malfunctio
57. set in the the servo amplifier at parameter Pr PT34 5001 initializing Please wait until and the power was cycled the display changes The display shows off Operation mode for Check if all of the control axis Set the control axis setting B manufacturer setting is setting switches SW2 are switches SW2 correctly WB enabled on RJ010 The display turned off The external I O terminal When the display is on by Review the wiring of I O A was shorted disconnecting the following signals B connectors check if the WB disconnected cable wire is RJ010 shorted A CN1 CN2 CN3 B WB RJ010 CN2 CN3 The control circuit power Check if the control circuit Turn on the control circuit supply is not applied power supply of the servo power amplifier is off The voltage of the control Check if the voltage of the Increase the voltage of the circuit power supply has control circuit power supply control circuit power supply dropped dropped The servo motor does not The connection of the servo Check the wiring of U V and Connect it correctly A operate motor is incorrect W B The servo motor power Check if the encoder cable Connect the encoder cable WB supply cable was connected and servo motor power and servo motor power RJ010 to a servo amplifier of other supply cable are connected supply cable correctly axis to the same servo amplifier An alarm or warning is Check if an alarm or warning
58. than the alarm occurrence level The fan speed is above the alarm occurrence level Replace the cooling fan of the converter unit Check 3 The power supply of the cooling fan is malfunctioning A current was applied to the converter unit in excess of its continuous output current A current was applied to the converter unit in excess of its output current for a short time Failure of the part in the converter unit Check if the cooling fan is stopping Check the effective load ratio Check the effective load ratio or peak load ratio Replace the converter unit and then check the repeatability It is stopping The effective load ratio is high The effective load ratio is high It is not repeatable Replace the converter unit Reduce the load Check operation pattern Check operation pattern Replace the converter unit 2 TROUBLESHOOTING FOR MR CR55K 4 CONVERTER UNIT 2 4 Remedies for warnings When any of the following warnings has occurred do not cycle the power of the converter unit repeatedly to restart Doing so will cause a malfunction of the converter unit drive unit and servo motor If the power of the converter unit drive unit is switched off on during the warnings allow more than 30 minutes for cooling before resuming operation AL 91 Converter overheat warning AL EO Excessive regeneration warning AL E1 Overload warning 1 The warning
59. this battery or MR way when the control BT6VCASE battery circuit power supply case was used CN4 was off of the servo amplifier was disconnected during control circuit power supply off When an MR BAT6V1BJ battery for junction battery cable was used both CN4 of the servo amplifier and MR BAT6V1BJ battery for junction battery cable were disconnected from the MR BT6VCBL03M junction battery cable When an MR BAT6V1SET A battery or MR BT6VCASE battery case was used the power was turned off with the battery disconnected from CN4 When an MR BAT6V1BJ battery for junction battery cable was used the power was turned off with the battery disconnected from CN4 and MR BT6VCBL03M junction battery cable The encoder cable was disconnected with the MR BAT6V1BJ battery disconnected from MR BT6VCBLO3M junction battery cable It was removed It was not removed Check if the power It was turned off was turned off in this state It was not turned off Check if the encoder cable was disconnected in this state It was disconnected Check that the battery is mounted correctly and make home position return RJ010 This is not the first Check 2 time Check that the battery is mounted correctly and make home position return Check 3 Check that the battery is mounted correctly and make home position return MR BAT6V1BJ battery for junction battery cable Refer t
60. unit and then check the repeatability The setting of a waiting time Check if Pr PCO2 Set it correctly of the electromagnetic brake Electromagnetic brake sequence output is incorrect sequence output and Pr PSA03 SS1 monitoring deceleration time are set correctly 1 115 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Check result Modbus RTU communication The servo amplifier is not set Check if communication Select Modbus RTU protocol is not established to Modbus RTU protocol selection in Pr communication protocol PC71 is correctly set The communication setting is Check if Pr PC70 Modbus Check Pr PC70 Modbus not set correctly RTU communication station RTU communication station number setting is set number setting and the correctly station No specified in a Query message from the controller if they are matched together Check if Modbus RTU Check Modbus RTU communication baud rate communication baud rate selection in Pr PC71 is set selection and the correctly communication baud rate setting of the controller if they are matched together Check if Modbus RTU Check Modbus RTU communication parity communication parity selection in Pr PF45 is set selection and the parity correctly setting of the controller if they are matched together The servo amplifier is not For MR J4 _A_ RJ 100 W or For MR J4 _A_ RJ 100 W or compatible with Modbus RTU more servo amplifier check
61. 00 V class MR J4 series servo amplifiers are added Section 1 2 AL 10 The part of table is changed AL 1A 1 The part of table is changed AL 27 3 The part of table is changed AL 30 1 The part of table is changed AL 33 1 The part of table is changed Section 1 3 AL E9 The part of table is changed Appendix 1 The diagram is changed Apr 2014 SH NA 030109 G MR J4 _A_ RJ servo amplifier positioning mode and MR D30 are added Section 1 1 Added Section 1 2 Stop system Alarm deactivation Alarm code are added AL 15 4 Newly added AL 1A 4 Newly added AL 34 5 AL 34 6 Newly added AL 36 2 Newly added AL 3E 6 Newly added AL 45 2 Newly added AL 46 4 Newly added AL 63 5 Newly added AL 64 1 to AL 64 3 Newly added AL 65 1 to AL 65 9 Newly added AL 79 1 to AL 79 8 Newly added AL 7A 1 to AL 7A 4 Newly added AL 7C 1 AL 7C 2 Newly added AL 7D 2 Newly added Section 1 3 AL 95 3 to AL 95 5 Newly added AL E6 2 AL E6 3 Newly added Section 1 4 AL 10 1 Newly added AL 15 4 Newly added AL 1A 4 Newly added AL 34 5 AL 34 6 Newly added AL 36 2 Newly added AL 3E 6 Newly added AL 45 2 Newly added AL 46 4 Newly added AL 63 5 Newly added AL 64 1 to AL 64 3 Newly added AL 65 1 to AL 65 9 Newly added AL 79 1 to AL 79 8 Newly added AL 7A 1 to AL 7A 4 Newly added AL 7C 1 AL 7C 2 Newly add
62. 1 to setting incorrect station correct The network number is Check the Pr Po03 The setting value is Set it correctly set to a value other setting incorrect master station correct MR J3 T10 is Replace the MR J3 malfunctioning T10 and then check J3 T10 the repeatability The servo amplifier is Replace the servo malfunctioning amplifier and then amplifier repeatability The master station is Check if the master It has a failure Replace the master malfunctioning station is station malfunctioning 1 80 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Alarm No 8D Name CC Link IE communication error Alarmnesntent MR J3 T10 came off An error occurred in CC Link IE communication 8D 5 Master station 1 A reserved station has Check if a reserved It is selected Cancel the RJ010 setting error 2 been selected by the station is selected reserved station master station and the cyclic communication has stopped 8D 6 CC Link IE Check it with the check method for LAL 8D 1 communication 8D error 3 CC Link IE 1 The transmission Check the noise It has a failure Take RJ010 communication status of the CC Link IE ambient temperature countermeasures error 4 communication is etc against its cause abnormal It has no failure Check 2 MR J3 T10 is Replace the MR J3 It is not repeatable Replace the MR malfunctioning T10 and then check J3 T10 the repeatability It is
63. 120 Thailand PT MITSUBISHI ELECTRIC INDONESIA Gedung Jaya 11th Floor JL MH Thamrin No 12 Jakarta Pusat 10340 Indonesia MITSUBISHI ELECTRIC VIETNAM COMPANY LIMITED Unit 01 04 10th Floor Vincom Center 72 Le Thanh Ton Street District 1 Ho Chi Minh City Vietnam MITSUBISHI ELECTRIC INDIA PVT LTD Pune Branch Emerald House EL 3 J Block M I D C Bhosari Pune 411026 Maharashtra India MITSUBISHI ELECTRIC AUSTRALIA PTY LTD 348 Victoria Road P O Box 11 Rydalmere N S W 2116 Australia Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax 1 847 478 2100 1 847 478 2253 52 55 3067 7500 55 11 4689 3000 55 11 4689 3016 49 2102 486 0 49 2102 486 1120 44 1707 28 8780 44 1707 27 8695 39 039 60531 39 039 6053 312 34 935 65 3131 34 935 89 1579 33 1 55 68 55 68 33 1 55 68 57 57 420 251 551 470 420 251 551 471 48 12 630 47 00 48 12 630 47 01 7 812 633 3497 7 812 633 3499 46 8 625 10 00 46 46 39 70 18 90 216 526 3990 90 216 526 3995 971 4 3724716 971 4 3724721 27 11 658 8100 27 11 658 8101 86 21 2322 3030 86 21 2322 3000 886 2 2299
64. 2 Linear servo motor speed 50 mm s or more 3 Direct drive motor speed 5 r min or more STO2 off 1 63 5 STO by 1 functional safety unit STO2 was turned off enabled under the following speed conditions 1 Servo motor speed 50 r min or more 2 Linear servo motor speed 50 mm s or more 3 Direct drive motor speed 5 r min or more STO of the functional safety unit was turned off enabled under the following speed conditions 1 Servo motor speed 50 r min or more 2 Linear servo motor speed 50 mm s or more 3 Direct drive motor speed 5 r min or more enabled Check if STO2 is off enabled It is off enabled Check if STO of the functional safety unit is off enabled It is off enabled disabled B WB RJ010 Turn on STO2 disabled Turn on STO disabled Alarm No 64 Name Functional safety unit setting error Alarm content A setting of the servo amplifier or functional safety unit was incorrect 64 1 STO input error 1 Operation mode 1 setting error Compatibility mode setting error 64 2 4 3 When a functional safety unit is used a connector is connected to CN8 of the servo amplifier When a functional safety unit is used the J3 compatibility mode is set The speed observation function turned to be enabled in the fully closed loop control mode linear servo motor control mode or DD motor control mode Che
65. 5 1 STO1 off detection 95 2 STO2 off detection STO warning 1 safety observation 95 3 function STO warning 2 safety observation 95 4 function STO warning 3 safety observation 95 5 c function In position warning at home 96 1 T positioning Command input warning at home 96 2 nee positioning 96 3 Servo off warning at home positioning Home positioning warning during 96 4 magnetic pole detection Program operation 97 1 Program operation disabled disabled next station warning position warning 97 2 Next station position warning Forward rotation side software 98 1 a7 Software limit stroke limit reached warning Reverse rotation side software 98 2 a stroke limit reached ae g E Forward rotation stroke end off ote 4 Stroke limit warning S Reverse rotation stroke end off Note 4 9A Optional unit input 9A 1 Optional unit input data sign error data error warning 9A 2 Optional unit BCD input data error 9B 1 Excess droop pulse 1 warning Error ee 9B 3 Excess droop pulse 2 warning warning Error excessive warning during 0 9B 4 sles torque limit 9D 1 Station number switch change warning 9D 2 Master station setting warning 9D3 Overlapping station number warning 9D 4 Mismatched station number warning Barak z warning 9 1 CC Link IE communication warning 9F 1 Low battery Battery warning 9F 2 Battery degradation warning o Each axis Each axis Common Commo
66. A CN2B and CN2C Check if it is resonating Replace the servo amplifier and then check the repeatability Replace the servo motor or linear encoder and then check the repeatability Check it with the check method for AL 50 4 1 55 It collided Check operation A pattern B It did not collide Check 2 WB Repair or replace R3010 the servo motor power cable It is not Check 3 disconnected The hunting is Adjust gains occurring The hunting is not Check 4 occurring It is not released Release the electromagnetic brake It is released Check 5 The effective load Reduce the load Or ratio is high use a larger capacity motor The effective load Check 6 ratio is small It is not correct Connect it correctly WB It is resonating Adjust gains A B It is not resonating Check 8 vel Itis not repeatable Replace the servo RJ010 amplifier It is repeatable Check 9 It is not repeatable Replace the servo motor or linear encoder 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Alarm No 51 Name Overload 2 Alarm content Maximum output current flowed continuously due to machine collision or the like 51 1 Thermal 1 The servo motor power Check the servo It is disconnected Repair or replace A overload error cable was motor power cable the servo motor B 3 during disconnected power cable WB operation It is not Chec
67. C45 B WB Pr PC27 The mounting Check 5 direction is correct It is too short Increase it with the Pr PLO9 setting It did not collided It has a failure It has no failure The travel distance is Review the Pr too long ora PL17 setting vibration is occurring Servo on was enabled when the motor did not stop Stop the linear servo motor and the direct drive motor and enable servo on again Servo on was Check 2 enabled when the motor stopped It has a failure Remove the cause Move the start position of the magnetic pole detection It has no failure Check 3 It is too short Increase it with the Pr PLO9 setting 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Alarm No 27 Name Initial magnetic pole detection error Alarm content The initial magnetic pole detection was not completed properly Magnetic pole 1 Both of the limit Check the limit Both of them are off Turn on the limit detection switches are off during switches switches Limit switch the magnetic pole When using a direct error detection drive motor also check 2 When using a direct Check the Pr PLO8 The Pr PL08 Set the Pr PL08 drive motor in a system setting setting is _ 0 __ settingto _1__ where the motor rotates one revolution or more the following stroke limit signals are not enabled with a parameter A LSP and LSN B WB FLS and RLS Magnetic pole Che
68. CC Link IE communication error Alarmnesntent MR J3 T10 came off An error occurred in CC Link IE communication 8D 1 CC Link IE 1 The MR J3 T10 came Check if AL 74 It is occurring Check it with the RJ010 communication off during the CC Link Option card error 1 check method for error 1 IE communication occurred with alarm AL 74 history 2 The CC Link IE cable Check the CC Link IE It is disconnected Turn off the control was disconnected cable connection circuit power supply of the servo amplifier and then connect the CC Link IE cable The wiring of the CC Check if the wiring of at T laaa e A CC Link IE cable was Check if the CC Link It has a failure Replace the CC disconnected IE cable is Link IE cable malfunctioning It has no failure Check 5 The transmission Check the noise It has a failure Take status of the CC Link ambient temperature countermeasures IE communication is etc against its cause abnormal MR J3 110 is Replace the MR J3 malfunctioning T10 and then check J3 T10 the repeatability The servo amplifier is Replace the servo malfunctioning amplifier and then amplifier repeatability The master station is Check if the master It has a failure Replace the master malfunctioning station is station malfunctioning 8D 2 CC Link IE communication error 2 3 D D 8 Master station The setting value is Set it correctly RJ010 setting error 1 a value other than
69. Check it with the check method for AL 54 1 detection warning Alarm No F5 Name Simple cam function Cam data miswriting warning Alarm content The cam data written by MR Configurator2 is not written to a Flash ROM gaz Detail name Cause Check method Check result Action Target F5 1 Cam data The Flash ROM is Disconnect the cables It is repeatable Replace the servo Area writing malfunctioning except for the control amplifier time out circuit power supply warning and then check the repeatability F5 2 Cam data The cam data was not After the power is It is repeatable Replace the servo Miswriting written cycled perform amplifier warning writing and check the repeatability again When the cam data is initialized perform writing and check the repeatability again 1 101 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Alarm No F5 Name Simple cam function Cam data miswriting warning Alarm content The cam data written by MR Configurator2 is not written to a Flash ROM No F5 3 Cam data checksum error Cause When the power is switched on after the cam data is written a checksum of the cam data does not match Error occurred in cam data When the cam control command is turned on after the temporal writing of cam data a checksum of the cam data does not match Error occurred in cam data The Flash ROM is malfunctioning Check method Check if a
70. Check it with the check method for AL 65 1 safety unit communication error 2 65 Functional safety unit communication error 3 65 Functional safety unit communication error 4 65 Functional safety unit communication error 5 65 Functional safety unit communication error 6 65 Functional safety unit communication error 7 65 5 Functional safety unit shut off signal error 1 6 Functional safety unit shut off signal error 2 2 3 4 5 6 7 8 9 1 61 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Alarm No 66 Alarm content Encoder initial communication Receive data error 1 safety observation function Encoder initial communication Receive data error 2 safety observation function Encoder initial communication Receive data error 3 safety observation function Encoder initial communication Transmission data error 1 safety observation function Encoder initial communication Process error 1 safety observation function An encoder cable is malfunctioning The servo amplifier is malfunctioning An encoder is malfunctioning Something near the device caused it Check if the encoder cable is disconnected or shorted Replace the servo amplifier and then check the repeatability Replace the servo motor and then check the repeatability Check the noise ambient temperature vibration etc Check it with the check method for AL 66 1
71. Droop pulses have exceeded the alarm occurrence level Check method Check result Cause 1 The servo motor power cable was disconnected 2 The connection of the servo motor is incorrect The connection of the encoder cable is incorrect The torque limit has been enabled A moving part collided against the machine The electromagnetic brake has not released The electromagnetic brake has been activated The torque is insufficient Power supply voltage dropped Acceleration decelerati on time constant is too short The position loop gain is small 11 The error excessive alarm level was not set correctly k LS a Check the servo motor It is disconnected power cable Check the wiring of U V and W Check if the encoder cable is connected correctly Check if the limiting torque is in progress Check if it collided Check if electromagnetic brake is released Check the peak load ratio Check the bus voltage value Set a longer deceleration time constant and then check the repeatability Increase the position loop gain and then check the repeatability Check the setting of the error excessive alarm level A Pr PC24 Pr PC43 B WB RJ010 Pr PC01 Pr PCO6 1 57 Repair or replace the servo motor power cable It is not Check 2 disconnected Connect it correctly Check 3 Connect it correctly The limiti
72. G AK HG AK0136 HG AK0236 HG AK0336 SD Forced stop deceleration This is applicable when Pr PA04 is set to the initial value The stop system of SD can be changed to DB using Pr PA04 The alarm can be canceled by setting as follows For the fully closed loop control set Pr PEO3 to 1 ___ When a linear servo motor or direct drive motor is used set Pr PL04 to 1 ___ In some controller communication status the alarm factor may not be removed This alarm will occur only in the J3 compatibility mode Reset this while all the safety observation functions are stopped Alarm codes are outputted only from MR J4 _A_ RJ MR J4 DU_A_ RJ Refer to section 1 1 for details The processing and stop systems are applicable only for the multi axis servo amplifiers MR J4W_ _B_ Refer to section 1 1 for details 1 12 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT 1 3 Warning list Detail Detail name method No Note 2 3 90 1 Home position return incomplete Home position return abnormal 90 2 ie termination 90 5 Z phase unpassed Main circuit device overheat warning Home position return incomplete EN warning Servo amplifier overheat warning Note 1 B bl 92 1 Encoder battery cable sattery cot E disconnection warning disconnection warning 92 3 Battery degradation ABS data transfer requirement ABS data transfer F q A warning during magnetic pole warning i detection 9
73. It has a failure Repair or replace A normal malfunctioning cable is disconnected the cable B communication or shorted When you WB Receive data use an A B Z phase RJ010 error 1 differential output It has no failure Check 2 linear encoder check the wiring of the linear encoder The external conductor Check if it is It is not connected Connect it correctly of the encoder cable is connected not connected to the ground plate of the It is connected Check 3 connector The parameter setting Check the parameter The setting is Set it correctly of communication setting incorrect method is incorrect A Pr PC22 The setting is Check 4 B WB RJ010 correct Pr PC04 The servo amplifier is Replace the servo It is not repeatable Replace the servo malfunctioning amplifier and then amplifier check the It is repeatable Check 5 repeatability An encoder is Replace the servo It is not repeatable Replace the servo malfunctioning motor or linear motor or linear encoder and then encoder check the It is repeatable Check 6 repeatability 6 Something near the Check the noise It has a failure Take device caused it ambient temperature countermeasures vibration etc against its cause Encoder Check it with the check method for AL 20 1 normal communication Receive data error 2 Encoder normal communication Receive data error 3 1 28 1 TROUBLESHOOTING
74. LSP Forward rotation stroke Check if AL 99 is occurring Turn on LSP and LSN end and LSN Reverse rotation stroke end are not on SON Servo on is not on Check the SON Servo on Turn on SON Servo on state RES Reset is on Check the RES Reset Turn off RES Reset state The setting of the control Check the Pr PAO1 setting Set it correctly mode is incorrect The command pulse is not Check if the pulse train is Review the setting on the inputted in the position outputted on the controller controller side control mode side The wiring of the command Check the cumulative Review the wiring When the pulse train signal is incorrect command pulses using the signal is used in open in the position control mode status display or MR collector type input 24 V DC Configurator2 Input the to OPC pulse train command and check if the display changes The setting of the command Check that the pulse train Review the Pr PA13 pulse input form is incorrect in form outputted with the setting the position control mode controller and the setting of Pr PA13 are matched Both of ST1 Forward Check the status of ST1 Turn on ST1 Forward rotation start and ST2 Forward rotation start and rotation start or ST2 Reverse rotation start are ST2 Reverse rotation start Reverse rotation start on or off in the speed control mode or the positioning mode Both of RS1 Forward Check the status of RS1
75. MITSUBISHI ELECTRIC General Purpose AC Servo MELSERI O J4 MELSERVO J4 Servo amplifier INSTRUCTION MANUAL TROUBLE SHOOTING 6 Safety Instructions Please read the instructions carefully before using the equipment To use the equipment correctly do not attempt to install operate maintain or inspect the equipment until you have read through this Instruction Manual Installation guide and appended documents carefully Do not use the equipment until you have a full knowledge of the equipment safety information and instructions In this Instruction Manual the safety instruction levels are classified into WARNING and CAUTION T WARN IN G Indicates that incorrect handling may cause hazardous conditions resulting in death or severe injury T CAUTION Indicates that incorrect handling may cause hazardous conditions resulting in medium or slight injury to personnel or may cause physical damage Note that the CAUTION level may lead to a serious consequence according to conditions Please follow the instructions of both levels because they are important to personnel safety What must not be done and what must be done are indicated by the following diagrammatic symbols S Indicates what must not be done For example No Fire is indicated by R R Indicates what must be done For example grounding is indicated by L In this Instruction Manual instructions at a lower level than the above instructions for other funct
76. NG FOR SERVO AMPLIFIER DRIVE UNIT Name STO warning STO input signal turns off while the servo motor stops Alarm No 95 A diagnosis of input devices was not executed Alarm content The safety observation function was enabled in the test mode 95 4 STO warning 2 1 The test operation Check if the servo safety observation function STO warning 3 safety observation function mode was not set correctly An error occurred in SSCNET III H communication Input mode selection in Pr PSA02 Functional safety unit setting is not set correctly The servo amplifier is malfunctioning The functional safety unit is malfunctioning Something near the device caused it STO command SS1 command of the functional safety unit was turned off enabled under the following speed conditions 1 Servo motor speed 50 r min or less 2 Linear servo motor speed 50 mm s or less 3 Direct drive motor speed 5 r min or less amplifier and functional safety unit are set to the test operation mode Check the description The display shows Ab of the section 1 6 Set Pr PSA02 correctly and check the repeatability Replace the servo amplifier and then check the repeatability Replace the functional safety unit and then check the repeatability Check the noise ambient temperature etc Check if STO command SS1 command of the functional safety unit is off enabled
77. Name Main circuit off warning It is the forced stop status Ensure safety and cancel the forced stop signal of the controller Ensure safety and cancel the forced stop signal of the controller B WB RJO10 It is the forced stop status A B WB RJ010 Something has been Remove the foreign caught matter Nothing has been Check 2 caught It exceed the cooling Replace the servo fan life amplifier The servo on command was inputted with main circuit power supply off The bus voltage dropped during the servo motor driving under 50 r min The wiring between P3 and P4 was disconnected For the drive unit the wiring between P1 and P2 of the converter unit was disconnected The main circuit power supply wiring was disconnected For the drive unit the main circuit power supply wiring of the converter unit was disconnected For the drive unit the magnetic contactor control connector of the converter unit was disconnected For the drive unit the bus bar between the converter unit and drive unit was disconnected 1 The main circuit power supply is off For the drive unit the power supply of the converter unit is off 2 3 4 5 Check if the main circuit power supply is inputted Check if the power supply of the converter unit is inputted Check the wiring between P3 and P4 Check the wiring between P1 and P2 of the converter unit Check the
78. OR MR CR55K 4 CONVERTER UNIT MEMO 3 DRIVE RECORDER 3 DRIVE RECORDER 3 1 How to use drive recorder When you use the J3 extension function replace the following left parameters to the right parameters Pr PF21 Pr PX30 Pr PA23 Pr PX29 The drive recorder will not operate on the following conditions You are using the graph function of MR Configurator2 You are using the machine analyzer function Pr PF21 is set to 1 The controller is not connected except the test operation mode You are operating in the J3 compatibility mode When the following alarms occur the drive recorder will not operate AL 10 1 Voltage drop in the control circuit power AL 12 Memory error 1 RAM AL 15 Memory error 2 EEP ROM AL 16 Encoder initial communication error 1 AL 17 Board error AL 19 Memory error 3 Flash ROM AL 1A Servo motor combination error AL 1E Encoder initial communication error 2 AL 1F Encoder initial communication error 3 AL 25 Absolute position erased AL 37 Parameter error AL 70 Load side encoder initial communication error 1 AL 888 88888 Watchdog When the graph is displayed with MR Configurator2 the drive recorder function will be enabled After the graph function is completed passing time set with Pr PF21 or cycling the power of the servo amplifier will enable the drive recorder function again For
79. PLIFIER DRIVE UNIT Alarm No 31 Name Overspeed The servo motor seed has exceeded the permissible instantaneous speed Alarm content ai The linear servo motor seed has exceeded the permissible instantaneous speed Abnormal 1 The command pulse Check the command The command pulse Check operation A motor speed frequency is high pulse frequency frequency is high pattern The command pulse Check 2 frequency is low The settings of the Check the setting The setting value is Review the settings electronic gear are value of the electronic incorrect incorrect gear The setting value is Check 5 correct The command from the Check if the command It is over the Check operation controller is excessive from the controller is permissible speed pattern over the permissible It is less than the Check 4 speed permissible speed A larger speed Check that the actual The servo motor Review the Pr command than the servo motor speed is speed is higher than PC08 setting overspeed alarm level higher than the setting the overspeed alarm was inputted value of Pr PC08 detection level Overspeed alarm The servo motor Check 5 detection level speed is lower than the overspeed alarm detection level 5 The servo motor was at Check if the torque It is the maximum Increase the A the maximum torque thrust at the time of torque maximum acceleration deceler B maximum thrust at the
80. PLIFIER DRIVE UNIT Alarm No 42 Name Fully closed loop control error detection during fully closed loop control Alarm content A fully closed loop control error has occurred 42 9 Fully closed 1 The resolution of the Check the setting of The setting is Set it correctly A loop control load side encoder Pr PE04 and Pr incorrect B error by speed setting differs from the PE05 WB deviation setting value correct The direction of Check the mounting The mounting Mount it correctly mounting load side direction of the load direction is incorrect Review the encoder encoder is incorrect side encoder pulse count polarity selection setting of the parameter as required A Pr PC45 B WB Pr PC27 The mounting Check 3 direction is correct The speed deviation Calculate the deviation The deviation is Review the operation exceeded the detection between the speed status Review the level command and actual Pr PEO6 setting speed depending on circumstances 42 A Fully closed Check it with the check method for AL 42 8 loop control error by position deviation during command stop Alarm No 45 Name Main circuit device overheat Alarm content Inside of the servo amplifier overheated Main circuit 1 Ambient temperature Check the ambient A device overheat has exceeded 55 C temperature temperature B error 1 we The close mounting is Check the RJ010 out of spec
81. RTER UNIT 2 TROUBLESHOOTING FOR MR CR55K 4 CONVERTER UNIT IAL 37 Parameter error and warnings are not recorded in the alarm history When an error occurs during operation the corresponding alarm or warning is displayed If any alarm has occurred refer to section 2 3 and take the appropriate action When an alarm occurs ALM will turn off If any warning has occurred refer to section 2 4 and take the appropriate action 2 1 Explanation for the lists 1 No Name Indicates each No Name of alarms or warnings 2 Alarm deactivation After its cause has been removed the alarm can be deactivated in any of the methods marked O in the alarm deactivation column Warnings are automatically canceled after the cause of occurrence is removed Alarms are deactivated with alarm reset or cycling the power Explanation Alarm deactivation Alarm reset Push the SET button on the current alarm screen of the display Cycling the power 2 2 Alarm warning list Alarm deactivation Displa Name i ii E BRD o o 8 A712 Memory eror 1 RAW a o Memory error 2 EEP ROM A 17 Board error Turning off the power and on again BITE D Converter overheat warning Excessive regeneration warning Overload warning 1 Converter forced stop warning Cooling fan speed reduction warning Wate O Wate Open phase Inrush current suppression circuit error Main circuit device overheat Nate Q Note O MC dr
82. Replace the servo It is not repeatable Replace the servo servo motor is motor and then check motor malfunctioning the repeatability It is repeatable Check 14 The servo amplifier is Replace the servo It is not repeatable Replace the servo malfunctioning amplifier and then amplifier check the repeatability Error excessive 1 The torque limit has Check the torque limit The torque limit has Do not input a during 0 torque command while the limit torque limit value is 0 Check it with the check method for AL 52 1 pulse 3 Alarm No 54 Name Oscillation detection Alarm content An oscillation of the servo motor was detected 54 1 Oscillation 1 The servo system is Check if the servo The torque ripple is Adjust the servo gain A detection error unstable and oscillating motor is oscillating vibrating with the auto tuning B Check the torque Set the machine WB ripple with MR resonance RJ010 Configurator2 suppression filter The torque ripple is Check 2 not vibrating due to deterioration of the equipment and equipment is machine resonance compare it with the different from the suppression filter setting value of the filter setting value machine resonance The resonance Check 3 suppression filter frequency of the equipment is the same as the filter setting value The encoder or liner Replace the servo It is not repeatable Replace the servo 2 The resonance
83. TING FOR SERVO AMPLIFIER DRIVE UNIT Alarm No FO Name Tough drive warning Alarm content Tough drive function was activated F0 1 Instantaneous 1 The voltage of the Check it with the check method for AL 10 1 A power failure control circuit power B tough drive supply has dropped WB warning RJ010 F0 3 Vibration tough 1 The setting value of the Check if it was It was changed Set the machine drive warning machine resonance changed frequently frequently resonance suppression filter was suppression filter changed due to a Check the machine machine resonance status if screws are loose or the like Alarm No F2 Name Drive recorder Miswriting warning Alarm content A waveform measured by the drive recorder function was not recorded Detail name Check method Check result Target F2 1 Drive recorder 1 The Flash ROM is Disconnect the cables It is repeatable Replace the servo A Area writing malfunctioning except for the control amplifier B time out circuit power supply WB warning and then check the RJ010 repeatability Drive recorder 1 Data were not written to Check if clearing alarm It is not canceled Replace the servo Data miswriting the drive recorder area history disables this amplifier warning alarm with MR Configurator2 Alarm No F3 Name Oscillation detection warning Alarm content LAL 54 Oscillation detection can occur F3 1 Oscillation
84. The servo motor seed has exceeded the permissible instantaneous speed Alarm content I The linear servo motor seed has exceeded the permissible instantaneous speed ga Detail name Check method Check result 10 Abnormal The connection of the Check the wiring of U Set it correctly A 11 Cause motor speed servo motor is incorrect V and W Check 11 B It is occurring during Replace the servo WB less than permissible motor or linear RJO10 instantaneous encoder speed Check if the alarm is occurring during less than permissible instantaneous speed The encoder or liner encoder is malfunctioning Alarm No 32 Name Overcurrent Alarm content A current higher than the permissible current was applied to the servo amplifier 32 1 Overcurrent detected at hardware detection circuit during operation 2 3 The servo amplifier is malfunctioning A ground fault or short occurred at the servo motor power cable The servo motor is malfunctioning The dynamic brake is malfunctioning The connection destination of the encoder cable is incorrect Something near the device caused it Something near the device caused it Disconnect the servo motor power cables U V and W and check if the alarm occurs Check if only the servo motor power cable is shorted Disconnect the servo motor power cables on motor side and check insulation of the motor between U V W
85. Turn on RS1 Forward rotation selection and RS2 Forward rotation selection rotation selection or RS2 Reverse rotation selection and RS2 Reverse rotation Reverse rotation selection are on or off in the torque selection control mode The value selected in the Check SP1 Speed selection Review the selections of SP1 speed control mode or the 1 SP2 Speed selection 2 Speed selection 1 SP2 torque control mode is low and SP3 Speed selection 3 Speed selection 2 SP3 and then check if the Speed selection 3 and selected internal speed is setting of internal speed correct The value selected in the Check SPD1 Speed Review the wiring Review positioning mode point table selection 1 SPD2 Speed the selections of SPD1 method with BCD input is selection 2 SPD3 Speed Speed selection 1 SPD2 low selection 3 and SPD4 Speed selection 2 SPD3 Speed selection 4 and Speed selection 3 SPD4 then check if the selected Speed selection 4 and internal speed is correct setting of internal speed An analog signal is not Check the values of analog Input the analog signals inputted correctly speed command and analog correctly torque command using status display or MR Configurator2 1 107 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Check result The servo motor does not operate The speed of the servo motor or linear servo motor is not increased Or the speed is increased too much
86. UNIT No Name Detail Detail name metoa No Note 2 3 Abnormal temperature of servo Each Each motor 1 a 1 N hee 1 axis axis 46 2 Abnormal temperature of servo SD motor 2 Thermistor disconnected error N Alarm Servo motor KG overheat 47 Cooling fan error 50 Overload 1 a D e gt a a wo O N Overload 2 Error excessive STO timing error Functional safety unit setting error A Forced stop error Stop Thermistor circuit error K 72 Cooling fan speed reduction error Thermal overload error 1 50 1 R during operation Thermal overload error 2 50 2 J during operation Thermal overload error 4 50 3 i during operation 50 4 Thermal overload error 1 during a stop 50 5 Thermal overload error 2 during a stop 50 6 Thermal overload error 4 during a stop Thermal overload error 3 51 1 E during operation Thermal overload error 3 during a stop Excess droop pulse 1 E sO Excess droop pulse 3 56 2 Over speed during forced stop 56 3 Estimated distance over during EDB forced stop Alarm deactivation Process Cyclin Alarm yong the reset mE power O Each Each Note 1 ihe e 1 ie 1 axis axis O O O Each Each ote 1 Note 1 Note 1 axis axis O e O e O ote O O O Each Each ote 1 Note 1 Note 1 axis axis O ote O e O e No O Note 1 Excess droop pulse 2 so o 52 4 Error excessive during 0 torque sp limit axi
87. V DC power supply have not inputted The converter unit is malfunctioning E8 Cooling fan speed reduction warning The cooling fan speed decreased to the warning level or less Foreign matter was caught in the cooling fan Cooling fan life expired Check the ambient It is over 55 C Lower the ambient temperature temperature It is less than 55 C Check 3 It is not repeatable Replace the converter unit Replace the converter unit and then check the repeatability Check the effective load ratio When the regenerative option is used Reduce the frequency of positioning Reduce the load Review the regenerative option capacity When the regenerative option is not used Use the regenerative option Check it with the check method for A 50 and A 51 It is 85 or more Check the status of the EM1 forced stop of the converter unit It is off Ensure safety and turn on the EM1 forced stop of the converter unit 24 V DC power paa power gt s inputted It is not repeatable S the converter unit Something has Remove the foreign been caught matter Nothing has been Check 2 caught It exceeds the Replace the cooling fan life converter unit Replace the converter unit and then check the repeatability Check if a foreign matter is caught in the cooling fan Check the total of power on time of the converter unit 2 TROUBLESHOOTING F
88. a axis axis error 3 Encoder normal Each Each 5 communication Transmission axis avia Encoder normal data error 4 communication Encod error 1 ee ce Each Each 6 communication Transmission R R axis axis data error 2 Encoder normal E Each Each communication Transmission P axis axis data error 3 Encoder normal Each Each communication Receive data P axis axis error 4 Encoder normal axis axis error 5 21 1 Encoder data error 1 Each Each axis axis axis axis 21 3 Encoder data waveform error Eara axis axis Encoder normal A Each Each communication 21 4 Encoder non signal error axis axis error 2 21 5 Encoder hardware error 1 Each Each axis axis Each Each axis axis Each Each axis axis 21 9 Encoder data error 2 a a Each All axes axis 1 4 1 Ground fault detected by a a R hardware detection circuit Main circuit error 4 2 Ground fault detected by software detection function Servo motor encoder m 5 S Absolute position Absolute position erased erased Scale measurement encoder 25 2 Absolute position erased 1 axis Each Each axis axis 4 Each Each axis axis 1 Ge NN EINES EINES 21 6 Encoder hardware error 2 feos A X PAIN GGG NS EINES 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Stop Alarm code Note 8 method i Stop system AcD3 ACD2 ACD1 ACDO Note 9 Bit 3 Bit 2 Bit 1 Bit 0 Initial magnetic pole dete
89. ace the servo servo motor power motor power cable cable is shorted It is not shorted Check 8 Check the noise It has a failure Take ambient temperature countermeasures etc against its cause Check the impedance Impedance at wirings Use the regenerative at wirings of L1 L2 of L1 L2 and L3 is resistor and L3 and leak high and leak regenerative current from servo current from servo option motor power cable motor power cable is large 2 TROUBLESHOOTING FOR MR CR55K 4 CONVERTER UNIT Name Description Check method Check result 37 Parameter error 1 A parameter was set Parameter setting value is incorrect 38 MC drive circuit error Magnetic contactor drive circuit is malfunctioning The main circuit power supply is not supplied even if the magnetic contactor output is turned on The main circuit power supply is supplied even if the magnetic contactor output is turned off 39 Open phase The wirings of L1 L2 and L3 are incorrect out of setting range Regenerative resistor regenerative option not used with converter unit was set in Pr PA01 The number of write times to EEP ROM exceeded 100 000 due to parameter write etc The parameter setting value has changed due to a converter unit malfunction The connection to the magnetic contactor connector CNP1 is incorrect The setting value of Pr PA02 Magnetic contactor drive output selection contradicts
90. acity is insufficient Power supply voltage high The regeneration 7 A ground fault or short occurred at the servo motor power cable 8 Something near the device caused it 9 Impedance at wirings of L1 L2 and L3 is high and leak current from servo motor power cable is large Check if the It is not used Use the regenerative regenerative resistor resistor regenerative option regenerative is used option Check the The seting value is Set it E regenerative resistor incorrect regenerative option and Pr PA01 setting It is set correctly Check 3 value Check if the It is not connected Connect it correctly regenerative resistor correctly ee option It is connected Check 4 correctly correctly Measure the The resistance is Replace the resistance of the abnormal regenerative resistor regenerative resistor regenerative regenerative option option The resistance is Check 5 normal Set a longer It is not repeatable Use the regenerative deceleration time resistor constant and then regenerative option check the with larger capacity repeatability It is repeatable Check 6 Check if the voltage It is higher than the Reduce the power of the input power prescribed value supply voltage supply is over the prescribed value Itis the prescribed Check 7 200 V class 264 V AC value or lower 400 V class 528 V AC Check if only the It is shorted Repl
91. alarm AL 74 history A part in the servo Disconnect the cables It is repeatable Replace the servo A amplifier is failure except for the control amplifier B circuit power supply WB and then check the It is not repeatable Check 3 RJ010 repeatability A clock error Check if the alarm It occurs Replace the B transmitted from the occurs when you controller WB controller occurred connect the amplifier to the controller The servo amplifier of Check if the servo It is malfunctioning Replace the servo the next axis is amplifier of the next amplifier of the next malfunctioning axis is malfunctioning axis It is not Check 5 malfunctioning Something near the Check the power It has a failure Take A device caused it supply for noise countermeasures B Check if the connector against its cause WB is shorted RJ010 Clock error2 Check it with the check method for AL 13 1 1 19 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Alarm No 14 Name Control process error isu content The process did not complete within the specified time RJO10 MR J3 T10 came off 14 1 Control process error 1 14 2 Control process error 2 S al 8 wo lt The MR J3 T10 came off during the CC Link IE communication The parameter setting is incorrect Something near the device caused it The servo amplifier is malfunctioning The MR J3 T10 came off durin
92. ambient temperature countermeasures etc against its cause 1 30 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Alarm No 21 Name Encoder normal communication error 2 Alarm content The encoder detected an error signal 21 5 Encoder Check it with the check method for AL 21 2 hardware error 1 21 6 Encoder hardware error 2 Encoder data Check it with the check method for AL 21 1 error 2 Alarm No 24 Name Main circuit error A ground fault occurred on the servo motor power lines Alarm content A ground fault occurred at the servo motor Power supply voltage for inverter circuit control is low Only for MR J4W2 0303B6 24 1 Ground fault 1 The servo amplifier is Disconnect the servo It occurs Replace the servo A detected by malfunctioning motor power cables amplifier B hardware U V and W and WB detection circuit check if the alarm It does not occur Check 2 RJ010 occurs 2 A ground fault or short Check if only the It is shorted Replace the servo occurred at the servo servo motor power motor power cable motor power cable cable is shorted Itis not shorted Check 3 A ground fault occurred Disconnect the servo It is shorted Replace the servo motor power cables motor on motor side and at the servo motor check insulation of It is not shorted Check 4 the motor between U V W and Shut off the power They are in contact C
93. amplifier 50 1 Thermal 1 The servo motor power Check the servo motor It is disconnected Repair or replace A overload error 1 cable was power cable the servo motor B during operation disconnected power cable WB It is not Check 2 RJ010 disconnected 2 The connection of the Check the wiring of U Connect it correctly servo motor is incorrect V and W Check 3 The electromagnetic Check if the It is not released Release the brake has not released electromagnetic electromagnetic The electromagnetic brake is released brake brake has been during operation Itis released Check 4 activated 4 A current was applied to Check the effective The effective load Reduce the load Or the servo amplifier in load ratio ratio is high use a larger capacity excess of its continuous motor output current The effective load Check 5 ratio is small 5 The connection Check the connection WB destination of the destinations of CN2A encoder cable is CN2B and CN2C It is correct Check 6 incorrect 6 The servo system is Check if it is It is resonating Adjust gains unstable and resonating For MR J4 03A6 resonating RJ and MR J4W2 main circuit power 0303B6 check if the RJ010 supply voltage is 48 V DC even though the setting is 24 V DC 7 The servo amplifier is Replace the servo malfunctioning amplifier and then amplifier repeatability 8 The encoder or l
94. and gt Check if the alarm occurs when you turn on the servo on command Check the connection destinations of CN2A CN2B and CN2C Check the noise ambient temperature etc Check the noise ambient temperature etc 1 41 A B WB RJ010 It occurs Replace the servo amplifier It does not occur Check 2 It is shorted Replace the servo motor power cable It is not shorted Check 3 A ground fault is occurring Replace the servo motor A ground fault is not occurring It occurs Replace the servo amplifier It does not occur WB Check 5 A B RJ010 Check 7 It is not correct Wire it correctly WB It has a failure Take countermeasures against its cause Take countermeasures against its cause Check it with the check method for AL 45 1 Check 4 It has a failure A B RJ010 It has no failure 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Alarm No 32 Alarm content No A current higher than the permissible current was applied to the servo amplifier Check method Check result Cause 32 3 Overcurrent detected at software detection function during operation 1 The servo gain is high The servo amplifier is malfunctioning A ground fault or short occurred at the servo motor power cable The servo motor is malfunctioning The connection destination of the encoder cable is incorrect Someth
95. and then check the repeatability Increase the parameter setting value and then check the repeatability Check if the limiting torque is in progress Replace the servo motor or linear encoder and then check the repeatability An operation of the positioning function failed 1 or 3 was set to the Check if 1 or 3 was 1 59 It is not repeatable Adjust the deceleration time constant Check 2 A B WB It is repeatable RJ010 The limiting torque Review the torque is in progress limit value The limiting torque Check 3 is not in progress The torque ripple is Adjust the servo vibrating gain Set the machine resonance suppression filter The torque ripple is Check 4 not vibrating It is not repeatable Replace the servo motor or linear encoder It is not repeatable Adjust the deceleration time constant is in progress limit value is not in progress It is not repeatable Replace the servo motor or linear encoder It is repeatable Target A Review the settings 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Alarm No 63 Name STO timing error Alarm content STO input signal turns off while the servo motor is rotating Check if STO1 is off It is off enabled Turn on STO1 A 63 1 STO1 off 1 STO1 was turned off enabled under the following speed conditions 1 Servo motor speed 50 r min or more
96. ar the device caused it of the functional safety unit Replace the functional safety unit and then check the repeatability Replace the servo amplifier and then check the repeatability Check the power supply for noise Replace the functional safety unit and then check the repeatability Check the power supply for noise 1 71 It has a failure Install it correctly It has no failure Check 2 It is not repeatable Replace the functional safety unit It is repeatable Check 3 It is not repeatable Replace the servo amplifier It is repeatable Check 4 It has a failure Take countermeasures against its cause It is not repeatable Replace the functional safety unit It is repeatable Check 2 It has a failure Take countermeasures against its cause 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Alarm No 79 Name Functional safety unit diagnosis error Alarm content A diagnosis of the functional safety unit failed Cause No Abnormal temperature of 79 4 Servo amplifier 1 Ambient temperature has exceeded 55 C functional safety unit Ambient temperature is less than 0 C The close mounting is out of specifications An opening is clogged up The functional safety unit is malfunctioning Something near the device caused it The functional safety unit came off The functional safety unit is malfunctioning The servo amplifi
97. arameter It is not set correctly Set the parameter combination functional safety unit or settings of the correctly error safety servo amplifier is functional safety unit observation incorrect and servo amplifier function Functional safety unit Pr PSA02 Pr PSA18 to Pr PSA21 Pr PSC03 Pr PSD01 to Pr PSD17 Pr PSD26 Servo amplifier Pr PA14 1 74 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Alarm No 7A Name Parameter setting error safety observation function Alarm content A parameter of the functional safety unit failed 7A 4 Functional 1 A combination of Check if correct A different servo Return to the servo safety unit combination error safety observation function functional safety unit and servo amplifier is incorrect combination of servo amplifier is connected connected amplifier which was combined with the functional safety unit and was set the safety observation function or initialize the setting amplifier is Alarm No 7B Name Encoder diagnosis error safety observation function Alarm content Error occurred in encoder Encoder diagnosis error 1 safety observation function Encoder diagnosis error 2 safety observation function Encoder diagnosis error 3 safety observation function Encoder diagnosis error 4 safety observation function 1 An encoder cable is malfunctioning An encoder is malfuncti
98. arm No 33 The value of the bus voltage exceeded the prescribed value 200 V class 400 V DC 400 V class 800 V DC Alari gontent 100 V class 400 V DC Deta name Deta name Main circuit voltage error 48 V DC setting 75 V DC 24 V DC Pee 55 V DC The setting of the regenerative resistor regenerative option is incorrect The regenerative resistor regenerative option is not connected Wire breakage of built in regenerative resistor or regenerative option The regeneration capacity is insufficient Power supply voltage gI 1 Something near the device caused it regenerative resistor incorrect B and Pr PA02 setting RJ010 correctly correctly Check if the The resistance is When using a built in regenerative resistor regenerative option abnormal regenerative resistor replace the servo is connected correctly amplifier When using a regenerative option replace the regenerative option The resistance is Check 4 normal It is not repeatable When using a built in regenerative resistor Measure the resistance of the built in regenerative resistor or regenerative option Set a longer deceleration time constant and then check the repeatability use a regenerative option When using a regenerative option use a larger capacity one It is repeatable Check 5 Check if the voltage of It is higher than the Reduce the power the input
99. as used the battery was not connected to both CN4 and MR BT6VCBL03M junction battery cable A battery cable was Check if the battery It has a failure Replace or repair the cable disconnected cable is malfunctioning Check the battery It is less than 3 1 V Replace the battery voltage with a tester When an MR BAT6V1BJ battery for junction battery cable was used check the voltage of the connector orange The battery voltage is low The battery is consumed It is 3 1 V DC or An encoder cable was disconnected The battery voltage is low The battery is for servo amplifier Check if the encoder cable is disconnected Check the battery voltage with a tester Check 4 more It is disconnected Replace or repair the cable It is less than 3 0 VY Replace the battery DC consumed It is 3 0 V DC or Check 2 more The battery has It is not repeatable Replace the battery deteriorated Replace the battery and then check the repeatability 92 3 Battery degradation Alarm No 93 Name ABS data transfer warning Alarm content ABS data were not transferred It is 0 The Z phase was not turned on Turn on the Z phase A and disable the magnetic pole detection Always make home position setting again It is other than 0 The Z phase was 93 1 ABS data 1 The Z phase was not Check if the position transfer turned on at servo on within one
100. atable Replace the unit is malfunctioning safety unit and then functional safety unit check the repeatability warning 2 safety observation function SSCNET III H The display shows countermeasures communication Ab of the section against its cause 1 6 SS1 forced stop An error occurred in Check the description It is not repeatable Take 1 97 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Alarm No E7 Alarm content Name Controller forced stop warning The forced stop signal of the servo system controller was enabled E7 1 Controller forced stop warning Alarm No E8 Alarm content E8 1 Decreased cooling fan speed warning Cooling fan stop Alarm No E9 Alarm content Servo on signal on during main circuit off 1 The forced stop signal of the servo system controller was inputted The forced stop signal of the controller was inputted with Modbus RTU communication Check if the servo system controller is a forced stop status Check if the controller is in a forced stop status Name Cooling fan speed reduction warning The cooling fan speed decreased to the warning occurrence level or less 1 Foreign matter was caught in the cooling fan 2 Cooling fan life expired Check if a foreign matter is caught in the cooling fan Check the total of power on time of the servo amplifier Check it with the check method for AL E8 1
101. atable Check 4 It is not repeatable Replace the servo motor Check 5 Take countermeasures against its cause 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Alarm No 67 Name Encoder normal communication error 1 safety observation function Alarm content An error has occurred in the communication between an encoder and servo amplifier 67 1 Encoder normal 1 An encoder cable is Check if the encoder A communication malfunctioning cable is disconnected the cable B Receive data or shorted error 1 safety The servo amplifier is Replace the servo It is not repeatable Replace the servo observation malfunctioning amplifier and then repeatability An encoder is Replace the servo It is not repeatable Replace the servo malfunctioning motor and then check motor the repeatability It is repeatable Check 4 Something near the Check the noise It has a failure Take device caused it ambient temperature countermeasures vibration etc against its cause communication Receive data error 3 safety observation Encoder normal Check it with the check method for AL 67 1 communication Receive data error 2 safety observation function 67 67 Encoder normal 67 7 function 2 3 4 Encoder normal communication Receive data error 4 safety observation function 67 7 Encoder normal communication Transmission data error 1 safety observation funct
102. biaeuae tetas 1 13 1 4 Remedies for alarms iaa a a aa Aa aT a a a aa TER 1 15 tS Remedies IT Tae TTT 1 84 1 6 Trouble which does not trigger alarm Warning sees eee eee eee eee 1 104 2 TROUBLESHOOTING FOR MR CR55K 4 CONVERTER UNIT 2 1 to 2 10 2 1 Explanationdor the sliStsS cesses ener eee Set ces i eB A ee AE a Se 2 1 2 2 Alammwarmning lliSte spec neoiv anders haus ete eee ea ane eed eed ene ed Pde rei REN 2 1 23 REMECIES TOF alaninS 3 9 n coa a uae face RSE 9 Ee aA aati sated bended 2 2 2 4 Remedies for warnings ensi narr n e ERAS EE OE R feameeadaeraataeed 2 8 3 DRIVE RECORDER 3 1 to 3 10 3 1 How to use drive reCOrder ccececcccccceceeeee eee eeee cece eee caaeeaaaeeeceeeeecaceaaaeeeceeeeesaeaaaceeeeeeeeeeseeesineeeees 3 1 3 2 How to display drive recorder information sss sss ss esse sese ee seves e seee ereenn ennenen nenen nee 3 9 APPENDIX App 1 to App 1 App 1 Detection points of AL 25 AL 92 and AL El App 1 MEMO 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT As soon as an alarm occurs turn SON Servo on off and interrupt the power IAL 37 Parameter error and warnings except LAL FO Tough drive warning are not recorded in the alarm history When an error occurs during operation the corresponding alarm or warning is displayed When an alarm is displayed refer to section 1 4 and take the appropriate action When an alarm occ
103. bled Check if AA is displayed in the corresponding axis and following axes Check if the connectors CN10A CN10B are unplugged 1 104 servo system controller Replace the SSCNET III cable of the corresponding axis Connect it correctly Check the power of the servo amplifier Disable the amplifier less operation function Replace the CC Link IE cable RJ010 of the corresponding axis Connect it correctly 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Check result The display shows Ab A controller which is not Check if a controller which is Connect a compatible compatible with the servo not compatible with the servo controller amplifier has been amplifier is connected connected The axis is disabled Check if the disabling control Turn off the disabling control axis switch is on axis switch B SW2 2 WB SW2 2 to 2 4 The setting of the axis No is Check that the other servo Set it correctly incorrect amplifier is not assigned to the same axis No Axis No does not match with Check the setting and axis Set it correctly the axis No set to the servo No of the servo system system controller controller Information about the servo Check the value set in Servo Set it correctly series has not set in the series Pr 100 in the simple simple motion module motion module Communication cycle does Check the communication Set it correctly not match cycle at th
104. cam control It is stopped at a stroke Check if a stroke limit is reached limit during cam control Check if a software limit is reached reached A software limit is After it is retracted from the position of a software limit turn on the cam control command again A software limit is Check 8 not reached reached A stroke limit is After it is retracted from the position of a stroke limit turn on the cam control command again A stroke limit is not Check 9 reached When the servo amplifier servo motor or encoder malfunctions the following status may occur The following example shows possible causes which do not trigger alarm or warning Remove each cause referring this section Check result Check the power of the servo Switch on the power of the The display shows AA The power of the servo system controller was turned off A SSCNET III cable was disconnected The control circuit power of the previous axis servo amplifier was turned off The amplifier less operation function of servo system controller is enabled A CC Link IE cable was disconnected system controller Check if AA is displayed in the corresponding axis and following axes Check if the connectors CNIA CNIB are unplugged Check if AA is displayed in the corresponding axis and following axes Check if the amplifier less operation function of servo system controller is ena
105. ce caused it ambient temperature countermeasures vibration etc against its cause It has no failure Check 4 An encoder is Replace the direct It is not repeatable Replace the direct malfunctioning drive motor and then drive motor check the repeatability 2B 2 Encoder Check it with the check method for AL 2B 1 counter error 2 1 38 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Alarm No 30 Alarm content The setting value is Set it correctly incorrect 30 1 Regeneration heat error 30 2 Regeneration signal error Regeneration feedback signal error Name Regenerative error Permissible regenerative power of the built in regenerative resistor or regenerative option is exceeded A regenerative transistor in the servo amplifier is malfunctioning 1 The setting of the regenerative resistor regenerative option is incorrect 2 The regenerative resistor regenerative option is not connected The power supply voltage is high 4 The regenerative load ratio has been over 100 1 A detection circuit of the servo amplifier is malfunctioning 1 A detection circuit of the servo amplifier is malfunctioning 2 Something near the device caused it Check the regenerative resistor regenerative option It is set correctly Check 2 and Pr PA02 setting Check if the regenerative resistor regenerative option is connected co
106. changed AL 24 2 is partially changed AL 27 2 is partially added AL 30 is partially changed AL 31 1 is partially changed AL 32 is partially changed AL 33 1 is partially changed AL 37 1 is partially changed AL 50 1 is partially changed AL 52 1 is partially changed AL 64 is partially changed AL 65 is partially changed AL 66 is added AL 67 is added AL 70 3 is added AL 71 1 is added AL 79 is added AL 7A 3 is partially changed AL 7B is added AL 7C is partially changed AL 7D 1 is added AL 7D 2 is partially changed AL 8A 1 is partially changed AL 8A 2 is added AL 8E 1 to AL 8E 5 are partially changed AL 8E 6 LAL 8E 7 and LAL 8E 8 are added AL 95 is partially changed AL 96 1 AL 96 2 and AL 96 4 are partially changed AL 99 is partially changed AL 9A is added AL E3 1 is partially changed AL E7 1 is partially added AL E9 is partially changed AL F5 is added AL F6 is added Partially changed AL 3E 1 is partially changed and AL 68 is added AL 68 is added AL F6 is partially changed Print Data_ Manual Number Sep 2015 SH NA 030109 K Section 1 5 AL 90 1 is partially changed AL E3 is partially changed Section 1 6 Partially added This manual confers no industrial property rights or any rights of any other kind nor does it confer any patent licenses
107. ched on for the first time in the absolute position detection system After the scale measurement encoder was set to the absolute position detection system the power was switched on for the first time 1 After the scale measurement encoder was set to the absolute position detection system the power was switched on for the first time The battery was removed replaced when the control circuit power supply was off The power was turned off with the battery disconnected from CN4 The battery voltage is low The battery is consumed The voltage has dropped greatly in the encoder cable wired to the battery A battery cable is malfunctioning There is a loose connection of the encoder cable on the scale measurement encoder side The servo amplifier is malfunctioning The scale measurement encoder is malfunctioning Check if this is the first time to switch on the power after the scale measurement encoder was set to the absolute position detection system Check if the battery was removed when the control circuit power supply was off Check that the battery is mounted correctly and make home position return Check 2 This is the first time This is not the first time Check that the battery is mounted correctly and make home position return It was turned off Check that the battery is mounted correctly and make home position return It was not turned off Check 4
108. cifications It is 500 kpulses s or less for the open collector type It is 4 Mpulses s or less for the differential line driver type Check the ripple of the command frequency with oscilloscope Check if SON Servo on is off during operation using status display or MR Configurator2 Check if CR Clear or RES a filter according to the pulse train command frequency from Command input pulse train filter selection in Pr PA13 Shorten the wiring length Cable length must be 10 m or shorter for differential line driver output and 2 m or shorter for open collector output Review the wiring and sequence not to turn off SON Servo on during operation Review the wiring and Reset is on during operation sequence not to turn on CR using status display or MR Configurator2 Check if a time period from after switching timings of point table setting value and point table No until a start timing is 3 ms or more Check the selection of the point table No selection 1 to point table No selection 8 and check the wiring The program start timing etc Check if a time period from are incorrect after switching timings of BCD input program and point table No until a start timing is 3 ms or more etc The wiring between MR DS60 Check the wiring between digital switch and MR D01 extension IO unit is incorrect Wiring of the MR HDP01 manual pulse generator or setting of manual pulse generator multiplica
109. ck if an error is occurring Cancel the error of the servo servo system controller side on the servo system system controller controller side The setting of a servo Check the settings of servo Review the setting of the parameter is incorrect on the parameters on the servo servo parameter on the servo system controller side system controller side servo system controller side The position command is not Check cumulative command Review the setting of the inputted correctly pulses using MR servo system controller and Configurator2 and check if the servo program numerical values are changed by inputting the command The connection destination Check if the connection Connect encoder cables of the encoder cable is destinations of CN2A CN2B correctly incorrect and CN2C are the same as CNP3A CNP3B and CNP3C The setting of the speed Check the settings of the Review the settings of the A command speed limit or speed command speed limit speed command speed limit B electronic gear is not correct and electronic gear and electronic gear WB The connection of the servo Check the wiring of U V and Connect it correctly RJO10 motor is incorrect W The voltage of the main Check if the voltage of the Increase the voltage of the circuit power supply has main circuit power supply main circuit power supply dropped dropped For a servo motor with an Check the power supply of Turn on the electromagnetic elec
110. ck it with the check method for AL 27 1 detection Estimated error Magnetic pole detection Position deviation error Magnetic pole detection Speed deviation error Magnetic pole detection Current error Alarm No 28 Name Linear encoder error 2 Alarm content Working environment of linear encoder is not normal 28 1 Linear encoder 1 The ambient Check the ambient It is out of Lower the Environment temperature of the temperature of the specifications temperature error linear encoder is out of linear encoder Contact the linear specifications encoder manufacturer It is within Check 2 specifications The signal level of the Check the mounting It has a failure Correct the mounting linear encoder has condition of the linear method of the linear dropped encoder encoder 1 37 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Alarm No 2A Name Linear encoder error 1 An error of the linear encoder was detected The details vary depending on the linear encoder Alarm content manufacturer Detail P No Detail name Cause Check method Check result Action Target 2A 1 Linear encoder 1 Mounting condition of Adjust the positions of It is not repeatable Use the equipment A error 1 1 the linear encoder and the scale and head at the adjusted B head is failure and then check the position WB repeatability It is repeatable Check 2 The external conductor Check if i
111. ck the connection It is connected of the CN8 connector Check the parameter setting The J3 compatibility mode is set Check if the parameter The setting is setting is correct incorrect 1 60 Turn off the control circuit power supply of the servo amplifier and then remove the connector of CN8 The J3 compatibility mode is not supported with the functional safety unit Set it correctly Set it correctly A B 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Alarm No 65 Name Functional safety unit connection error Alarm content Communication or signal between a functional safety unit and servo amplifier failed 65 1 Functional 1 The functional safety Check the installation It is disconnected Turn off the control A safety unit unit came off of the functional circuit power supply B communication safety unit of the servo error 1 amplifier and then connect the functional safety unit The functional safety Replace the It is not repeatable Replace the unit is malfunctioning functional safety unit functional safety unit repeatability The servo amplifier is Replace the servo It is not repeatable Replace the servo malfunctioning amplifier and then amplifier check the It is repeatable Check 4 repeatability Something near the Check the noise It has a failure Take device caused it ambient temperature countermeasures etc against its cause 65 Functional
112. coder pulses are faulty An update cycle is short for writing multi revolution counter value of the absolute position encoder to EEP ROM A E3 1 Multi revolution 1 counter travel distance excess warning Absolute 1 position counter warning The travel distance from the home position is 32768 rev or more in the absolute position system Something near the device caused it An encoder is malfunctioning A home position was renewed EEP ROM write twice or more in 10 minutes in the servo Check the value of the multi revolution more counter Check the noise ambient temperature etc It is 32768 rev or It has a failure Review operation range Execute the home position return again After the power is surely cycled perform home position return again Take A countermeasures B against its cause WB After the power is RJ010 surely cycled perform home position return again It has no failure Check 2 Replace the servo motor and then check the repeatability Check if the operation The operation was out of conditions was within the following conditions between the number It is not repeatable Replace the servo motor Set the command speed within the conditions Set the number of amplifier due to rotation of gear teeth on to the same direction in machine side Pr short time in the point PA06 CMX and table method of the servo motor s
113. compatible with the differential output linear encoder linear encoder When you use a linear Check if the wiring of The wiring is Wire it correctly servo motor with an the linear encoder is incorrect A B Z phase differential correct Check if it is output linear encoder wired to PSEL the connection with the linear encoder is incorrect The servo amplifier is Replace the servo It is not repeatable Replace the servo A malfunctioning amplifier and then amplifier B penta Kp repeatability RJO10 An encoder is Replace the servo It is not repeatable Replace the servo malfunctioning motor or linear motor pea oi then It is repeatable Check 6 repeatability 6 Something near the Check the noise It has a failure Take device caused it ambient temperature countermeasures vibration etc against its cause 16 Encoder initial Check it with the check method for AL 16 1 communication Receive data error 2 The servo amplifier Check 3 is compatible with it The wiring is Check 4 correct 1 22 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Alarm No 16 Name Encoder initial communication error 1 Alarm content An error occurred in the communication between an encoder and servo amplifier Encoder initial 1 An axis not used is not Check the setting of It is not set as Set it as disabled WB communication set as disabled axis the disabling control disab
114. ction Each Each 27 1 B Abnormal termination axis axis 1 1 afele I Baa H afeli ofa N N N Initial magnetic pole detection Each Each 20 8 I E A Limit switch error axis axis Initial magnetic 7 Initial magnetic pole detection Each Each 1 pole detection error Estimated error axis axis 7 Initial magnetic pole detection Each Each Position deviation error axis axis Initial magnetic pole detection Each Each 7 6 neve R l Speed deviation error axis axis 77 Initial magnetic pole detection Each Each Current error axis axis Linear encoder 8 1 Linear encoder Environment Each Each error 2 error axis axis 2A 1 Linear encoder error 1 1 Fach axis axis 2A 2 Linear encoder error 1 2 axis axis 2A 3 Linear encoder error 1 3 axis axis g 2A 4 Linear encoder error 1 4 Fach Fach Linear encoder axis axis error 1 2A 5 Linear encoder error 1 5 Eac axis axis 2A 6 Linear encoder error 1 6 Fach axis axis 2A 7 Linear encoder error 1 7 Each axis axis 2A 8 Linear encoder error 1 8 axis axis 2B 1 ncoder counter error 1 axis axis 4 2B 2 Encoder counter error 2 axis axis 30 1 Regeneration heat error 1 Regenerative error 30 2 Regeneration signal error Common a axes 30 3 Regeneration feedback signal error 7 S a cei il axis axis 1 Overcurrent detected at Each 1 hardware detection circuit All axes axis during operation Overcurrent detected at Each 2 software detection
115. ctly incorrect The wiring is correct Check 4 Execute the magnetic It is not repeatable Execute the pole detection and magnetic pole then check the detection repeatability It is repeatable Check 5 Calculate the deviation The deviation is Review the operation between the current A status Review the command and Pr PLO7 setting torque thrust depending on circumstances Alarm No 42 Name Fully closed loop control error detection during fully closed loop control Alarm content A fully closed loop control error has occurred Fully closed loop control error by position deviation 1 The resolution of the load side encoder setting differs from the value The direction of eet load side encoder is incorrect Check the setting of The setting is Set it correctly A Pr PE04 and Pr incorrect B PEUR The setting is Check 2 WB correct Check the mounting The mounting Mount it correctly direction of the load direction is incorrect Review the encoder side encoder pulse count polarity selection setting of the parameter as required A Pr PC45 B WB Pr PC27 The mounting Check 3 direction is correct The position deviation exceeded the detection level Check the value of The deviation is Review the operation droop pulses large status Review the Pr PEO7 setting depending on circumstances 1 51 1 TROUBLESHOOTING FOR SERVO AM
116. d error Inrush current suppression circuit error ow ON E M o Inrush current suppression circuit error gt wo EE Parameter combination error for driver communication on Parameter setting slave error for driver commitinication Parameter combination error 3D 2 for driver communication on master TAVARA Each Each Operation mode 3E 1 Operation mode error axis axis error 3E 6 Operation mode switch error Each Each 42 1 Servo control error by position EDB Note 4 c c Servo control error deviation axis axis for linear servo 422 Servo control error by speed EDB Note 4 Note Each Each motor and direct deviation axis axis drive motor 42 3 Servo control error by EDB Note 4 Note Each Each torque thrust deviation axis axis Fully closed loop control error EDB Note 4 Each Each by position deviation axis axis 429 Fully closed loop control error EDB Note 4 N Each Each by speed deviation axis axis for fully closed GST Tai loop control ully closed loop control error P 42 A by position deviation during EDB Note 4 Each Each axis axis command stop oa Main circuit device overheat sD O noe Common All axes Main circuit device error 1 Note 1 on 1 overheat verne 45 2 Main circuit device overheat SD O O Commohl Allaxes error 2 Note 1 Note 1 hee 1 m AAA VAN f dls WAI WEGA N Fully closed loop control error 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE
117. dex France MITSUBISHI ELECTRIC EUROPE B V Czech Branch Avenir Business Park Radlicka 751 113e 158 00 Praha5 Czech Republic MITSUBISHI ELECTRIC EUROPE B V Polish Branchul Krakowska 50 32 083 Balice Poland MITSUBISHI ELECTRIC EUROPE B V Russian Branch St Petersburg office Piskarevsky pr 2 bld 2 lit Sch BC Benua office 720 RU 195027 St Petersburg Russia MITSUBISHI ELECTRIC EUROPE B V Scandinavia Fjeliev gen 8 SE 22736 Lund Sweden MITSUBISHI ELECTRIC TURKEY A mraniye Branch Serifali Mahallesi Nutuk Sokak No 5 TR 34775 Umraniye Istanbul Turkey MITSUBISHI ELECTRIC EUROPE B V Dubai Branch Dubai Silicon Oasis P O BOX 341241 Dubai U A E ADROIT TECHNOLOGIES 20 Waterford Office Park 189 Witkoppen Road Fourways Johannesburg South Africa MITSUBISHI ELECTRIC AUTOMATION CHINA LTD No 1386 Hongqiao Road Mitsubishi Electric Automation Center Shanghai China SETSUYO ENTERPRISE CO LTD 6F No 105 Wugong 3rd Road Wugu District New Taipei City 24889 Taiwan R O C MITSUBISHI ELECTRIC AUTOMATION KOREA CO LTD 7F 9F Gangseo Hangang Xi tower A 401 Yangcheon ro Gangseo Gu Seoul 157 801 Korea MITSUBISHI ELECTRIC ASIA PTE LTD 307 Alexandra Road Mitsubishi Electric Building Singapore 159943 MITSUBISHI ELECTRIC FACTORY AUTOMATION THAILAND CO LTD 12th Floor SV City Building Office Tower 1 No 896 19 and 20 Rama 3 Road Kwaeng Bangpongpang Khet Yannawa Bangkok 10
118. disasters vii a failure generated by an unforeseeable cause with a scientific technology that was not available at the time of the shipment of the Product from our company viii any other failures which we are not responsible for or which you acknowledge we are not responsible for Term of warranty after the stop of production 1 We may accept the repair at charge for another seven 7 years after the production of the product is discontinued The announcement of the stop of production for each model can be seen in our Sales and Service etc 2 Please note that the Product including its spare parts cannot be ordered after its stop of production Service in overseas countries Our regional FA Center in overseas countries will accept the repair work of the Product However the terms and conditions of the repair work may differ depending on each FA Center Please ask your local FA center for details Exclusion of responsibility for compensation against loss of opportunity secondary loss etc Whether under or after the term of warranty we assume no responsibility for any damages arisen from causes for which we are not responsible any losses of opportunity and or profit incurred by you due to a failure of the Product any damages secondary damages or compensation for accidents arisen under a specific circumstance that are foreseen or unforeseen by our company any damages to products other than the Product and also compensation for any r
119. due to entered noise into an encoder cable There is a backlash between the servo motor and machine such as gear coupling The rigidity of the servo motor mounting part is low The eccentricity due to core gap is large A load for the shaft of the servo motor is large An external vibration propagated to the servo motor by increasing auto tuning response Pr PAO9 If the servo motor may be driven with safety remove the load and check the noise with the servo motor only If you can remove the servo motor from machine remove the servo motor power cable to release the brake and check the noise by rotating the shaft by your hands Check the power supply of the electromagnetic brake Noising means that the bearing life expired Replace the servo motor When not noising maintain the machine Turn on the electromagnetic brake power Review the brake release timing Please consider that the electromagnetic brake has release delay time Check if the trouble is solved Adjust gains by reducing auto tuning response Pr PA09 If the servo motor may be driven with safety check if the trouble is solved by one touch tuning or adaptive tuning If the servo motor may be Execute the advanced driven with safety check if vibration suppression control the trouble is solved by ll advanced vibration suppression control II Check the cumulative Please take feedback pulses using status countermeas
120. e It is 0 C or more Check 3 Reduce the load or review the operation pattern The effective load Check 4 ratio is small It is not repeatable Replace the servo motor It is repeatable Check 5 Replace the functional safety unit The effective load ratio is high 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Alarm No 7C Alarm content Name Functional safety unit communication diagnosis error safety observation function The SSCNET III H communication had an error in the functional safety unit Functional safety unit communication cycle error safety observation function 1 Communication cycle does not match The functional safety unit is malfunctioning 3 Something near the device caused it An error occurred at the servo system controller side The SSCNET III cable was disconnected Functional safety unit communication data error safety observation function The surface at the end of SSCNET III cable got dirty The SSCNET III cable is broken or severed A vinyl tape is stacked to the SSCNET III cable Or a wire insulator containing migrating plasticizer is adhered to the cable The servo amplifier is malfunctioning The previous or next axis servo amplifier of the alarm occurred is malfunctioning The controller is malfunctioning Something near the device caused it Check the communication cycle setting Pr PSC01 of the
121. e repeatability Something near the Check the noise It has a failure Take device caused it ambient temperature countermeasures vibration etc against its cause 70 Load side Check it with the check method for AL 70 1 encoder initial communication Receive data error 2 2 3 4 5 6 1 65 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Alarm No 70 Name Load side encoder initial communication error 1 Alarm content An error occurred in the communication between the load side encoder and servo amplifier Load side 1 An axis not used is not Check the setting of It is not set as Set it as disabled WB disabled axis axis encoder initial set as disabled axis the disabling control communication axis switches SW2 axis Receive data 2 SW2 3 SW2 4 error 3 Check if the load side The load side encoder cable was disconnected A load side encoder cable is malfunctioning encoder cable is connected correctly Check if the load side encoder cable is disconnected or shorted It has a failure It is connected Check 3 Replace or repair the cable It has no failure Check 4 The power voltage has been unstable For the load side encoder with the external power supply input The parameter setting of communication method is incorrect A Pr PC44 B Pr PC26 When you use an A B Z phase differential output linear encoder the connect
122. e controller itself Cycling the power Turning off the power and on again 4 Processing system only for MR J4W_ _B_ Processing system of alarms is as follows Each axis Alarm is detected for each axis Common Alarm is detected as the whole servo amplifier 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT 5 Stop system only for MR J4W_ _B_ This means target axis to stop when the alarm occurs Each axis Only alarming axis will stop All axes All axes will stop O aS Alarm code only MR J4 _A_ RJ MR J4 DU_A_ RJ To output alarm codes set Pr PD34 to 1 when using an MR J4 _A_ RJ MR J4 DU_A_ RJ Alarm codes are outputted by on off of bit 0 to bit 2 Warnings AL 90 to AL F3 do not have alarm codes The alarm codes in the following table will be outputted when they occur The alarm codes will not be outputted in normal condition When using an MR D01 extension IO unit you can output alarm codes by setting Pr Po12 to 1 Alarm codes are outputted by on off of bit 0 to bit 3 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT 1 2 Alarm list Alarm deactivation Process Stop Alarm code Note 8 Stop Detail S method i in No Name Detail name Alarm cpu CYling 9 system acps acp2 acp1 acpo No Note s t set the system Note 9 Bi i i i 2 3 e re power Note 9 Bit 3 Bit 2 Bit 1 Bit 0 L circuit power lt 10 Undervoltage Volt E nth in circuit 1 po
123. e encoder It is repeatable Check 3 Something near the device caused it Check the noise ambient temperature vibration etc 1 69 It has a failure Take countermeasures against its cause 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Alarm No 72 Name Load side encoder normal communication error 2 Alarm content The load side encoder detected an error signal Load side encoder data update error A load side encoder is brane Replace the load side encoder and then check the repeatability It is not repeatable Replace the load side encoder It is repeatable Check 2 2 Something near the device caused it Check the noise ambient temperature etc It has a failure Take countermeasures against its cause Load side encoder data waveform error Check it with the check method for AL 72 2 Load side encoder non signal error A signal of the load side encoder has not been inputted Check if the load side encoder cable is wired correctly It has a failure Review the wiring It has no failure Check 2 Something near the device caused it Check the noise ambient temperature etc It has a failure Take countermeasures against its cause Load side encoder hardware error 1 Load side encoder hardware error 2 Check it with the check method
124. e encoder initial communication error 1 Alarm content An error occurred in the communication between the load side encoder and servo amplifier 70 1 Load side 1 A load side encoder Check if the load side It has a failure Replace or repair encoder initial cable is malfunctioning encoder cable is the cable communication disconnected or It has no failure Check 2 Receive data shorted error 1 2 When you use an A B Z Check if the servo The servo amplifier Use a servo phase differential output amplifier MR J4 _A_ is not compatible amplifier which is linear encoder the RJ or MR J4 _B_ RJ with it compatible with it servo amplifier is not is compatible with the The servo amplifier Check 3 compatible with the A B Z phase t cae is compatible with it linear encoder differential output linear encoder When you use an A B Z Check if the wiring of The wiring is Wire it correctly phase differential output the linear encoder is incorrect linear encoder the correct Check if it is connection with the wired to PSEL The wiring is Check 4 linear encoder is correct incorrect The servo amplifier is Replace the servo It is not repeatable Replace the servo A malfunctioning amplifier and then amplifier B repeatability A load side encoder is Replace the load side It is not repeatable Replace the load malfunctioning encoder and then side encoder check the It is repeatabl
125. e output device is within the specifications Check the setting of Pr PSD30 Output The test pulse time was not set correctly It has a failure Review the wiring or load It has no failure Check 2 The test pulse width Set the value longer is longer than the device Test pulse off set value time Check if the current is used within prescribed Current of the output device is excessive The functional safety unit is malfunctioning safety unit and then check the repeatability Check the noise ambient temperature etc Check if the input device cable is wired correctly Something near the device caused it A mismatch of input signal DI_A and DI_B continued for a fixed time Pr PSD18 to Pr PSD23 An input mismatch time was not set correctly Check the settings of Pr PSD18 Mismatch permissible time D11 to Pr PSD23 Mismatch permissible time D16 The functional safety unit is malfunctioning safety unit and then check the repeatability Check the noise ambient temperature etc Something near the device caused it 1 73 Replace the functional It is not repeatable The test pulse width Check 3 is shorter than the set value Not within Reduce the output prescribed current Within prescribed Check 4 Replace the functional It is not repeatable Replace the functional safety unit It is repeatable Check 5 Take coun
126. e servo system controller side When using 8 axes or less 0 222 ms When using 16 axes or less 0 444 ms When using 32 axes or less 0 888 ms Connection to MR J4W3 _B Check if the communication Use them with 0 444 ms or with software version A2 or _ cycle on servo system more communication cycle earlier was attempted in controller side is 0 222 ms 0 222 ms communication cycle MR J4W3 _B was attempted Check if it was attempted to MR J4W3 _B does not to use in fully closed loop use in fully closed loop support the fully closed loop system system control system Use MR J4 _B_ or MR J4W2 _B A SSCNET III cable was Check if Ab is displayed in Replace the SSCNET III B disconnected the corresponding axis and cable of the corresponding WB following axes axis Check if the connectors Connect it correctly CNIA CNIB are unplugged The control circuit power Check if Ab is displayed in Check the power of the servo supply of the previous axis the corresponding axis and amplifier servo amplifier is off following axes The amplifier less operation Check if the amplifier less Disable the amplifier less function of servo system operation function of servo operation function controller is enabled system controller is enabled The servo amplifier is Check if Ab is displayed in Replace the servo amplifier malfunctioning the corresponding axis and of the corresponding axis following axes A CC Link IE cabl
127. e was Check if Ab is displayed in Replace the CC Link IE RJ010 disconnected the corresponding axis and cable of the corresponding following axes axis The servo amplifier power Check the power of the Turn on the power of the was switched on when the master station master station master station was off Communication cycle does Check the communication Set it correctly not match cycle on the master station side When using 8 axes or less 0 888 ms When using 16 axes or less 1 777 ms MR J3 T10 is malfunctioning Replace the MR J3 T10 and Replace the MR J3 T10 then check the repeatability The servo amplifier is Replace the servo amplifier Replace the servo amplifier malfunctioning and then check the repeatability The master station is Replace the master station Replace the master station malfunctioning and then check the repeatability 1 105 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Check resul The display shows hr Test operation mode has Test operation setting switch Turn off the test operation B Note been enabled SW2 1 is turned on setting switch SW2 1 WB The system has been in the Check if the servo ready Turn on the servo on signals RJ010 ready off state state is off with the servo for all axes system controller The display shows dEF Initializing point table program Initializing of point table It takes about 20 s for startup A is in progress program was
128. eann Nam conent guia Detail name Board error 1 a current detection circuit is malfunctioning Something near the device caused it Name Board error A part in the servo amplifier is malfunctioning Check method Check result Check if the alarm It occurs Replace the servo A amplifier B occurs during the It does not occur Check 2 WB servo on status It has a failure Take RJ010 countermeasures against its cause aes Check the noise ambient temperature etc Check it with the check method for AL 17 1 S Board enor 1 The servo amplifier recognition signal was not read properly Something near the device caused it S Board error 4 The setting value of the axis selection rotary switch SW1 was not read properly Something near the device caused it Disconnect the cables except for the control circuit power supply and then check the repeatability Check the noise ambient temperature etc Disconnect the cables except for the control circuit power supply and then check the repeatability Check the noise ambient temperature etc It is repeatable Replace the servo amplifier It is not repeatable Check 2 It has a failure Take countermeasures against its cause It is repeatable Replace the servo amplifier It is not repeatable Check 2 It has a failure Take countermeasures against its cause B WB 1 24
129. ectly A eae has no failure Check 2 We Check if the voltage of The voltage is the prescribed value or Review the voltage RJ010 of the control circuit power supply Check 3 Cycle the power after the seven segment LED of the servo amplifier is turned off It has no problem Check 4 Review the power Check 5 Review the setting of AL 10 Undervoltage detection method selection with the following parameters A Pr PC27 B WB RJ010 Pr PC20 Review the power 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Alarm No 10 Name Undervoltage P The voltage of the GL L power supply has dropped The voltage of the main circuit power supply has dropped 10 2 Voltage drop in 1 The main circuit power Check the main circuit It is disconnected the main circuit power 6 supply wiring was disconnected For the drive unit the main circuit power supply wiring of the converter unit was disconnected The wiring between P3 and P4 was disconnected For the drive unit the wiring between P1 and P2 of the converter unit was disconnected For the drive unit the magnetic contactor control connector of the converter unit was disconnected For the drive unit the bus bar between the converter unit and drive unit was disconnected The voltage of the main circuit power supply is low The alarm has occurred during acceleration
130. ed AL 7D 2 Newly added Section 1 5 AL 95 3 to AL 95 5 Newly added AL E6 2 AL E6 3 Newly added Section 1 6 Partially added Sep 2014 SH NA 030109 H MR J4 DU_ RJ and MR CR55K_ are added Section 1 2 Alarm is added Section 1 3 Warning is added Section 1 4 AL 10 1 is partially changed AL 10 2 is partially changed AL 14 2 is partially changed AL 17 7 is added AL 1B 1 is added AL 20 1 is partially changed AL 20 5 is partially changed AL 20 6 is partially changed Print Data_ Manual Number Sep 2014 Apr 2015 Sep 2015 SH NA 030109 H SH NA 030109 J SH NA 030109 K Section 1 4 Chapter 2 Section 3 1 AL 21 1 is partially changed AL 21 2 is partially changed AL 21 4 is partially changed AL 2A 1 is partially changed AL 2B 1 is partially changed AL 31 1 is partially changed AL 71 1 is partially changed AL 9C 1 is added AL E9 1 is partially changed AL E9 4 is added Added POINT is added Contents of MR D30 MR J4 03A6 RJ MR J4W2 0303B6 Modbus and simple cam are added 4 Additional instructions Section 1 1 4 5 Section 1 2 Section 1 3 Section 1 4 Section 1 6 The alarm is added Section 1 2 Section 1 4 Model names are added Added Partially added Partially added AL 10 is partially changed AL 16 3 is partially changed AL 1A 2 is partially changed AL 20 1 is partially
131. ed Check 2 It is not repeatable Take measure to keep the cable tip clean It is repeatable Check 3 It has a failure Replace the SSCNET III cable It has no failure Check 4 It is used They are Take in contact countermeasures against its cause Check 5 It is disconnected It is not used They are not in contact It is not repeatable Replace the servo amplifier It is repeatable Check 6 It is not repeatable Replace the servo amplifier It is repeatable It is not repeatable Replace the controller It is repeatable Check 8 It has a failure Take countermeasures against its cause Check 7 An error occurred in SSCNET III H communication intermittent communication error with about 70 ms WB 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Alarm No 37 Alarm content Parameter setting is incorrect 37 1 Parameter 1 A parameter was set Check the parameter A setting range out of setting range error No and setting range range B setting range RJ010 A parameter setting Check the parameter contradicts another error No and setting incorrect value correct The parameter setting Replace the servo It is not repeatable Replace the servo has changed due toa__ amplifier and then amplifier servo amplifier check the malfunction repeatability Alarm No 37 Name Parameter error Parameter setting is incorrect Alarm content
132. eplacement work readjustment start up test run of local machines and the Product and any other operations conducted by you Change of Product specifications Specifications listed in our catalogs manuals or technical documents may be changed without notice 6 Application and use of the Product 1 For the use of our General Purpose AC Servo its applications should be those that may not result in a serious damage even if any failure or malfunction occurs in General Purpose AC Servo and a backup or fail safe function should operate on an external system to General Purpose AC Servo when any failure or malfunction occurs 2 Our General Purpose AC Servo is designed and manufactured as a general purpose product for use at general industries Therefore applications substantially influential on the public interest for such as atomic power plants and other power plants of electric power companies and also which require a special quality assurance system including applications for railway companies and government or public offices are not recommended and we assume no responsibility for any failure caused by these applications when used In addition applications which may be substantially influential to human lives or properties for such as airlines medical treatments railway service incineration and fuel systems man operated material handling equipment entertainment machines safety machines etc are not recommended and we assume no responsibil
133. er is malfunctioning Something near the device caused it Input device error A signal of input device is not inputted correctly The input device setting parameter is not set correctly The test pulse time was not set correctly The functional safety unit is malfunctioning Something near the device caused it Check result Action Check method Check the ambient temperature It is over 55 C Lower the ambient temperature Check 2 Increase the ambient temperature Check 3 Mount it correctly It is less than 55 C Check the ambient It is less than 0 C temperature tis 0 C or more Check the specifications of close mounting It is out of specifications It is within specifications It is not repeatable Check 4 Clean the opening and check the repeatability Replace the functional safety unit and then check the repeatability Check the power supply for noise Clean it periodically It is repeatable Check 5 It is not repeatable Replace the functional safety unit It is repeatable Check 6 Take countermeasures against its cause Install it correctly Check 2 It has a failure Check the installation It has a failure of the functional safety unit Replace the functional safety unit and then check the repeatability Replace the servo amplifier and then check the repeatability Check the noise ambient tempera
134. error The encoder cable MR ENECBL_M H for HF JP series servo motors is used for the HG JR22K1M 4 servo motor The thermistor wire is disconnected A thermistor circuit of the servo amplifier is malfunctioning Thermistor circuit error Abnormal temperature of servo motor 3 Abnormal temperature of servo motor 4 1 the servo amplifier in output current Check it with the check method for AL 46 1 A current was applied to Check the effective excess of its continuous It is less than 40 C It is less than 40 C than 40 C Check 2 The effective load Reduce the load or ratio is high review the operation pattern The effective load Check 3 ratio is small Check the servo motor The servo motor Replace the servo temperature when the temperature is low motor A alarm occurs temperature B temperature of the The effective load Reduce the load or linear servo motor or direct drive motor ratio is high review the operation pattern Check the effective RJ010 load ratio Check the effective load ratio The effective load Replace the servo ratio is small motor It is not connected Connect it correctly It is connected Check 2 Check the thermistor wire Check the model of the encoder cable MR ENECBL_M H is used Change it to MR ENECBL_M H MTH MR ENECBL_M H MTH is used It is disconnected Repair the lead wire It is n
135. ervo amplifier and servo motor is incorrect Servo motor control mode combination error is not corresponding to the connected servo motor When the fully closed loop control mode is selected encoders of 1 The setting of Pr PA01 Check the Pr PA01 setting Rotary servo motor 0 Linear servo motor _ 4 Direct drive motor _ Check the connection destination of the encoder The combination is incorrect The connection destination of the encoder is incorrect Set Pr PA01 correctly Connect it correctly the servo motor side and the machine side are connected reversely The servo amplifier is malfunctioning 1A 4 Servo motor combination error 2 Replace the servo amplifier and then check the repeatability It is not repeatable Replace the servo amplifier Alarm No 1B Name Converter alarm An alarm occurred in the converter unit during the servo on Alarm content Converter unit error 1 The protection Check the protection It is not connected Connect it correctly A coordination cable is not coordination cable B correctly connected connection It is connected Check 2 An alarm occurred in Check the alarm of the converter unit and take the action following the converter unit the remedies for alarms of the converter unit during the servo on Alarm No 1E Name Encoder initial communication error 2 Alarm content An encoder is
136. et Note 9 Bit 3 Bit 2 Bit 1 Bit 0 Functional safety unit 65 1 aoe communication error 1 Alarm le Functional safety unit communication error 2 D e2 ao N Functional safety unit 65 3 ae communication error 3 n D Functional safety unit 65 4 ape communication error 4 Functional safety 65 unit connection 65 error Functional safety unit communication error 5 a Functional safety unit 65 6 oe communication error 6 n D Functional safety unit 65 ae communication error 7 N n iw Functional safety unit shut off signal error 1 e2 ao popgpggggg VANN VAVA Functional safety unit shut off signal error 2 R E Encoder initial communication Receive data error 1 safety observation function Encoder initial communication Receive data error 2 safety observation function communication Encoder initial communication error safety 66 3 Receive data error 3 safety 1 1 observation observation function function Encoder initial communication 66 7 Transmission data error 1 safety observation function Encoder initial communication Process error 1 safety observation function Encoder normal communication Receive data 67 1 A error 1 safety observation function Encoder normal communication Receive data 67 2 j error 2 safety observation function Encoder normal ae Encoder normal communication nee r communication Rece
137. eta Check 2 normally sade A home position return Check if the motor The Z phase was Review the setting was executed while the passed the Z phase not turned on position of the home servo motor did not signal until the position return start pass the Z phase proximity dog turned and proximity dog off after the home position return started Alarm No 91 Name Servo amplifier overheat warning Alarm content The temperature inside of the servo amplifier reached a warning level Main circuit Ambient temperature of Check the ambient It is over 55 C Lower the ambient device overheat the servo amplifier has temperature temperature i exceeded 55 C Itis less than 55 C Check 2 The close mounting is Check the It is out of Use within the range RJ010 out of specifications specifications of close specifications of specifications mounting 1 86 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Alarm No 92 Name Battery cable disconnection warning Alarm content Battery voltage for absolute position detection system decreased 92 1 Encoder 1 1 When an MR Check if the battery is It is not connected Connect it correctly A battery cable BAT6V1SET A connected correctly B disconnection battery or MR WB warning BT6VCASE battery RJ010 case was used the battery was not connected to CN4 When an MR ea E e battery It is connected Check 2 or junction battery cable w
138. fety unit and then functional safety unit check the repeatability Alarm No 7A Name Parameter setting error safety observation function gt gt gt gt O O O Parameter setting error Name Parameter setting error safety observation function gt gt gt gt O O O observation function Alarm content A parameter of the functional safety unit failed OOOO O O parameter of the functional A parameter of the functional safety unit failed OOOO O O unit failed Parameter 1 A parameter of the Review the parameter It is not repeatable Set the parameter A verification error functional safety unit is correctly B S incorrect observation The functional safety Replace the functional It is not repeatable Replace tt the function unit is malfunctioning safety unit and then al repeatability Something near the Check the noise It has a failure Take device caused it ambient temperature countermeasures etc against its cause Parameter The initial settings for Check the Pr PSA01 It is not enabled Enable the setting setting range the functional safety unit setting with checking error safety have not been finished parameter contents observation It is enabled Check 2 function A parameter of the Check the value of set It is out of setting Set it within the functional safety unit parameters range was set out of range Parameter A parameter of the Check the p
139. function N All axes 3 R axis during operation 32 Overcurrent Overcurrent detected at Each 3 hardware detection circuit All axes axis during a stop Overcurrent detected at Each 4 software detection function 3 All axes i axis during a stop Overvoltage 33 1 Main circuit voltage error laxes 1 o m Encoder counter error Initial magnetic pole detection Each Each Time out error axis axis 1 1 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Stop Process a Alarm code Note 8 No Name eel Detail name res S system ACD2 ACDO S 2 3 reset reset Bower Note 9 Bit 3 Bit 2 Bit 1 Bit 0 peep I SS error S NIN 343 SSCNET communication data sD Each Each SSCNET receive error axis axis error 1 Hardware error signal detection CE SSCNET receive data error safety observation function SSCNET communication data 34 6 error safety observation function 5 S aa raie S BG frequency error axis axis Continuous communication Each Each l data error axis axis SSCNET receive error 2 Continuous communication 36 2 data error safety observation function 37 1 Parameter setting range error kesel axis axis Each Each axis axis Parameter error 37 2 Parameter combination error jo ommon All axes O wo D 37 3 Point table setting error 7 Command argument external error Program error 39 3 Register No error 39 4 Non correspondence comman
140. g the CC Link IE communication A synchronous signal error transmitted from the controller occurred Adaptive tuning mode or vibration suppression control tuning mode has been executed for multiple axes simultaneously The parameter setting is incorrect Something near the device caused it The servo amplifier is malfunctioning Check if AL 74 Option card error 1 occurred with alarm history Check if the parameter setting is incorrect Check the power supply for noise Check if the connector is shorted Replace the servo amplifier and then check the repeatability Check if AL 74 Option card error 1 occurred with alarm history Replace the controller and then check the repeatability Check the setting of Pr PB01 or Pr PBO2 With the J3 extension function Check the setting of Pr PB01 Pr PBO2 or Pr PX03 Check if the parameter setting is incorrect Check the power supply for noise Check if the connector is shorted Replace the servo amplifier and then check the repeatability Check it with the check method for AL 74 It did not occur Check 2 Se It has a failure Take countermeasures against its cause It has no failure Check 4 It is not repeatable Replace the servo amplifier It is occurring RJ010 RJ010 Check it with the check method for AL 74 It did not occur Check 2 It is repeatable Replace the serv
141. he A reduction ratio geared servo motor Number of command input pulses per revolution Pr PA05 or electronic gear Pr PA06 and Pr PA07 B WB RJ010 Number of pulses per revolution travel distance setting on the controller side The in position range is too Check the setting of the in Set a narrower in position large position range in Pr PA10 range The command pulses were Check that the command Please take miscounted due to noise value of the controller and countermeasures against the number of cumulative noise for the command command pulses are cable matched Review the shield procedure of the command cable The cable for a command is Check that the command Repair the cable for a connected loosely or value of the controller and command disconnected the number of cumulative command pulses are matched 1 112 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Check resul The position deviates during Frequency of the pulse train operation after home position Command is too high return A cable for command is too long SON Servo on turned off during operation CR Clear or RES Reset turned on during operation The setting of point tables and start timing is incorrect An input signal to the MR D01 extension IO unit is incorrect Check the pulse train Review the pulse train command frequency is within command frequency Select the range of spe
142. he load Review the regenerative option capacity When the regenerative option is not used Use the regenerative option It is less than 100 Check 5 The resistance is Replace the abnormal regenerative resistor regenerative option The resistance is Check 6 normal It is overheating Replace the abnormally converter unit It is not overheating Check 7 abnormally The alarm occurs Replace the converter unit It is 100 or more Measure the resistance of the regenerative resistor regenerative option Check if the regenerative resistor regenerative option is overheating Remove the regenerative resistor regenerative option and then check if the The alarm does not alarm occurs at power occur on Check the noise ground fault ambient temperature etc Check 8 Take countermeasures against its cause It has a failure 2 TROUBLESHOOTING FOR MR CR55K 4 CONVERTER UNIT Name Description Check method Check result 33 Overvoltage The value of the bus voltage exceeded the prescribed value 200 V class 400 V DC or more 400 V class 800 V DC or more 1 The regenerative resistor regenerative option is not used 2 The setting of the regenerative resistor regenerative option is incorrect The regenerative resistor regenerative option is not connected Wire breakage of the regenerative resistor regenerative option cap
143. he setting of The setting is Set it correctly external error is set to the cam No the cam No incorrect The power was not Cycle the power cycled The power was Check 2 cycled The cam control command was not turned on during servo on The cam control command was turned on during servo on The cam control command was not turned on while the travel completion was on The cam control command was turned on while the travel completion was on The home position return completion is off The home position return completion is on It is servo off Turn on the cam control command during servo on Check 3 Turn on the cam control command while the travel completion was on Check 4 Make a home position return and turn on the cam control command Check 5 After servo on turn on the cam control command again Check 6 The home position return completion is off The home position return completion is on After the home position return completion turn on the cam control command again Check 7 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Alarm No F6 Name Simple cam function Cam control warning The cam axis position restoration at a time of cam control start was a failure Alarm content S The cam control is not normal F6 6 Cam control inactive 1 6 Trouble which does not trigger alarm warning It is stopped ata software limit during
144. heck creep speed and the repeatability make home position setting Servo off A home positioning Check if the status is It is servo off Turn to servo on warning at was executed during servo off at home and then execute the home servo off positioning home positioning positioning Home Z phase was not turned Check if the Z phase The Z phase was Rotate the direct positioning on after servo on was turned on not turned on drive motor to turn warning during on the Z phase and magnetic pole make home position detection setting Alarm No 97 Name Program operation disabled next station position warning Alarm content How to specify a positioning is incorrect for the positioning function 97 1 Program 1 When using the Check if the power of The power of the Cycle the power of operation positioning function the servo amplifier servo amplifier was 1 the servo amplifier disabled start a program with the was cycled after the not cycled warning program operation program was changed disabled 97 2 Next station An abnormal value was Check if a number of The number of Review the position warning specified to a signal stations per rotation stations per rotation parameter setting or input of the next station Pr PT28 or more Pr PT28 or more next station position position specification value was not value was specified input signal and automatic operation specified to the next The number of Check
145. home position return did not complete normally with the positioning function home position return did not A home position return did not complete normally with the positioning function normally with the positioning function 90 2 Home position 1 A home position return Check if the proximity The proximity dog Review the dog return abnormal speed did not dog turned off before aj turned off before the position termination decelerate to a creep home position return deceleration to a Or review the speed completed creep speed parameter values of deceleration to a creep the home position speed return speed creep speed and travel distance after proximity dog Deceleration from the Check if the home It was not turned on Review the positional home position return position was turned before the relationship of the speed creep speed to on before the deceleration was stroke limit and the home position deceleration from the complete home position Or failed at the indexer home position return review the parameter method speed creep speed to values of the home the home position position return was complete speed creep speed deceleration time constant and home position shift distance 90 5 Z phase The Z phase signal was Check if the Z phase The Z phase signal Review the Z phase unpassed not detected normally signal of the servo was not detected signal and wirings motor linear servo l motor was detected The
146. if parameters It was changed Replace the have been used very converter unit frequently Change the process to use parameters less frequently after replacement It was not changed Check 3 Check if the error It occurs Replace the occurs when you converter unit change parameters during normal It does not occur Check 4 operation Check the power It has a failure Take supply for noise countermeasures Check if the connector against its cause is shorted Disconnect the cables It is repeatable Replace the except for the control converter unit circuit power supply S and then check the It is not repeatable Check 2 repeatability Check the noise It has a failure Take ambient temperature countermeasures etc against its cause 2 TROUBLESHOOTING FOR MR CR55K 4 CONVERTER UNIT Name Description Check method Check result 19 Memory error 3 Flash ROM A part Flash ROM in the converter unit is failure 30 Regenerative error Permissible regenerative power of the regenerative resistor regenerative option is exceeded The regenerative resistor is malfunctioning A regenerative transistor in the converter unit is malfunctioning 1 The Flash ROM is malfunctioning 2 Something near the device caused it 1 The setting of the regenerative resistor regenerative option is incorrect The regenerative resistor regenerative option is not connected
147. ifications specifications of close specifications of specifications specifications Turning on and off Check if the overload were repeated under status occurred many pattern the overload status times A cooling fan heat sink Clean the cooling fan or openings is clogged heat sink or openings It is repeatable Check 5 with foreign matter and then check the repeatability The servo amplifier is Replace the servo It is not repeatable Replace the servo malfunctioning amplifier and then amplifier check the repeatability 45 2 Main circuit Check it with the check method for AL 45 1 device overheat error 2 1 52 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Alarm No 46 Name Servo motor overheat Alarm content The servo motor overheated Detail name Check method Check result Abnormal Ambient temperature of Check the ambient It is over 40 C Lower the ambient A temperature temperature of the servo motor has temperature of the B Cause servo motor 1 exceeded 40 C servo motor WB N Se Servo motor is overloaded The thermal sensor in the encoder is malfunctioning Ambient temperature of the linear servo motor or direct drive motor has exceeded 40 C The linear servo motor or direct drive motor has been under overload status 46 2 Abnormal temperature of servo motor 2 A thermistor wire is not connected Thermistor disconnected
148. iner Replace the servo Itis not repeatable Replace the servo encoder is motor or linear motor or linear malfunctioning encoder and then encoder check the repeatability 1 54 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Alarm No 50 Name Overload 1 Alarm content Load exceeded overload protection characteristic of servo amplifier 50 2 Thermal overload error 2 during operation 50 3 Thermal overload error 4 during operation 0 4 A moving part collided against the machine The servo motor power cable was disconnected Hunting occurs during servo lock The electromagnetic brake has not released The electromagnetic brake has been activated A current was applied to the servo amplifier in excess of its continuous output current The connection destination of the encoder cable is incorrect The servo system is unstable and resonating The servo amplifier is malfunctioning The encoder servo motor or liner encoder is malfunctioning 5 Thermal overload error 1 during a stop 50 5 Thermal overload error 2 during a stop 50 6 Thermal overload error 4 during a stop Check it with the check method for AL 50 1 Check if it collided Check the servo motor It is disconnected power cable Check if the hunting is occurring Check if the electromagnetic brake is released Check the effective load ratio Check the connection destinations of CN2
149. ing near the device caused it Overcurrent detected at hardware detection circuit during a stop Overcurrent detected at software detection function during a stop Check if an oscillation An oscillation is is occurring Disconnect the servo motor power cables U V and W and check if the alarm occurs Check if only the servo motor power cable is shorted Disconnect the servo motor power cables on motor side and check insulation of the motor between U V W and A Check the connection destinations of CN2A CN2B and CN2C Check the noise ambient temperature etc Check it with the check method for AL 32 1 Check it with the check method for AL 32 2 1 42 Reduce the speed loop gain Pr PBO9 For MR J4 03A6 RJ and MR J4W2 0303B6 check if the main circuit power supply voltage is 48 V DC even though the setting is 24 V DC An oscillation is not Check 2 occurring It occurs Replace the servo amplifier It does not occur Check 3 It is shorted Replace the servo motor power cable It is not shorted Check 4 A ground fault is Replace the servo occurring motor Check 5 It is not correct Connect it correctly It has a failure Take countermeasures against its cause occurring A ground fault is not occurring IA B WB RJO10 WB A B WB RJ010 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Al
150. inst its cause 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Alarm No 70 Name Load side encoder initial communication error 1 Alarm content An error occurred in the initial communication between the load side encoder and servo amplifier data error 1 encoder is incorrect cable are 5 Something near the device caused it disconnected or 1 When you use an Load side 1 When you use an Check if the A B It is disconnected or Repair the encoder A encoder initial A B Z phase differential phase pulse signals shorted cable B communication output linear encoder PA PAR PB and Transmission the wiring of the linear PBR of the encoder shorted 2 A load side encoder Check it with the check method for AL 70 1 A cable is malfunctioning B 3 The servo amplifier is WB malfunctioning 4 A load side encoder is malfunctioning A B Z phase differential output linear encoder the wiring of the linear encoder is incorrect It is not disconnected Check 2 or shorted It is disconnected or shorted Repair the encoder cable Load side encoder initial communication Transmission data error 2 Check if the Z phase pulse signals PZ PZR of the encoder cable are disconnected or shorted A load side encoder Check it with the check method for AL 70 1 cable is malfunctioning It is not disconnected Check 2 or shorted The servo amplifier is malfunct
151. ion 1 63 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Alarm No 68 Name STO diagnosis error Alarm content An error of STO input signal was detected Check result 68 1 Mismatched STO signal error 2 3 4 5 STO1 and STO2 are not inputted correctly The input states of STO1 and STO2 are different The setting of Pr PF18 STO diagnosis error detection time Pr PX43 for when the J3 extension function is used is incorrect The STO circuit is malfunctioning Something near the device caused it Check if the STO1 and STO2 of CNB connector are wired correctly Check the on off states of STO1 and STO2 Set a longer time in the parameter and then check the repeatability Replace the servo amplifier and then check the repeatability Check the noise ambient temperature etc 1 64 Wire it correctly A B Check 2 WB The on off states of Set STO1 and STO2 STO1 and STO2 are to the same input different states The on off states of Check 3 STO1 and STO2 are the same It is not repeatable Review the parameter setting It is repeatable Check 4 It is not repeatable Replace the servo amplifier It is repeatable Check 5 It has a failure Take countermeasures against its cause It is not wired correctly It is wired correctly 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Alarm No 70 Name Load sid
152. ion with the linear encoder is incorrect When you use a four wire type linear encoder the servo amplifier is not compatible with the four wire type linear encoder Check the power capacity and voltage It has a failure Review the power and related parts It has no failure Check 5 Check the parameter setting Check if the wiring of the linear encoder is correct Check if it is wired to PSEL The setting is incorrect Set it correctly The setting is correct Check 6 The wiring is incorrect Wire it correctly The wiring is correct Check 7 Check if the servo amplifier is compatible with the four wire type linear encoder MR J4 _A_ RJ or MR J4 _B_ RJ It is not compatible with Use a servo amplifier which is compatible with it It is compatible with Check 8 The servo amplifier is malfunctioning Replace the servo amplifier and then check the repeatability It is not repeatable Replace the servo amplifier It is repeatable Check 9 A load side encoder is malfunctioning Replace the load side encoder and then check the repeatability It is not repeatable Replace the load side encoder It is repeatable Check 10 Something near the device caused it Check the noise ambient temperature vibration etc 1 66 It has a failure Take countermeasures aga
153. ioning A load side encoder is malfunctioning Something near the device caused it Check it with the check method for AL 70 1 Load side encoder initial communication Transmission data error 3 Load side encoder initial communication Process error 1 The servo amplifier is malfunctioning Replace the servo amplifier and then check the repeatability It is not repeatable Replace the servo amplifier It is repeatable Check 2 A load side encoder is malfunctioning Replace the load side encoder and then check the repeatability It is not repeatable Replace the load side encoder It is repeatable Check 3 Something near the device caused it Check the noise ambient temperature vibration etc 1 67 It has a failure Take countermeasures against its cause 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Alarm No 70 Name Load side encoder initial communication error 1 Alarm content An error occurred in the initial communication between the load side encoder and servo amplifier Load side Check it with the check method for AL 70 A encoder initial communication Process error 2 Load side encoder initial communication Process error 3 Load side encoder initial communication Process error 4 Load side encoder initial communication Process error 5 Load side encoder initial communicatio
154. ions and so on are classified into POINT After reading this Instruction Manual keep it accessible to the operator 1 To prevent electric shock note the following WARNING Before wiring or inspection turn off the power and wait for 15 minutes or more 20 minutes or more for converter unit until the charge lamp turns off Then confirm that the voltage between P and N between L and L for converter unit is safe with a voltage tester and others Otherwise an electric shock may occur In addition always confirm whether the charge lamp is off or not from the front of the servo amplifier converter unit Do not operate switches with wet hands Otherwise it may cause an electric shock 2 To prevent fire note the following JN CAUTION When you use an MR J4 multi axis servo amplifier connecting an encoder for wrong axis to the CN2A CN2B or CN2C connector may cause a fire 3 To prevent injury note the following JN CAUTION The servo amplifier drive unit converter unit heat sink regenerative resistor servo motor etc may become hot while power is on or for some time after power off Take safety measures e g provide covers to avoid accidentally touching the parts cables etc by hand 4 Additional instructions The following instructions should also be fully noted Incorrect handling may cause a malfunction injury electric shock etc 1 Wiring A CAUTION Wire the equipment correc
155. is 16 D Encoder initial communication Each Each Process error 4 axis axis 16 E Encoder initial communication Each Each i Process error 5 axis axis 16 F Encoder initial communication Each Each Process error 6 axis axis 7 O Rann Alt axes Ji Common DN m NNNHNN NNN NNNHN NNNHN NNN NNNHNNN HNH NTN OB OB DB DB OB OB DB OB be oe OB OB DB 0 All axes Al a axes All axes All axes All axes All axes All axes 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Stop Alarm deactivation Process St Alarm code Note 8 S op Detail l method No Name No Detail name Note Alarm CPU ae system acp3 acp2 AcD1 acpo Note 9 i i i i 2 3 reset reset Bower Bit 3 Bit 2 Bit 1 Bit 0 FashROM 79 2 Fiash ROM enor o8 N o Common Araxes ST a E E 1 axis axis err E e S E ae eae combination error combination error axis axis aaa anna oa PSN 0 ae ae 2 axis axis ie Convererenor 161 Convererunteror 0 H H caning I SINT SS communication arora te tons retained o8 S SS a TS Se eg al e ANTE communication a afrennen a ANT o TET Encoder normal Each Each 1 communication Receive data E axis axis error 1 Encoder normal Each Each 2 communication Receive data b axis axis error 2 20 o gt el Oe Ja Encoder normal Kek F Each Each communication Receive dat
156. isplayed a Click the Waveform Display button to display the graph preview window which shows data before and after alarm occurrence For operating the graph preview window refer to Help of MR Configurator2 b Click the Display button of Alarm onset data to display each data at alarm occurrence Drive Recorder Encoder normal communication error 1 Encoder normal communication error 2 Overspeed Undervottage Undervotage Undervottage Undervottage Undervottage Undervottage Drive Recorder AL10 2 13H Zoom Move Cortrol of displayed waveform cso S Eme Iz pime Motor spa rerque va I W a 1170 10 100 m 780 n 8 6 4 2 520 0 300 2 250 4 130 6 8 o 130 a0 o amp Alarm Onset Data Number 204 Encoder normal communication error 1 Occurrence time h Detailed information e o No item 1 Cumulative jeedback pulses 2 Servo motor speed 3 Droop pulses 4 Cumulative command pulses 5 Command pulse frequency 6 Regenerative load ratio 7 Effective load ratio 8 Peak load ratio 9 Instantaneous torque 10 Within one revolution position 11 ABS counter 12 Load to motor inertia ratio 13 Bus voltage 35 Encoder inside temperature Settling time 37 Oscillation detection frequency 38 Number
157. it Check the instantaneous Review the torque limit is incorrect torque using status display if setting the maximum torque maximum thrust exceeds the torque limit value thrust limit value Backlash of the machine part Check if there is a backlash Adjust the backlash on the is large on the machine part coupling and machine part The communication setting is Check the communication Set the communication A incorrect setting such as baud rate setting correctly B and ports WB A model is being connected Check if the model selection Set the mode selection RJO10 other than the model set in is set correctly correctly model selection The driver was not set Check the bottom of the USB Delete an unknown device or correctly Universal Serial Bus other devices cycle the controller with the device power of the servo amplifier manager of the personal and reset according to Found computer if MITSUBISHI New Hardware Wizard MELSERVO USB Controller is being displayed They are off line status Check if they are off line Set them to on line A communication cable is Check if the communication Replace the communication malfunctioning cable is malfunctioning cable 1 114 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Check result For a servo motor with an The electromagnetic brake is Remove the servo motor and Replace the servo motor A electromagnetic brake the failure due to its life Fo
158. ity for any failure caused by these applications when used We will review the acceptability of the abovementioned applications if you agree not to require a specific quality for a specific application Please contact us for consultation SH NA 030109 K MR J4 INSTRUCTIONMANUAL TROUBLESHOOTING 1CW808 MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE TOKYO BLDG MARUNOUCHI TOKYO 100 8310 This Instruction Manual uses recycled paper SH NA 030109 K 1509 MEE Printed in Japan Specifications are subject to change without notice
159. ive circuit error 4 Nole O Note Note O Note Note Leave for about 30 minutes of cooling time after removing the cause of occurrence 2 TROUBLESHOOTING FOR MR CR55K 4 CONVERTER UNIT 2 3 Remedies for alarms When any of the following alarms has occurred do not deactivate the alarm repeatedly to restart Otherwise the converter unit may malfunction Remove its cause and allow about 30 minutes for cooling before resuming the operation AL 30 Regenerative error AL 45 Main circuit device overheat AL 50 Overload 1 AL 51 Overload 2 IAL 37 Parameter error is not recorded in the alarm history Remove the cause of the alarm in accordance with this section 2 TROUBLESHOOTING FOR MR CR55K 4 CONVERTER UNIT Name Description Check method Check result 10 Undervoltage The voltage of the control circuit power supply has dropped Memory error 1 RAM Failure of the part RAM in the converter unit Memory error 2 EEP ROM Failure of the part EEP ROM in the converter unit 17 Board error A part in the converter unit is malfunctioning 1 The control circuit power supply wiring is incorrect The voltage of the control circuit power supply is low An instantaneous power failure has occurred for more than 60 ms Failure of the part in the converter unit Failure of the part in the converter unit Something near the device caused it EEP ROM is
160. ive data error 1 67 3 y 1 1 error 3 safety observation safety observation E function function Encoder normal communication Receive data error 4 safety observation function VV Encoder initial 6 Encoder normal communication Transmission data error 1 safety observation function Teg Jo mensnessroomsere oe SIN HHHH 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Alarm deactivation Process St Alarm code Note 8 S op Detail l in No Name Detail name Alarm cpu Cycling I system acps acp2 acp1 Acbo No the system reset reset Note 9 Bit 3 Bit 2 Bit 1 Bit 0 Load side encoder initial communication Receive data error 1 Load side encoder initial communication Receive data error 2 Load side encoder initial communication Receive data error 3 Load side encoder initial communication Transmission data error 1 Load side encoder initial communication Transmission data error 2 Load side encoder initial Load side encoder 7 communication Transmission initial data error 3 communication Load side encoder initial error 1 A communication Process error 1 Load side encoder initial communication Process error 2 Load side encoder initial communication Process error 3 Load side encoder initial communication Process error 4 Load side encoder initial communication Process error 5 Load side encoder initial communication
161. k 2 RJ010 disconnected 2 The connection of the Check the wiring of U Connect it correctly servo motor is incorrect V and W Check 3 The connection of the Check if the encoder Connect it correctly encoder cable is cable is connected ti r Check 4 The torque is Check the peak load The torque is Reduce the load or insufficient ratio saturated review the operation pattern Or use a larger capacity motor The torque is not Check 5 saturated 5 The servo amplifier is Replace the servo It is not repeatable Replace the servo malfunctioning amplifier and then amplifier repeatability An encoder or servo Replace the servo It is not repeatable Replace the servo motor is malfunctioning motor and then check motor the repeatability 51 2 Thermal A moving part collided Check if it collided It collided Check operation overload error 3 against the machine pattern during a stop It did not collide Refer to 2 The servo motor power Check it with the check method for AL 51 1 cable was disconnected The connection of the servo motor is incorrect The connection of the encoder cable is incorrect 5 The torque is saturated 6 The servo amplifier is malfunctioning 7 An encoder is malfunctioning 1 56 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Alarm No 52 Alarm content No 52 1 Excess droop pulse 1 Name Error excessive
162. l amount servo motor position is of the servo motor is higher than the setting value of Pr PSAO5 The actual servo motor speed is higher than the setting value of Pr PSA04 Check if the command from the controller is over the standstill speed set in Pr PSA04 Replace the servo motor and then check the repeatability Replace the functional safety unit and then check the repeatability Replace the servo amplifier and then check the repeatability Check the noise ambient temperature vibration etc 1 77 larger than the setting value in Pr PSAO5 The travel amount of the servo motor is smaller than the alarm detection level The servo motor speed is higher than the setting value in Pr PSA04 The servo motor speed is higher than the setting value in Pr PSA15 and equal to or lower than that in Pr PSA04 The command from the controller is over the setting valued in Pr PSA04 The command from controller is higher than the setting value in Pr PSA15 and equal to or lower than that in Pr PSA04 It has a failure Review the alarm level Check 2 Review the parameter setting Check 3 Check the operation pattern Check 4 It is not repeatable Replace the servo motor functional safety unit It is not repeatable Replace the servo motor It is repeatable Check 7 Take countermeasures against its cause A B
163. larm content 2 rei Point table setting is incorrect A 37 3 Point table 1 The setting of point Check if the setting of A setting value is Correct the setting setting error tables is incorrect point tables is within incorrect value the setting range Check the parameter error No and point table error No with the aes MT ay A setting valueis Check 2 of the servo amplifier correct Or check the setting value with the point table display of MR Configurator2 2 A point table setting Replace the servo It is not repeatable Replace the servo has changed due toa amplifier and then amplifier servo amplifier check the malfunction repeatability Alarm No 39 Name Program error Alarm content A program used for the program operation is incorrect 39 1 Program error 1 A checksum of the Check if an error It has a failure Rewrite the A program did not match occurred such as program at power on The entered noise power t has no failure Check 2 program has an error off at program write 2 A program has Replace the servo It is not repeatable Replace the servo changed due to a servo amplifier and then amplifier amplifier malfunction check the repeatability external error 2 A command argument is Check if the command It has a failure Correct the using a value out of description has a command specifications failure description It has no failure Check
164. led axis axis Receive data axis switches SW2 Itis set as disabled Check 2 error 3 2 SW2 3 SW2 4 axis 2 An encoder cable was Check if the encoder It is not connected Connect it correctly A disconnected cable is connected S B correctly It is connected Check 3 WB 3 The parameter setting Check the parameter The setting is Set it correctly RJ010 of communication setting incorrect method is incorrect A Pr PC22 The setting is Check 4 B WB RJ010 correct Pr PC04 An encoder cable is Check if the encoder It has a failure Replace or repair malfunctioning cable is disconnected the cable or shorted It has no failure Check 5 4 When you use a linear Check if the wiring of The wiring is Wire it correctly servo motor with an the linear encoder is incorrect A B Z phase differential correct Check if it is output linear encoder wired to PSEL linear encoder is comers incorrect the connection with the The wining is Check 6 The voltage of the Check the voltage of An instantaneous Review the power A control circuit power the control circuit power failure is and related parts B supply has been power supply occurring at the WB unstable control circuit power RJ010 supply 5 7 The servo amplifier is Replace the servo malfunctioning amplifier and then amplifier repeatability 8 An encoder is Replace the servo malfunc
165. ls eae RS feedback feedback ratio frequency Command pulse This converts and indicates command pulse frequency per servo motor speed r min frequency speed unit Motor side load side This indicates a deviation between motor side position and load side position during fully 100 pulses position deviation closed loop control 100 pulses The number of pulses displayed is in the load side encoder pulse unit Motor side load side This indicates a deviation between motor speed and load side speed during fully closed r min speed deviation loop control Load side droop Droop pulses of the deviation counter between a load side position and a command are pulses 100 pulses displayed Internal temperature Inside temperature of encoder detected by the encoder is displayed C of encoder Temperature of motor The thermistor temperature is displayed for the rotary servo motor with thermistor linear C thermistor servo motor with thermistor and direct drive motor Overload alarm margin This indicates margins to the levels which trigger AL 50 Overload 1 and AL 51 0 1 Overload 2 in percent When the value becomes 0 the overload alarm will occur Error excessive alarm This indicates a margin to the level which trigger the error excessive alarm in encoder pulse margin pulse unit When the value becomes 0 pulse the error excessive alarm will occur Load side encoder The position in load side encoder 1 revolution is
166. main circuit power supply wiring Check the main circuit power supply wiring of the converter unit Check the magnetic contactor control connector of the converter unit Check the bus bar between the converter unit and drive unit 1 98 Turn on the main circuit power It is not inputted A B WB RJO10 It is inputted Check 2 It is disconnected Connect it correctly It is connected Check 3 It is disconnected Connect it correctly Check 4 It is disconnected Connect it correctly It has no failure Check 5 It is disconnected Connect it correctly It has no failure Check 6 It has no failure 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Alarm No E9 Name Main circuit off warning The servo on command was inputted with main circuit power supply off Al tent The bus voltage dropped during the servo motor driving under 50 r min Servo on signal 6 The setting value of Pr Check the Pr PA02 The setting or wiring Review the setting A on during main PAO2 Magnetic setting and the wiring is incorrect of Pr PAO2 B contactor drive output Th E Check 7 wiring are correct circuit off constitution WB RJ010 the wiring constitution 7 For the MR J4 03A6 RJ or MR J4W2 0303B6 servo amplifier 24 V DC input is not selected even though 24 V DC input is used The bus voltage is low The servo amplifier is malfunctioning
167. malfunctioning at power on The number of write times to EEP ROM exceeded 100 000 EEP ROM is malfunctioning during normal operation Something near the device caused it The converter unit recognition signal was not read properly Something near the device caused it Check the control It has a failure Wire it correctly circuit power supply wiring It has no failure Check 2 Check if the voltage of The voltage is the Review the voltage the control circuit prescribed value or of the control circuit power supply is lower lower power supply than prescribed value The voltage is Check 3 200 V class 160 V AC higher than the 400 V class 280 V AC prescribed value Check if the power It has a problem Review the power has a problem Itdoes not have a T Check 4 problem Disconnect the cables It is repeatable Replace the except for the control converter unit circuit power supply and then check the repeatability Disconnect the cables It is repeatable Replace the except for the control converter unit circuit power supply and then check the It is not repeatable Check 2 repeatability Check the power It has a failure Take supply for noise countermeasures against its cause Disconnect the cables It is repeatable Replace the except for the control converter unit circuit power supply and then check the It is not repeatable Check 2 repeatability Check
168. n o N Ko wo is C3 2 2 S VV VV AV Q fe 2 2 S as Ko STO warning Es aS Each axis Each Home position axis setting warning Ss oO o wo N ES i Es ES z MAAA AVAE ANAA ANANA E AAAA N D ES n o ojo oO N D T m Each Each axis Each axis m CC Link IE warning 1 i en Each axis Each axis m T Ses S S ss As N S w S S S S ion Ko a o NI a gt 1 13 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Stop method ing My e T Note 2 1 system ae 3 Note 5 gt Excessive E EO regeneration E0 1 Excessive regeneration warning Common warning E11 Thermal overload warning 1 during Each operation axis E12 Thermal overload warning 2 during Each operation axis E13 Thermal overload warning 3 during Each operation axis E14 Thermal overload warning 4 during Each operation axis E1 Overload warning 1 E15 Thermal overload error 1 during a Each stop axis E16 Thermal overload error 2 during a Each stop axis E17 Thermal overload error 3 during a Each stop axis E18 Thermal overload error 4 during a Each 1 stop axis Each axis Servo motor overheat warnin g E2 1 Servo motor temperature warning 34 Multi revolution counter travel distance excess warning E3 2 Absolute position cou
169. n Process error 6 Alarm No 71 Name Load side encoder normal communication error 1 Alarm content An error occurred in the communication between the load side encoder and servo amplifier 71 1 Load side encoder normal communication Receive data error 1 A load side encoder cable is malfunctioning The external conductor of the encoder cable is not connected to the ground plate of the connector The parameter setting of communication method is incorrect A Pr PC44 B Pr PC26 Check if the load side encoder cable is disconnected or shorted Check if it is connected Check the parameter setting It has a failure Repair or replace the cable It has no failure Check 2 It is not connected Connect it correctly It is connected Check 3 The setting is incorrect Set it correctly The setting is correct Check 4 The servo amplifier is malfunctioning Replace the servo amplifier and then check the repeatability It is not repeatable Replace the servo amplifier It is repeatable Check 5 A load side encoder is malfunctioning Replace the load side encoder and then check the repeatability It is not repeatable Replace the load side encoder It is repeatable Check 6 Something near the device caused it Check the noise ambient temperature vibratio
170. n Check 3 It is not repeatable Replace the servo amplifier Cause Cam data has never been written The cam data of the specified cam No was not written 3 Cam data has changed Replace the servo due to a servo amplifier amplifier and then 4 Cam control data setting range error Cam control inactive 2 3 4 6 malfunction An out of range value is set to the cam control data After cam data was written the cam control command was turned on without cycling the power After the cam control command was turned on the servo on was turned on The cam control command was turned on during servo motor driving and the servo motor stopped The cam control command was turned on at the time of incompletion of home position return It became servo off during cam control A home position is erased during cam control check the repeatability Check the setting of the cam control data Check if the power was cycled after the cam data was written Check if the cam control command was turned on during servo on Check if the cam control command was turned on while the travel completion was on Check if the home position return completion is on Check if it is servo off Check if the home position return completion is off 1 103 The setting is incorrect Set it correctly F6 5 Cam No 1 An out of range value Check t
171. n etc 1 68 It has a failure Take countermeasures against its cause 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Alarm No 71 Name Load side encoder normal communication error 1 Alarm content An error occurred in the communication between the load side encoder and servo amplifier Load side Check it with the check method for AL 71 1 encoder normal communication Receive data error 2 Load side encoder normal communication Receive data error 3 Load side encoder normal communication Transmission data error 1 Load side encoder normal communication Transmission data error 2 Load side encoder normal communication Transmission data error 3 Load side encoder normal communication Receive data error 4 Load side encoder normal communication Receive data error 5 Alarm No 72 Name Load side encoder normal communication error 2 Alarm content The load side encoder detected an error signal Load side encoder data error 1 The encoder detected a Rez speed acceleration rate due to an oscillation or other factors Decrease the loop gain and then check the repeatability It is not repeatable Use the encoder with low loop gain It is repeatable Check 2 A load side encoder is malfunctioning Replace the load side encoder and then check the repeatability It is not repeatable Replace the load sid
172. n error occurred such as entered noise power off at cam data write Check if an error occurred such as entered noise at temporal writing of cam data Replace the servo amplifier and then check the repeatability Check result It has a failure Action After writing the cam data again cycle the power It has no failure It has a failure It has no failure It is not repeatable Check 2 After performing the temporal writing of cam data again turn on the cam control command Check 3 Replace the servo amplifier A Alarm No F6 Name Simple cam function Cam control warning The cam axis position restoration at a time of cam control start was a failure Alarm content The cam control is not normal Detail name No F6 1 Cam axis one cycle current value restoration failed F6 2 Cam axis feed current value restoration failed Cause The cam axis one cycle current value corresponding to the feed current value at cam control start cannot be restored It occurs ina reciprocating motion pattern of the cam The difference command unit between the restored cam axis feed current value and the command position at cam control start is bigger than in position range Check method Check if the feed current value is within the stroke in a reciprocating motion pattern of the cam Check if the difference command unit between
173. n mode 1 A method of positioning Check if the It was changed After changing the A switch error data memorized in the positioning mode with a purpose positioning mode servo amplifier point point table initialize the point table method program method program table method method is different from method was program method the actual positioning changed Refer to section mode point table 7 2 8 Pr PT34 of method program Positioning mode MR J4 _A_ RJ method Pr PAO1 x Servo Amplifier ee Instruction Manual Positioning Mode It was changed by Set the positioning mistake mode back to the correct setting 1 49 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Alarm No 42 Name Servo control error for linear servo motor and direct drive motor Alarm content A servo control error occurred 42 1 Servo control error by position deviation Servo control error by speed deviation 2 3 4 5 1 2 5 The linear encoder resolution setting differs from the setting value The direction of mounting linear encoder is incorrect The connection of the servo motor is incorrect The initial magnetic pole detection was not executed The position deviation exceeded the detection level The linear encoder resolution setting differs from the setting value The direction of mounting linear encoder is incorrect The connection of the servo motor is incorrect
174. n not using the wired correctly STO function attach the short circuit connector came with the servo amplifier to CN8 It is wired correctly Check 2 2 STO2 was turned off Check if STO2 is off It is off enabled Turn on STO2 enabled under the enabled following speed conditions 1 Servo motor speed 50 r min or less 2 Linear servo motor speed 50 mm s or less 3 Direct drive motor speed 5 r min or less 95 3 STO warning 1 Input device Fixing Check if Input device It was not executed Execute it safety diagnosis execution Fixing diagnosis observation selection at start up execution selection at was not executed start up was It was executed Check 2 executed 2 Set Input device Check if Pr PSD27 It is not set Review the Fixing diagnosis and Pr PSD28 are correctly parameter Rs KEO g set correcty It is set correctly Check 3 parameters 3 The wiring is incorrect Check if the wiring hasi It has a failure Review the wiring a failure It has no failure Check 4 The functional safety Replace the functional It is not repeatable Replace the unit is malfunctioning safety unit and then functional safety unit check the It is repeatable Check 5 repeatability Something near the Check the noise It has a failure Take device caused it ambient temperature countermeasures etc against its cause function 1 88 1 TROUBLESHOOTI
175. ng 4 50 3 Thermal overload during operation error 4 during operation The load was over 85 Check it with the check method for AL to the alarm level of AL 50 4 Thermal overload error 1 during a stop The load was over 85 Check it with the check method for LAL to the alarm level of AL 50 5 Thermal overload error 2 during a stop The load was over 85 Check it with the check method for AL to the alarm level of AL 51 2 Thermal overload error 3 during operation The load was over 85 Check it with the check method for AL to the alarm level of AL 50 6 Thermal overload error 4 during a stop Thermal overload error 1 during a stop Thermal overload error 2 during a stop Thermal overload error 3 during a stop Thermal overload error 4 during a stop Alarm No E2 Name Servo motor overheat warning Alarm content LAL 46 2 Abnormal temperature of servo motor 2 can occur E2 1 Servo motor 1 The temperature of the Check it with the check method for AL 46 2 A temperature linear servo motor or B warning direct drive motor WB reached 85 of the occurrence level of AL 46 2 Abnormal temperature of servo motor 2 1 95 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Alarm No E3 Name Absolute position counter warning The multi revolution counter value of the absolute position encoder exceeded the maximum range Alarm content Absolute position en
176. ng torque Increase the torque is in progress limit value The limiting torque Check 5 is not in progress It collided Check operation pattern It did not collide Check 6 It is not released Release the electromagnetic brake It is released Check 7 The torque is Reduce the load or saturated review the operation pattern Or use a larger capacity motor The torque is not Check 8 saturated The bus voltage is Check the power low supply voltage and power supply capacity The bus voltage is Check 9 high It is not repeatable Increase the acceleration deceler ation time constant It is repeatable Check 10 It is not repeatable Increase the position loop gain Pr PB08 It is repeatable Check 11 It is not set correctly Set it correctly It is set correctly Check 12 IA B WB RJO10 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Alarm No 52 Name Error excessive Alarm content Droop pulses have exceeded the alarm occurrence level Excess droop pulse 1 Measure the actual It is rotated by rotated by external position under the external force It force The moving part servo lock status was moved by of the linear servo motor external force was moved by external It is not rotated by Review the machine A B WB RJ010 Check 13 force external force It was not moved by external force The encoder or the
177. ning amplifier and then amplifier check the repeatability The setting of the Check the setting of It is incorrect Review the settings personal computer etc the personal is incorrect computer etc USB communication checksum error serial communication checksum error 1 81 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Name USB communication error serial communication error Modbus RTU communication error A communication error occurred between the servo amplifier and a personal computer controller Alarm content An error occurred in USB communication serial communication Mitsubishi general purpose AC servo protocol or Modbus RTU communication Check the character The transmitted Correct the A code at the time of character is out of transmission data B transmission specifications WB The transmitted Check 2 RJ010 character is within specifications Check if transmission Itis not conforming Modify the data supports the transmission data communication according to the protocol communication protocol It is conforming Check 3 communication character error 8E 3 USB 1 The transmitted communication character is out of character specifications error serial 2 The communication protocol is failure The setting of the Check the setting of It is incorrect Review the settings personal computer etc the personal is incorrect compu
178. nit Overload 2 Load exceeded overload protection characteristic of converter unit 888 Watchdog A part such as CPU is malfunctioning repeated very frequently Inrush current suppressor circuit is malfunctioning Ambient temperature has exceeded 55 C Turning on and off were repeated under the overload status A cooling fan heat sink or openings is clogged with foreign matter The converter unit is malfunctioning Foreign matter was caught in the cooling fan Cooling fan life expired off very frequently Replace the converter unit and then check the repeatability Check the ambient temperature Check if the overload status occurred many times Clean the cooling fan heat sink or openings and then check the repeatability Replace the converter unit and then check the repeatability Check if a foreign matter is caught in the cooling fan Check the cooling fan speed It is not turned on Check 2 and off It is not repeatable Replace the converter unit It is over 55 C Lower the ambient temperature It is less than 55 C Check 2 It occurred Check operation pattern It did not occur Check 3 It is not repeatable Clean it periodically It is repeatable It is not repeatable Check 4 Replace the converter unit Something has Remove the foreign been caught matter Nothing has been Check 2 caught The fan speed is less
179. nter warning Absolute positioning counter EEP ROM writing frequency warning E3 Encoder absolute positioning counter warning Parameter setting range error warning SS1 forced stop warning 1 safety observation function SS1 forced stop warning 2 safety observation function E7 1 Controller forced stop warning Decreased cooling fan speed warning Absolute position axis E3 S counter warning Each axis Each E4 1 axis ABS time out warning E5 1 E5 2 E5 3 E6 1 m a WV VV VV is E6 2 L is Servo forced stop warning m O E6 3 SD Controller forced stop warning m d SD Common All axes Cooling fan speed reduction warning mM m m ow a A 8 2 Cooling fan stop Servo on signal on during main E9 sca circuit off Common All axes LO Bus voltage drop during low speed Main circuit off E9 2 operation Common All axes warning z E9 3 Ready on signal on during main Common Alliaxes circuit off Converter unit forced stop warning A Mii WV mim gt o a warning EB The other axis error warning Overload warning 2 Each axis Each axis Each axis Each Note 6 SS EC m DD a ED a Fi oO Tough drive warning F0 3 m m o CO 0 1 Instantaneous power failure tough drive warning Vibration tough drive warning axis Each axis VAA V E VA EANAN AANV ANVAN eeaeee VIL I VAA e t re
180. o 4 MR BAT6V1SET A battery or MR BT6VCASE battery case Refer to 6 Check that the MR BAT6V1B4J battery is B connected to CN4 and MR BT6VCBL03M junction battery cable and execute a home position return It was not Check 5 disconnected 1 33 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Alarm No 25 Alarm content gwa Detail name Detail name Servo motor encoder Absolute position erased Name Absolute position erased The absolute position data is faulty Power was switched on for the first time in the absolute position detection system After the scale measurement encoder was set to the absolute position detection system the power was on for the first time 9 not connected to the encoder cable The battery voltage is low The battery is consumed 7 The voltage has dropped greatly in the encoder cable wired to the battery A battery cable is malfunctioning There is a loose connection of the encoder cable on the servo motor side The absolute position storage unit was not connected for using a direct drive motor The servo amplifier is malfunctioning An encoder is malfunctioning Check method Check result The MR BT6VCBL03M Check if the MR junction battery cable is BT6VCBL03M Connect the MR BT6VCBLO3M junction battery cable RJ010 to the encoder cable It is connected Check 6 It is less than 3 V Re
181. o B amplifier WB It is not repeatable Check 3 It has not been e w It is not repeatable Replace the servo It has been Execute it for each executed for It has a failure Take RJ010 amplifier It is occurring RJ010 WB executed for axis multiple axes Check 4 multiple axes simultaneously countermeasures against its cause simultaneously B It has no failure Check 6 14 3 Control Check it with the check method for AL 14 1 process error 3 14 4 Control process error 4 14 5 Control process error 5 14 6 Control process error 6 14 7 Control process error 7 14 8 Control process error 8 14 9 Control process error 9 14 A Control process error 10 1 20 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Alarm No 15 Alarm content Name Memory error 2 EEP ROM A part EEP ROM in the servo amplifier is failure RJO10 MR J3 T10 came off 15 1 EEP ROM error 1 EEP ROM is at power on malfunctioning at power on Something near the device caused it The number of write times exceeded 100 000 15 2 EEP ROM error during operation 15 4 Home position information read error The MR J3 T10 came off during the CC Link IE communication EEP ROM is malfunctioning during normal operation A write error occurred while tuning results was processed Something near the device caused it EEP ROM is malfunctioning at
182. of tough drive operations 43 Unit power consumption 44 Unit total power consumption c Click the History Clear button to delete all data at alarm occurrence recorded in the servo amplifier After clicking the History Clear button cycle the power of the servo amplifier Note that the time to restart will be longer than usual due to the deletion of the data 3 DRIVE RECORDER MEMO 10 APPENDIX App 1 Detection points of AL 25 AL 92 and AL 9F The following diagram shows detection points of AL 25 Absolute position erased AL 92 Battery cable disconnection warning and AL 9F Battery warning Servo amplifier Servo motor encoder AL 9F AL 25 AL 92 Detection point Detection point Position speed detection circuit Battery Note CN2A CN2B and CN2C are for the MR J4W_ _B App 1 REVISIONS The manual number is given on the bottom left of the back cover Print Data_ _ Manual Number Mar 2012 SH NA 030109 A First edition Jun 2012 SH NA 030109 B Section 1 1 LAL 1E 2 is added LAL 1F 2 is added AL 42 8 is added AL 42 9 is added AL 42 A is added AL 70 is added AL 71 is added AL 72 is added AL E8 2 is added Section 1 2 AL 1E 2 is added AL 1F 2 is added AL 42 8 is added AL 42 9 is added AL 42 A is added Check result and Action of AL 46 2 2 are partially changed The
183. on Execute a home position return A home position position return was not return was not executed ZP Home executed A home position Check 2 return was executed AL 25 Absolute Check the battery position erased voltage and battery occurred cable if they have a failure and execute a home position return after remove the failure Check 3 position return Check if AL 25 Absolute position erased occurred using alarm history AL 25 Absolute position erased did not occur AL 90 1 did not Remove the cause occurred occur simultaneously of LAL E3 and simultaneously with with start of the perform home start of the positioning positioning operation position return operation but occurred during Check it with the positioning check method for operation LAL E3 LAL 90 1 occurred Check 4 simultaneously with start of the positioning operation ZP Home position return completion is off Check if AL 90 1 Check the conditions if ZP Home position return completion can be off Refer to section 2 3 of MR J4 _A_ RJ Servo Amplifier Instruction Manual Positioning Mode Check if ZP Home position return completion is off 1 85 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Alarm No 90 Name Home position return incomplete warning OO O OE Home position return Name Home position return incomplete warning OO O OE warning Alarm content A
184. oning The functional safety unit is malfunctioning The servo amplifier is malfunctioning Something near the device caused it Check if the encoder cable is disconnected or shorted Replace the servo motor and then check the repeatability Replace the functional safety unit and then check the repeatability Replace the servo amplifier and then check the repeatability Check the noise ambient temperature vibration etc Check it with the check method for AL 7B 1 Ambient temperature of Check the ambient the encoder has exceeded 40 C Ambient temperature of the encoder is less than 0 C Servo motor is overloaded The thermal sensor in the encoder is malfunctioning The functional safety unit is malfunctioning temperature of the encoder Check the ambient temperature of the encoder Check the effective load ratio Replace the servo motor and then check the repeatability Replace the functional It is not repeatable safety unit and then check the repeatability 1 75 It has a failure Repair or replace the cable It has no failure Check 2 It is not repeatable Replace the servo motor functional safety unit amplifier It has a failure Take countermeasures against its cause It is over 40 C Lower the ambient A temperature B It is 40 C or less Check 2 It is O C or less Increase the ambient temperatur
185. onnect it correctly A input data sign connected correctly error are off signs only signs is on It is not repeatable Replace the MR D01 Cause The MR D01 extension IO unit is not connected Both of and signs are on or off 1 Check the sign of the optional unit input data The sign is set at incremental value command The MR D01 extension 10 unit is malfunctioning Other than 0 to 9 is set in a digit Check the sign of the optional unit input data Replace the MR D01 and then check the repeatability Check the BCD input data 9A 2 Optional unit A value out of range Set a value from 0 BCD input data error Alarm No 9B Name Error excessive warning Alarm content Droop pulses have exceeded the warning occurrence level 9B 1 Excess droop 1 The servo motor power Check the servo It is disconnected Repair or replace pulse 1 warning cable was motor power cable the servo motor disconnected power cable It is not Check 2 disconnected 2 The connection of the Check the wiring of U Connect it correctly servo motor is incorrect V and W Check 3 Cause 5 4 7 8 The connection of the encoder cable is incorrect The torque limit has been enabled A moving part collided against the machine The torque is insufficient Power supply voltage dropped Acceleration decelerati on time constant is
186. operation AL 91 Servo amplifier overheat warning AL EO Excessive regeneration warning AL E1 Overload warning 1 AL E2 Servo motor overheat warning AL EC Overload warning 2 Warnings except LAL FO Tough drive warning are not recorded in the alarm history 1 84 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT If AL E6 AL E7 AL E9 AL EA or AL EB occurs the amplifier will be the servo off status If any other warning occurs operation can be continued but an alarm may take place or proper operation may not be performed Remove the cause of warning according to this section Use MR Configurator2 to refer to the cause of warning occurrence Alarm No 90 Alarm content Detail No Detail name Home position return incomplete 3 was executed at home position return incompletion 1 An automatic operation Check if the home completion is off A positioning operation was executed without home position setting with absolute position after AL 25 Absolute position erased occurred With the indexer method AL E3 Absolute position counter warning occurred simultaneously with the alarm ZP Home position return completion turned off after the home position return was executed Name Home position return incomplete warning A home position return did not complete normally with the positioning function Check method Check result Acti
187. orrect 8E 8 Modbus RTU communication CRC error Alarm No 88888 Alarm onteni RJ010 MR J3 T10 came off A part such as CPU is malfunctioning Name Watchdog 88 _ Watchdog The MR J3 T10 came off during the CC Link IE communication 2 A part in the servo amplifier is failure Check the setting of the controller servo amplifier etc such as communication protocol selection baud rate parity Check it with the check method for AL 8E 7 Check if AL 74 Option card error 1 occurred with alarm history Replace the servo amplifier and then check the repeatability 1 83 It is incorrect Review the settings Check it with the check method for AL 74 It did not occur Check 2 It is not repeatable Replace the servo amplifier It is occurring RJ010 A B WB RJ010 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT 1 5 Remedies for warnings if AL E3 Absolute position counter warning occurs remove the cause of the CAUTION warning and always make home position setting again Otherwise it may cause an unexpected operation When any of the following alarms has occurred do not cycle the power of the servo amplifier repeatedly to restart Doing so will cause a malfunction of the servo amplifier and servo motor If the power of the servo amplifier is switched off on during the alarms allow more than 30 minutes for cooling before resuming
188. orrect the wiring and check if the main circuit power supply cable and servo They are not in Check 5 motor power cable contact are in contact Check the noise It has a failure Take supply cable and servo motor power cable were shorted 5 Something near the device caused it The main circuit power 5 ambient temperature countermeasures etc against its cause 1 31 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Alarm No 24 Name Main circuit error A ground fault occurred on the servo motor power lines Alarm content A ground fault occurred at the servo motor Power supply voltage for inverter circuit control is low Only for MR J4W2 0303B6 24 2 Ground fault 1 For MR J4W2 0303B6 Check the control The control circuit Input the servo on detected by the servo on command circuit power supply power supply voltage command after the software was inputted when the voltage when the was below 20 V control circuit power detection control circuit power servo on command supply voltage function supply voltage was was inputted reaches 20 V or below 20 V higher The control circuit Check 2 power supply voltage was 20 V or higher The servo amplifier is Disconnect the servo It occurs Replace the servo malfunctioning motor power cable U amplifier if the alarm occurs A ground fault or short Check if only the servo It is shorted Replace the servo occurred at the servo motor
189. orrectly Replace the MR J3 T10 and then check the repeatability Replace the servo amplifier and then check the repeatability Check if the MR J3 T10 is mounted correctly Replace the MR J3 T10 and then check the repeatability Replace the servo amplifier and then check the repeatability Target It is not mounted Install it correctly RJO10 correctly It is mounted Check 2 correctly It is not repeatable Replace the MR J3 T10 It is repeatable Check 3 It is not repeatable Replace the servo amplifier correctly correctly It is not repeatable T10 It is repeatable Check 3 It is not repeatable Replace the servo amplifier Alarm No 79 Name Functional safety unit diagnosis error O O Functional Name Functional safety unit diagnosis error O O unit diagnosis error Alarm content A diagnosis of the functional safety unit failed 0 O O A diagnosis of the functional safety unit failed 0 O O of the functional safety unit failed ga Detail name Check method Check result Check the installation Functional 1 safety unit power voltage error 79 2 Functional safety unit internal error 2 The power supply of the functional safety unit is failure The functional safety unit is malfunctioning The servo amplifier is malfunctioning Something near the device caused it The functional safety unit is malfunctioning Something ne
190. ot Replace the servo disconnected motor It is not repeatable Replace the servo amplifier Check 3 Check the thermistor wire Replace the servo amplifier and then check the repeatability A B WB Reduce the load or RJ010 review the operation pattern Or use a larger capacity motor The effective load load ratio ratio is high 1 53 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Alarm No 47 Name Cooling fan error The speed of the servo amplifier cooling fan decreased Alarm content Or the fan speed decreased to the alarm occurrence level or less 47 1 Cooling fan 1 Foreign matter was Check if a foreign Something has Remove the foreign A stop error caught in the cooling matter is caught in been caught matter B the cooling fan Nothing has been Check 2 WB caught RJ010 2 Cooling fan life expired Check if the cooling It is stopping Replace the servo fan is stopping amplifier 47 Cooling fan Foreign matter was Check if a foreign Something has been Remove the foreign speed reduction caught in the cooling matter is caught in caught matter error fan the cooling fan Nothing has been Check 2 caught 2 Cooling fan life expired Check the cooling fan The fan speed is Replace the servo less than the alarm amplifier occurrence level Alarm No 50 Name Overload 1 Alarm content Load exceeded overload protection characteristic of servo
191. otor inertia ratio is proper setting compared with the actual ratio for manual setting The command from the Check the command from the Review the command from controller is unstable controller the controller Check the cable for command if there is failure such as disconnection Torque or thrust during Check the effective load ratio Reduce the effective load acceleration deceleration is during ratio by increasing overshooting exceeding the acceleration deceleration if acceleration deceleration limit of the servo motor when torque thrust exceeds the time and reducing load the motor stops maximum torque thrust The servo gain is low Or the Check if the trouble is solved Adjust gains response of auto tuning is by increasing auto tuning low response Pr PAO9 1 109 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Check result An unusual noise is The servo gain is low Or the Check if the trouble is solved Adjust gains A occurring at the servo motor The servo motor vibrates response of auto tuning is low Bearing life expired For a servo motor with an electromagnetic brake the brake has not released For a servo motor with an electromagnetic brake the brake release timing is not correct The servo gain is too high Or the response of auto tuning is too high The machine is vibrating resonating The load side is vibrating Feedback pulses are being miscounted
192. our request and the actual cost will be charged However it will not be charged if we are responsible for the cause of the failure This limited warranty applies only when the condition method environment etc of use are in compliance with the terms and conditions and instructions that are set forth in the instruction manual and user manual for the Product and the caution label affixed to the Product Even during the term of warranty the repair cost will be charged on you in the following cases i a failure caused by your improper storing or handling carelessness or negligence etc and a failure caused by your hardware or software problem ii a failure caused by any alteration etc to the Product made on your side without our approval iii a failure which may be regarded as avoidable if your equipment in which the Product is incorporated is equipped with a safety device required by applicable laws and has any function or structure considered to be indispensable according to a common sense in the industry iv a failure which may be regarded as avoidable if consumable parts designated in the instruction manual etc are duly maintained and replaced any replacement of consumable parts battery fan smoothing capacitor etc a failure caused by external factors such as inevitable accidents including without limitation fire and abnormal fluctuation of voltage and acts of God including without limitation earthquake lightning and natural
193. peed positioning mode N degree setting with the When CMX lt 2000 program method or the N lt 3076 7 r min indexer method When CMX gt 2000 N lt 3276 7 CMX x 0 1 r min When CMX CDV is reduced to its lowest terms CMX s 15900 Check it with the check method for AL E3 2 gear teeth on machine side within the conditions After the power is surely cycled perform home position return again Absolute positioning counter EEP ROM writing frequency warning E Encoder absolute positioning counter warning Alarm No E4 Name Parameter warning Alarm content Out of the setting range was attempted to write during parameter writing E4 1 Parameter A parameter was set to Check the parameter It is out of setting Set it within the 2 4 5 E3 E3 3 setting range out of range with the setting value set with range range error warning servo system controller the servo system controller 1 96 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Alarm No E5 Name ABS time out warning A response from the programmable controller was over 5 s at the absolute position erased data transfer ABSM ABS transfer mode turned off during the absolute position erased data transfer SON Servo on RES Reset or EM2 EM1 Forced stop turned off during the absolute position erased data transfer Time out during 1 The wiring of I O Check if the I O signal It has a failure
194. place the battery DC It is not connected junction battery cable is connected to the encoder cable Check the battery voltage with a tester When an MR BAT6V1BJ battery for junction battery cable was used check the voltage of the connector orange for servo amplifier Check if a It is not used Use a recommended cable is recommended wire cable It has a failure Replace the battery cable Check for the loose It has no failure Check 9 connection with a tester It has a failure Repair or replace the encoder cable It has no failure Check 10 It is not connected Connect the absolute A position storage unit B correctly WB Check 17 It is not repeatable Replace the servo amplifier It is repeatable Check 12 It is not repeatable Replace the servo motor A B WB RJ010 It is 3 V DC or more Check 7 Check for the loose connection with a tester Measure the voltage on the servo motor side Check if the absolute position storage unit is connected correctly Replace the servo amplifier and then check the repeatability Replace the servo motor and then check the repeatability A B WB RJ010 1 34 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Alarm No 25 Alarm content Scale measurement encoder Absolute position erased Name Absolute position erased The absolute position data is faulty Power was swit
195. power cable is motor power cable motor power cable shorted A ground fault occurred Disconnect the servo It is shorted Replace the servo at the servo motor motor power cables on motor motor side and check phases U V W and The main circuit power Shut off the power They are in contact Correct the wiring supply cable and servo and check if the main motor power cable were circuit power supply shorted cable and servo motor They are not in Check 6 power cable are in contact Something near the Check the noise It has a failure Take device caused it ambient temperature countermeasures etc against its cause 1 32 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Alarm No 25 The absolute position data is faulty Alarm content Name Absolute position erased Power was switched on for the first time in the absolute position detection system After the scale measurement encoder was set to the absolute position detection system the power was ae on for the first time Check method Check result gwa Detail name Detail name Servo motor encoder Absolute position erased 2 3 Power was switched on Check if this is the This is the first time for the first time inthe first time you switched absolute position on the power in the detection system absolute position detection system 1 When an MR BAT6V1SET A Check if the battery was removed in
196. ption card connection error ion card error E Option card disconnected DB 79 1 Functional safety unit power voltage error figs Functional safety unit internal oe error i 79 3 Abnormal temperature of 79 Functional safety functional safety unit unit diagnosis error 79 4 Servo amplifier error S 79 5 Input device error 79 6 Output device error B Hyp At ae ee WWW VA ae a rene 79 7 Mismatched input signal error 79 8 Position feedback fixing error Parameter verification error 7A 1 a safety observation function pV L LL Parameter setting range error safety observation function E Parameter setting 7A 2 error 7A Parameter combination error safety observation safety observation function oO oO function Functional safety unit 7A 4 combination error safety observation function S gt Encoder diagnosis error 1 safety observation function Encoder diagnosis Encoder diagnosis error 2 B 2 error safety observation function val DD k N safety observation B3 Encoder diagnosis error 3 function safety observation function N Encoder diagnosis error 4 safety observation function Functional safety unit Functional safety EVV VV EVV EYAL AAAA TYP Pi DWV TATATA TATA NNNHNNN STH TIE H THE f AN communication cycle error SD N unit communication safety observation function
197. pulse is too high 35 1 Command 1 The command pulse Check the command The command pulse Check operation A frequency error frequency is high pulse frequency frequency is high pattern The command pulse Check 2 frequency is low S 2 The setting of Check if the command It is out of setting Review the filter Command input pulse pulse frequency is range setting train filter selection in within the setting It is within the Check 6 Pr PA13 is not correct range of the filter setting range 3 Inputted frequency with Check the inputted The command pulse Reduce the inputted a manual pulse frequency of the frequency is high frequency of the 4 generator is high manual pulse manual pulse generator generator The command pulse Check 6 frequency is low The command from the Check if the It is the permissible Check operation B controller is excessive command from the speed or higher pattern WB controller is the S RJO10 permissible speed or It is lower than the Check 5 higher permissible speed 5 The controller is Replace the controller It is not repeatable Replace the malfunctioning and then check the controller repeatability It is repeatable Check 6 6 Something near the Check the noise It has a failure Take A device caused it ambient temperature countermeasures B etc against its cause WB RJ010 1 45 1 TROUBLESHOOTING
198. r the all wirings from the machine B brake went out life of electromagnetic brake and check if the servo motor WB refer to Servo Motor shaft can be rotated by RJ010 Instruction Manual Vol 3 hands If it is rotated by hands the brake is failure The coasting distance of the The load was increased and Check if the load was Reduce the load servo motor became longer permissible load to motor increased inertia ratio was exceeded An external relay is Check the external relay and Replace the external relay malfunctioning Or the wiring wirings connected to MBR Or review the wiring of MBR Electromagnetic Electromagnetic brake brake interlock is incorrect interlock if they are malfunctioning The electromagnetic brake is Remove the servo motor and Replace the servo motor failure due to its life For the all wirings from the machine life of electromagnetic brake and check if the servo motor refer to Servo Motor shaft can be rotated by Instruction Manual Vol 3 hands If it is rotated by hands the brake is failure The program operation is not The command speed of the An abnormal value such as 0 Review the program in progress positioning operation is low r min was set for specifying the servo motor speed The program stops at the A program input number set Review the program or signal state of waiting for external with SYNC command does to use signal on not match with the actual
199. rative power of the built in regenerative resistor or regenerative option Check the effective load ratio 1 94 It is not connected It is 85 or more It is connected Check 2 B It is less than 4 9 V Replace the battery WB RJO10 Connect it correctly There is a possibility that regenerative power may exceed permissible regenerative power of built in Reduce the A frequency of B positioning WB Increase the RJ010 deceleration time constant Reduce the load Use a regenerative option if it is not being used 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Alarm No E1 Name Overload warning 1 Alarm content AL 50 Overload 1 or AL 51 Overload 2 can occur E1 1 Thermal The load was over 85 Check it with the check method for AL 50 1 A overload to the alarm level of AL B warning 1 50 1 Thermal overload WB during operation error 1 during RJ010 operation The load was over 85 Check it with the check method for AL to the alarm level of AL 50 2 Thermal overload error 2 during operation The load was over 85 Check it with the check method for AL to the alarm level of AL 51 1 Thermal overload error 3 during operation Thermal The load was over 85 Check it with the check method for AL overload to the alarm level of AL Thermal overload warning 2 during operation Thermal overload warning 3 during operation warni
200. revolution requirement is 0 warning during magnetic pole detection Check 2 turned on 2 The magnetic pole Check if the ABS data The ABS data is Disable the magnetic detection was is transferred during transferred pole detection After executed the magnetic pole that cycle SON data detection Servo on and transfer the ABS 1 87 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Alarm No 95 Name STO warning STO input signal turns off while the servo motor stops Alarm content A diagnosis of input devices was not executed The observation function was enabled in the test mode Detail name Detail name Check method Check result STO1 off ae STO1 is not inputted Check if the STO1 of It is not wired Wire it correctly A detection correctly CNB connector is correctly When not using the B wired correctly STO function attach WB the short circuit RJ010 connector came with the servo amplifier to CN8 It is wired correctly Check 2 2 STO1 was turned off Check if STO1 is off It is off enabled Turn on STO1 enabled under the enabled disabled following speed conditions 1 Servo motor speed 50 r min or less 2 Linear servo motor speed 50 mm s or less 3 Direct drive motor speed 5 r min or less 95 2 STO2 off 1 STO2 is not inputted Check if the STO2 of It is not wired Wire it correctly detection correctly CNB connector is correctly Whe
201. ribed in alarm column will be recorded When you set an alarm other than in table 3 1 and 3 2 data described in standard column will be recorded Refer to table 3 3 for description of each signal ee am When the power of the servo amplifier is turned off during data storage immediately after alarm occurrence the data at alarm occurrence can not be recorded normally When the following alarms occur the data at alarm occurrence can not be recorded depending on its circumstances AL 13 Clock error AL 14 Control process error AL 34 SSCNET receive error 1 AL 36 SSCNET receive error 2 3 DRIVE RECORDER Table 3 1 MR J4 _B_ RJ MR J4 _B_ RJ010 or MR J4W_ _B AZZ E iti Samoplin Measure Data 1 Data 2 Data 3 Data 4 Data 5 Data 6 Data 7 Data 8 v ping ment time time ms ms Analog Motor Torque Current Droop Speed Bus Effective 0 888 speed command pulses command voltage load ratio Standard 1 pulse Digital CSON EMG am ne mer RO so m Dga cson EMG alma ne mer RO fso m Analog Motor Torque ABS Within one Current Encoder Encoder 0 888 speed counter revolution command error error position counter 1 counter 2 Digital CSON EMG Alma ne mer Ro fso m 0 888 Digital SON eme amz e ver R0 so Analog Motor Torque Current Within one Bus U phase V phase speed command revolution voltage current current position feedback feedback Digital cson__ eme ALM2 pve _
202. roximity dog switch Adjust proximity dog switch is the mounting of the proximity incomplete dog switch The program on the Check the program on the Review the programs on the controller side is incorrect controller side such as home controller side position address settings or sequence programs The position deviates during The position command and Check that cumulative Review the position command A operation after home position actual machine position are feedback pulses x travel and electronic gear setting return different distance per pulse matches the actual machine position Check if cumulative feedback pulses x feed length multiplication matches the actual machine position The position command and Check that cumulative Review the position actual machine position are feedback pulses x travel command and electronic different distance per pulse matches gear setting the actual machine position Check if cumulative feedback pulses x feed length multiplication matches the actual machine position An alarm or warning is Check if an alarm or warning Check the content of the occurring is occurring alarm warning and remove its cause The servo gain is low Or the Check if the trouble is solved Adjust gains response of auto tuning is by increasing auto tuning low response Pr PAO9 The reduction ratio is not Check the following settings Review the calculation of the calculated correctly for t
203. rrectly Check if the voltage of It is higher than the the input power supply prescribed value is over the prescribed value 200 V class 264 V AC 400 V class 528 V AC 100 V class 132 V AC 48 V DC setting 70 V DC 24 V DC setting 50 V DC Check the regenerative load ratio when alarm occurs It is the prescribed value or lower It is 100 or more Check if the regenerative resistor regenerative option is overheating Remove the regenerative option or built in regenerative resistor and then check if the alarm occurs at power on For MR J4 03A6 RJ and MR J4W2 0303B check if the alarm occurs at power on Check the noise ground fault ambient temperature etc It is overheating abnormally The alarm occurs The alarm does not occur It has a failure 1 39 It is not connected Connect it correctly correctly It is connected Check 3 correctly Reduce the power supply voltage Check 4 Reduce the frequency of positioning Increase the deceleration time constant Reduce the load Use a regenerative option if it is not being used Review the regenerative option capacity For MR J4 03A6 RJ and MR J4W2 0303B6 check if the main circuit power supply voltage is 48 V DC even though the setting is 24 V DC Replace the servo amplifier Replace the servo amplifier Check 2 Take countermeasures against its cause 1 TROUBLESHOOTING FOR SERVO AM
204. rrent Speed Regene Effective 3 5 speed command command s rative load load ratio ratio Analog Motor Torque Motor side Motor side Command Droop Load side 0 888 speed load side load side pulse pulses droop AL 42 position speed frequency 100 pulses N deviation deviation speed pulses 100 Note 100 unit pulses pulses Analog Motor Torque Current Droop Overload Bus Effective 56 8 speed command pulses alarm voltage load ratio 100 margin pulses 3 DRIVE RECORDER Samolin Measure Data 1 Data 2 Data 3 Data 4 Data 5 Data 6 Data 7 Data 8 A Ping ment time time ms ms Analog Motor Torque Current Droop Speed Bus Error 3 5 speed command pulses command voltage excessive 100 alarm pulses margin Doa feson EMG am ne mR o so me __ Analog Motor Torque Load side Load side Current Load side Load side 0 888 speed encoder encoder command encoder encoder information ae error error 2 counter 1 counter 2 aa en ewe am we wat nos gt Analog Motor Torque Load side Load side Current Load side Load side 0 888 speed encoder encoder command encoder encoder AL 12 information Hie error error Note 2 counter 1 counter 2 Baier oson ens acne ne we E TF J Note MR J4 _B_ RJ010 is not supported 3 DRIVE RECORDER Table 3 2 MR J4 _A _ Samolin Measure Data 1 Data 2 Data 3 Data 4 Data 5 Data 6 Data 7 Data 8 R ping ment time time ms ms Analog Mo
205. s Oscillation Oscillation detection error Each Each detection axis axis Each Each axis axis Each Each axis axis Operation enor 612 Point table seting range ror 0B o o I RHH h G B Alarm code Note 8 code Note Alarm code Note 8 ACD3 ACD2 ACD1 ACDO Bit 3 Bit 2 Bit 1 Bit 0 Stop system Note 9 Abnormal temperature of servo Each Each motor 3 1 os 1 ie 1 axis axis Abnormal temperature of servo Each Each motor 4 1 re 1 ros 1 axis axis ari ee Common Ei 1 1 ace O O Each Each ote 1 Note 1 moet 1 axis axis 1 1 O O Each Each 1 Note 1 Note 1 axis axis O O Each Each 1 Note 1 Note 1 axis axis O O Each Each 1 Note 1 Note 1 axis axis 4 4 O O Each Each 1 Note 1 Note 1 axis axis O O Each Each 1 Note 1 Note 1 axis axis Each Each 1 axis axis 4 4 O Each Each Note 1 axis axis Each Each axis 1 1 f go a E sO axis Each axis Each axis axis po oe axis fesi storof o 0 o Common Alares al 63 5 STO by functional safety unt 08 o o o STO input error 64 2 Compatibility mode setting error Operation mode setting error i ESSE SS HLL 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Stop Alarm deactivation Process Alarm code Note 8 F S Stop Detail l method No Name pis Detail name Alarm CPU system ACD3 ACD2 ACD1 ACDO reset res
206. s are not recorded in the alarm history If AL E6 occurs the amplifier will be the servo off status If any other warning occurs operation can be continued but an alarm may take place and proper operation may not be performed Remove the cause of warning according to this section 2 TROUBLESHOOTING FOR MR CR55K 4 CONVERTER UNIT Ka Name Description Check method Check result Converter overheat warning The temperature of the converter Operated in the overloaded status Check the effective load ratio The effective load Check operation ratio is high pattern The effective load Check 2 ratio is small unit heat sink reached a warning level Ambient temperature of converter unit is over 55 C The converter unit is malfunctioning EO Excessive 1 regeneration warning There is a possibility that regenerative power may exceed permissible regenerative power of regenerative resistor regenerative option The regenerative power exceeded 85 of the permissible regenerative power of the regenerative resistor regenerative option Load increased to 85 or more alarm level of A 50 Overload 1 or A 51 Overload 2 The EM1 forced stop of the converter unit was turned off Overload warning 1 A 50 Overload 1 or A 51 Overload 2 can occur E6 Converter forced stop warning The EM1 forced stop of the converter unit was turned off An external 24
207. se generator Adjust properly the manual pulse generator operation was parameters such as operation executed properly to JOG speed and the operation range multiplication of the manual pulse as 98 2 Reverse Check it with the check method for AL 98 1 rotation side software stroke limit reached necessary Alarm Na 99 No 99 Name Stroke limit warning eo content The stroke limit signal is off Forward The stroke limit switch Check if the limit It is not connected Connect it correctly rotation stroke for forward rotation is switch is connected iti ted Check 2 end of connected to LSP lisa The forward rotation Check if the stroke It turned off Check operation stroke end was limit switch for forward pattern exceeded during driving rotation turned off rotation stroke for reverse rotation is switch is connected ti fed Check 2 end off connected to LSN correctly The reverse rotation Check if the stroke It turned off Check operation stroke end was limit switch for reverse pattern exceeded during driving rotation turned off Reverse The stroke limit switch Check if the limit It is not connected Connect it correctly 1 91 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Alarm No 9A Name Optional unit input data error warning Alarm content The BCD input data setting is incorrect when MR D01 extension IO unit is connected 9A 1 Optional unit Check if MR D01 is It is not connected C
208. serial communication Mitsubishi general purpose AC servo protocol or Modbus RTU communication USB 1 Communication Check if a command It was not Transmit a A communication commands have not was transmitted from transmitted command B time out been transmitted the personal It was transmitted Check 2 WB computer etc RJ010 Alarm No 8A Alarm content error serial time out error was disconnected communication cable communication and then check the cable repeatability It is repeatable Check 3 communication A communication cable Replace the It is not repeatable Replace the 3 The servo amplifier is Replace the servo It is not repeatable Replace the servo malfunctioning amplifier and then amplifier repeatability Modbus RTU Communication Check if a command It was not Transmit a A communication commands have not was transmitted from transmitted command A communication cable Replace the It is not repeatable Replace the was disconnected communication cable communication repeatability It is repeatable Check 3 The servo amplifier is Replace the servo It is not repeatable Replace the servo check the time out error been transmitted the controller etc It was transmitted Check 2 and then check the cable malfunctioning amplifier and then amplifier check the repeatability 1 79 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Alarm No 8D Name
209. servo system controller and functional safety unit Replace the functional safety unit and then check the repeatability Check the noise ambient temperature etc Check if the settings of the servo system controller side Check the SSCNET III cable connection Wipe off the dirt from the cable tip and then check the repeatability Check if the SSCNET Ill cable is malfunctioning Check if a vinyl tape is used Check if the cable is contacting with other cables Replace the servo amplifier and then check the repeatability Replace the previous and next servo amplifier of the axis alarm occurred and then check the repeatability Replace the controller and then check the repeatability Check the noise ambient temperature etc 1 76 Communication cycle setting is not correct Set it correctly Communication cycle setting is Check 2 correct It is not repeatable Replace the functional safety unit It is repeatable Check 3 Take countermeasures against its cause It has a failure Set it correctly It has no failure Check 2 It is disconnected Turn off the control circuit power supply of the servo amplifier and then connect the SSCNET III cable It is connected Check 3 It is not repeatable Take measure to keep the cable tip clean It is repeatable Check 4 It has a failure Replace the SSCNET III cable It has no failure Check 5
210. side Current Load side Load side 0 888 speed encoder encoder command encoder encoder AL 71 information oe error error 2 counter 1 counter 2 Doa son GTH am ne mR RD so F Analog Motor Torque Load side Load side Current Load side Load side 0 888 speed encoder encoder command encoder encoder AL 72 information liaa error error 2 counter 1 counter 2 Doa son enem am ne H o so ee 3 DRIVE RECORDER Table 3 3 Signal explanations SZ Sman H T HH HTS Motor speed The servo motor speed is displayed Torque The servo motor torque is displayed with current value 0 1 The value of torque being occurred is displayed in real time considering a rated torque as 100 This indicates current command applying to the servo motor 0 1 Droop pulses 1 pulse This indicates the number of droop pulses in the deviation counter per pulse pulse Droop pulses This indicates the number of droop pulses in the deviation counter per 100 pulses 100 pulses 100 pulses Speed command This indicates speed command applying to the servo motor Bus voltage This indicates bus voltage at the converter of the servo amplifier 15 seconds The travel distance from the home position is displayed as multi revolution counter value of the absolution position encoder in the absolution position detection system Within one revolution Position within one revolution is displayed in encoder pulses 16 pulses position 1 2 a
211. stesse MAA 1 14 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Detail method i Stop Name Detail name system No Note 2 Note 5 3 Drive recorder Area writing time Drive recorder out warning Miswriting warning F22 Drive recorder Data miswriting 1 warning Oscillation SES Oscillation detection warning warning Each axis l F51 Cam data Area writing time out Simple cam lt warning function Cam data TT a ES miswriting warming Cam data Area miswriting warning F5 3 3 Cam data checksum error _ Cam axis one cycle current value restoration failed Cam axis feed current value F6 2 R Simple cam restoration failed function Cam 3 Cam unregistered error control warning F6 5 Cam No external error F6 6 Cam control inactive Note 1 Leave for about 30 minutes of cooling time after removing the cause of occurrence 2 The following shows two stop methods of DB and SD DB Stops with dynamic brake Coasts for the servo amplifier without dynamic brake Coasts for MR J4 03A6 RJ and MR J4W2 0303B6 SD Forced stop deceleration 3 This is applicable when Pr PA04 is set to the initial value The stop system of SD can be changed to DB using Pr PA04 4 Quick stop or slow stop can be selected using Pr PD30 5 The processing and stop systems are applicable only for the multi axis servo amplifiers MR J4W_ _B_ Refer to section 1 1 for details 6 As the initial
212. t is It is not connected Connect it correctly of the encoder cable is connected not connected to the ground plate of the It is connected Check 3 connector Something near the Check the noise It has a failure Take device caused it ambient temperature countermeasures vibration etc against its cause It has no failure Check 4 An alarm of the linear Check the content of Remove its cause Contact each encoder was detected the alarm detail list of described in the encoder the Linear Encoder instruction manual manufacturer for Instruction Manual how to deal with it Check it with the check method for AL 2A 1 error 1 2 2A 3 Linear encoder error 1 3 2A 4 Linear encoder error 1 4 2A 5 Linear encoder error 1 5 2A 6 Linear encoder error 1 6 2A 7 Linear encoder error 1 7 2A 8 Linear encoder error 1 8 Alarm No 2B Name Encoder counter error Alarm content Data which encoder created is failure 2B 1 Encoder 1 An encoder cable is Check if the encoder It has a failure Repair or replace A counter error 1 malfunctioning cable is disconnected the cable B or shorted It has no failure Check 2 WB 2 The external conductor Check if it is It is not connected Connect it correctly of the encoder cable is connected not connected to the E ground plate of the It is connected Check 3 connector Something near the Check the noise It has a failure Take devi
213. t it correctly incorrect The wiring is correct Check 4 Execute the magnetic It is not repeatable Execute the pole detection and magnetic pole then check the detection repeatability It is repeatable Check 5 Calculate the deviation The deviation is Review the operation between the speed status Review the command and actual Pr PLOG setting speed depending on circumstances 1 50 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Alarm No 42 Name Servo control error for linear servo motor and direct drive motor Alarm content A servo control error occurred Servo control error by torque thrust deviation 1 The linear encoder resolution setting differs from the setting value The direction of e linear encoder is incorrect The connection of the servo motor is incorrect The initial magnetic pole detection was not executed The torque thrust deviation exceeded the detection level Check the setting of The setting is Set it correctly A Pr PLO2 and Pr incorrect B PLO3 The setting is Check 2 WB correct Check polarities of The mounting Mount it correctly the linear encoder direction is incorrect Review the encoder and the linear servo pulse count polarity motor selection setting of the parameter as required A Pr PC45 B WB Pr PC27 The mounting Check 3 direction is correct Check the wiring The wiring is Connect it corre
214. t with the check method for AL 20 1 Check if the Z phase pulse signals PZ PZR of the encoder cable are disconnected or shorted Check it with the check method for AL 20 1 Check it with the check method for AL 20 1 1 29 It is disconnected or shorted Repair the encoder cable Check 2 A B WB RJ010 It is not disconnected or shorted It is disconnected or shorted Repair the encoder cable It is not disconnected or shorted Check 2 A B WB RJ010 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Alarm No 20 Name Encoder normal communication error 1 Alarm content An error occurred in the communication between an encoder and servo amplifier 20 9 Encoder Check it with the check method for AL 20 1 normal communication Receive data error 4 20 Encoder normal communication Receive data error 5 Alarm No 21 Name Encoder normal communication error 2 Alarm content The encoder detected an error signal 21 1 Encoder data 1 The encoder detected Decrease the loop It is not repeatable Use the encoder A error 1 a high speed gain and then check with low loop gain B acceleration rate due to the repeatability S WB an oscillation or other It is repeatable Check 2 RJ010 factors The external conductor Check if it is It is not connected Connect it correctly of the encoder cable is connected not connected to the
215. ter etc 8E 4 USB The transmitted Check the command The transmitted Correct the A communication command is out of at the time of command is out of transmission data B command specifications transmission specifications WB error serial The transmitted Check 2 RJ010 communication command is within command error specifications The communication Check if transmission Itis not conforming Modify the protocol is failure data supports the transmission data communication according to the protocol communication protocol 3 The setting of the Check the setting of It is incorrect Review the settings personal computer etc the personal is incorrect computer etc E 5 The transmitted data Check the data The transmitted Correct the A number is out of number at the time of data number is out transmission data B specifications transmission of specifications WB The transmitted data Check 2 RJ010 number is within specifications The communication Check if transmission It is not conforming protocol is failure data supports the communication Modify the transmission data according to the protocol communication protocol It is conforming Check 3 The setting of the Check the setting of It is incorrect Review the settings personal computer etc the personal 8 USB communication data number error serial communication data number error is incorrect computer etc
216. ter station The settings of station Check the setting of The setting is Review the setting setting warning type or cyclic points on the master station incorrect on the master the master station side station side are incorrect Overlapping The same station No Check devices on the They are overlapped Review the settings station number as other station was network if station of the station Nos warning set Nos are overlapped Mismatched The station No Check the station No They are not matched Review the settings station number controlled on master on master side and of the station Nos warning side differs from that slave side if they are set on slave side matched together 1 93 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Alarm No 9E Name CC Link IE warning 0 OSE CC Link IE Name CC Link IE warning 0 OSE 2 TA content The receive data of the CC Link IE communication is abnormal gs E Link IE warning 1 The transmission status of the CC Link IE communication is abnormal The CC Link IE cable was disconnected The wiring of the CC Link IE cable was incorrect A CC Link IE cable was disconnected Communication with the master station is abnormal Alarm No 9F Name Battery warning Alarmcontent content Check the noise ambient temperature etc Check the CC Link IE cable connection Check if the wiring of CC Link IE cable is correct Check if the CC Link
217. termeasures against its cause It has a failure It has a failure Review the wiring It has no failure Check 2 Set the value longer The mismatched time is longer than the set value The mismatched time is shorter than the set value Check 3 Replace the functional safety unit It is repeatable Check 4 Take countermeasures against its cause It has a failure A B 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Alarm No 79 Name Functional safety unit diagnosis error Alarm content A diagnosis of the functional safety unit failed 79 8 Position 1 The position feedback Check the Pr It is not set Review the feedback fixing data do not change PSA22 setting correctly parameter error within the position feedback fixing error It is set correctly Check 2 detection time Pr PSA22 The position feedback Check the feedback The position Perform an operation data do not change data by rotating the feedback data which rotates the servo motor changes servo motor within the position feedback fixing error detection time Pr PSA22 The position Check 3 feedback data do not change The servo motor is Replace the servo It is not repeatable Replace the servo malfunctioning motor and then check motor the repeatability It is repeatable Check 4 The functional safety Replace the functional It is not repeatable Replace the unit is malfunctioning sa
218. the restored cam axis feed current value and the command position at cam control start is in the in position range 1 102 Check result The feed current value is the outside of the stroke Action Move the feed current value to within the stroke in a reciprocating motion pattern of the cam Or set the cam standard position within the stroke in a reciprocating motion pattern of the cam The difference of the command position command unit is not within in position range Calculate the cam axis feed current value to be restored move the command position to the position and then start the cam control For the calculation method refer to section 12 1 3 of MR J4 _A_ RJ Servo Amplifier Instruction Manual Positioning Mode Or set a larger setting value to in position range when the setting value is extremely small such as 0 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Alarm No F6 Name Simple cam function Cam control warning The cam axis position restoration at a time of cam control start was a failure Alarm content S The cam control is not normal S Detail name Check method Check result Cam Check if the cam data It was not written Write the cam data A unregistered was written It was written Check 2 Erron Check if the cam data It was not written Write the cam data of the specified cam of the specified cam No was written No It was writte
219. tion Pr PT03 TPO manual pulse generator multiplication 1 TP1 manual pulse generator multiplication 2 is incorrect MR DS60 digital switch and MR D0O1 extension IO unit The input value from the MR HDP01 manual pulse generator and the command position do not match Clear or RES Reset during operation Review the point table setting Review the start timing Check the input signal switch to the MR D01 extension IO unit and check the wiring Review the controller programs The setting of MR DS60 Check the Pr Po10 setting Review the Pr Po10 digital switch is incorrect setting Review the wiring between MR DS60 digital switch and MR D01 extension IO unit Review the wiring Set the multiplication setting correctly A mechanical slip occurred Check if there is a slip or Adjust the machine part A Or the backlash of the backlash on the machine part B machine part is large WB RJ010 1 113 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Check result A restoration position deviates at restoration of power for the absolute position detection system Overshoot undershoot occurs A communication with servo amplifier fails using MR Configurator2 For details refer to Help of MR Configurator2 The motor was rotated Check if the motor was Extend the acceleration time A exceeding the maximum accelerated suddenly to B permissible speed at power 6000 r
220. tioning motor and then motor repeatability 9 It has no failure Check 7 9 Something near the Check the noise It has a failure Take device caused it ambient temperature countermeasures vibration etc against its cause Encoder initial Check it with the check method for AL 16 1 communication Transmission data error 1 Encoder initial communication Transmission data error 2 Encoder initial communication Transmission data error 3 1 23 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Alarm No 16 Name Encoder initial communication error 1 Alarm content An error occurred in the communication between an encoder and servo amplifier Encoder initial 1 The servo amplifier is Replace the servo A communication malfunctioning amplifier and then amplifier B Process error 1 check the WB repeatability RJ010 motor and then check motor the repeatability It has a failure Take countermeasures against its cause An encoder is malfunctioning Check the noise ambient temperature vibration etc Check it with the check method for AL 16 A 3 Something near the device caused it Encoder initial communication Process error 2 Encoder initial communication Process error 3 Encoder initial communication Process error 4 Encoder initial communication Process error 5 Encoder initial communication Process error 6 Alarm Na 17 No 17
221. tly and securely Otherwise the servo motor may operate unexpectedly To avoid a malfunction of the servo motor connect the wires to the correct phase terminals U V and W of the servo amplifier drive unit and the servo motor Connect the servo amplifier drive unit power output U V and W to the servo motor power input U V and W directly Do not let a magnetic contactor etc intervene Otherwise it may cause a malfunction Servo amplifier Servo amplifier drive unit Servo motor drive unit Servo motor U U Uc U o We 2 Usage CAUTION Before resetting an alarm make sure that the run signal of the servo amplifier drive unit is off in order to prevent a sudden restart Otherwise it may cause an accident Use the servo amplifier drive unit and converter unit with the specified servo motor 3 Corrective actions CAUTION When it is assumed that a hazardous condition may occur due to a power failure or product malfunction use a servo motor with an electromagnetic brake or external brake to prevent the condition Configure an electromagnetic brake circuit so that it is activated also by an external emergency stop switch Contacts must be opened when CALM Common Contacts must be opened with malfunction or MBR Electromagnetic brake the emergency stop switch interlock turns off E Servo motor RA O 635 Electromagnetic brake
222. to tuning B low response Pr PAO9 WB The torque is insufficient due Check instantaneous torque Reduce the load or use a RJ010 to large load using status display only A larger capacity servo motor or MR Configurator2 if the load exceeds the maximum torque or torque limit value An unintended torque limit Check if TLC Limiting Cancel the torque limit has been enabled torque is on using status display or MR Configurator2 The setting of the torque limit Check if the limiting torque is Set it correctly is incorrect too low A Pr PA11 and Pr PA12 or analog input B WB RJ010 Setting on controller side For a servo motor with an Check the power supply of Turn on the electromagnetic electromagnetic brake the the electromagnetic brake brake power brake has not released The command from the Check the ripple of the Review the command from controller is unstable command frequency with MR the controller Check the Configurator2 cable for command if there is failure such as disconnection The machine vibrates The servo gain is low Or the Check if the trouble is solved Adjust gains A unsteadily when it stops response of auto tuning is by increasing auto tuning B low response Pr PAO9 WB RJ010 The servo motor starts to SON Servo on is on at Check if SON Servo on and Review the sequence of drive immediately after power on RD Ready are on using SON Servo on power
223. too short Check if the encoder cable is connected correctly Check if the limiting torque is in progress Connect it correctly The limiting torque Increase the torque is in progress limit value The limiting torque Check 5 is not in progress It collided Check operation pattern It did not collide Check 6 The torque is Reduce the load or saturated review the operation pattern Or use a larger capacity motor The torque is not Check 7 saturated Check the bus voltage The bus voltage is Check the power supply voltage and power supply capacity The bus voltage is Check 8 high It is not repeatable Increase the acceleration deceler ation time constant It is repeatable Check 9 Check if it collided Check the peak load ratio Set a longer deceleration time constant and then check the repeatability 1 92 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Alarm No 9B Name Error excessive warning Alarm content Droop pulses have exceeded the warning occurrence level Excess droop 9 The position loop gain Increase the position Itis not repeatable Increase the A pulse 1 warning is small loop gain and then position loop gain B check the Pr PB08 WB repeatability It is repeatable Check 10 Servo motor shaft was Measure the actual It is rotated by Review the machine rotated by external position under the external force It was
224. tor Torque Current Droop Speed Bus Effective 0 888 speed command pulses command voltage load ratio Standard 1 pulse Doa son GT am ne mR GL __ Analog Motor Torque Current Droop Speed Bus Effective 0 888 AL10 speed command pulses command voltage load ratio i 1 pulse Doa son GT am ne mR Ro sto e Analog Motor Torque ABS Within one Current Encoder Encoder 0 888 AL20 speed counter revolution command error error position counter 1 counter 2 Doa son GTH am ne mR Ro sto e Analog Motor Torque ABS Within one Current Encoder Encoder AL 21 speed counter revolution command error error j position counter 1 counter 2 0 888 Doa son GTH am ne mR R0 so Analog Motor Torque Current Within one Bus U phase V phase AL24 speed command revolution voltage current current E positon feedback feedback Sigil Son fear pune fe we fo feo Analog Motor Torque Current L Regene Effective AL30 speed command pulses KON rative load load ratio c pulse ratio igi feon fee rue fe fe ro fse e AZZ E Analog Motor Torque Current Command Within one Speed 0 888 AL31 speed command pulse revolution command a frequency position Doa son GTH am me mR Ro GL Analog Motor Torque Current Bus Effective U phase V phase speed command voltage load ratio current current aa feedback feedback 0 444 igi feon fee rue ine fe fo fse e Analog Motor Torque Current Sa Regene
225. tromagnetic brake the the electromagnetic brake brake power brake has not released 1 108 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Check result The speed of the servo motor The selection of SP1 Speed Check SP1 Speed selection Review the settings of SP1 or linear servo motor is not selection 1 SP2 Speed 1 SP2 Speed selection 2 Speed selection 1 SP2 increased Or the speed is selection 2 or SP3 Speed and SP3 Speed selection 3 Speed selection 2 SP3 increased too much selection 3 is incorrect in the and then check if the selected Speed selection 3 and speed control mode or the internal speed is correct setting of internal speed torque control mode An analog signal is not input Check the values of the Input the analog signal correctly in the speed control analog speed command and correctly mode or the torque control the analog torque command mode using the status display or MR Configurator2 The selection of SPD1 Check SPD1 Speed Review the wiring Speed selection 1 SPD2 selection 1 SPD2 Speed Review the settings of SPD1 Speed selection 2 SPD3 selection 2 SPD3 Speed Speed selection 1 SPD2 Speed selection 3 or SPD4 selection 3 and SPD4 Speed selection 2 SPD3 Speed selection 4 is Speed selection 4 and then Speed selection 3 SPD4 incorrect in the positioning check if the selected internal Speed selection 4 and mode point table method speed is
226. tting value The direction of mounting linear encoder is incorrect An excitation level of the magnetic pole detection voltage level is small Servo on was enabled when the primary side of linear servo motor or rotor of direct drive motor did not stop Only one of the limit switches is on during magnetic pole detection The magnetic pole detection voltage level is small Check if it collided Check if the wiring of the servo motor power cable is correct Check the setting of Pr PLO2 and Pr PLO3 Check polarities of the linear encoder and the linear servo motor Check if the travel distance during the magnetic pole detection is too short for a position detection method Check if the travel distance during the magnetic pole detection is too long or if a vibration is occurring for a minute position detection method Check if servo on was enabled when the motor did not stop Check the limit switches Check if the travel distance during the magnetic pole detection is too short for a position detection method 1 36 It collided Move the start position of the magnetic pole detection Check 2 Correct the wiring Check 3 The setting is Set it correctly incorrect The setting is Check 4 correct The mounting Mount it correctly direction is incorrect Review the encoder pulse count polarity selection setting of the parameter as required A Pr P
227. ture etc Check if the input device cable is wired correctly Check if the parameter is set correctly It has no failure It is not repeatable Replace the functional safety unit It is repeatable Check 3 It is not repeatable Replace the servo amplifier It is repeatable Check 4 Take countermeasures against its cause Review the wiring Check 2 It has a failure It has a failure It has no failure Review the It is not set correctly parameter It is set correctly Check 3 The test pulse width Set the value longer is longer than the set value The test pulse width Check 4 is shorter than the set value It is not repeatable Replace the functional safety unit It is repeatable Check 5 It has a failure Take countermeasures against its cause Check the setting of Pr PSD26 Input device Test pulse off time Replace the functional safety unit and then check the repeatability Check the noise ambient temperature etc 1 72 A B 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Alarm No 79 Alarm content Name Functional safety unit diagnosis error A diagnosis of the functional safety unit failed Output device error 79 7 Mismatched input signal error 1 A signal of an output device has not been outputted correctly Check if the output device cable is wired correctly Or check if the load of th
228. ures against display only A or MR noise by laying the encoder Configurator2 if its numerical cable apart from power value is skipped cables etc Check if there is a backlash Adjust the backlash on the on the machine coupling and machine Check the brake release timing Adjust the machine resonance suppression filter Check the mounting part of the servo motor Increase the rigidity of the mounting part by such as increasing the board thickness and by reinforcing the part with ribs The connection of the servo Check the wiring of U V and Connect it correctly motor is incorrect W An unbalanced torque of the Check if the vibration varies Adjust balance of the machine is large depending on the speed machine Check the mounting accuracy of the servo motor and machine Check the load for the shaft of the servo motor Review the accuracy Adjust the load for the shaft to within specifications of the servo motor For the shaft permissible load refer to Servo Motor Instruction Manual Vol 3 Prevent the vibration from the external vibration source Check the vibration from outside 1 110 B WB RJO10 A B WB RJO10 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Check result The rotation accuracy is low The servo gain is low Or the Check if the trouble is solved Adjust gains A The speed is unstable response of auto tuning is by increasing au
229. urs ALM will turn off When an warning is displayed refer to section 1 5 and take the appropriate action 1 1 Explanation for the lists 1 No Name Detail No Detail name Indicates each No Name Detail No Detail name of alarms or warnings S Stop method For the alarms and warnings in which SD is written in the stop method column the servo motor stops with the dynamic brake after forced stop deceleration For the alarms and warnings in which DB or EDB is written in the stop method column the servo motor stops with the dynamic brake without forced stop deceleration 3 Alarm deactivation After its cause has been removed the alarm can be deactivated in any of the methods marked QO in the alarm deactivation column Warnings are automatically canceled after the cause of occurrence is removed Alarms are deactivated with alarm reset CPU reset or cycling the power a MR J4 _A_ RJ MR J4 DU_A_ RJ Alarm reset 1 Turning on RES Reset with input device 2 Pushing the SET button while the display of the servo amplifier is the current alarm display status 3 Pushing the Occurring Alarm Reset button in the Alarm Display window of MR Configurator2 Cycling the power Turning off the power and on again b MR J4 _B_ RJ010 MR J4W_ _B MR J4 DU_B_ RJ Alarm reset 1 Reset command from controller 2 Pushing the Occurring Alarm Reset button in the Alarm Display window of MR Configurator2 CPU reset Resetting th
230. value it is applicable only for AL 24 and AL 32 All axis stop can be selected using Pr PFO2 WV WV 1 4 Remedies for alarms When any alarm has occurred eliminate its cause ensure safety and deactivate the alarm before restarting operation Otherwise it may cause injury CAUTION IT AL 25 Absolute position erased occurs always make home position setting again Otherwise it may cause an unexpected operation AS soon as an alarm occurs make the Servo off status and interrupt the main circuit power When any of the following alarms has occurred do not cycle the power repeatedly to restart Doing so will cause a malfunction of the servo amplifier and servo motor Remove its cause and allow about 30 minutes for cooling before resuming the operation AL 30 Regenerative error AL 45 Main circuit device overheat AL 46 Servo motor overheat AL 50 Overload 1 AL 51 Overload 2 AL 37 Parameter error is not recorded in the alarm history Remove the cause of the alarm in accordance with this section Use MR Configurator2 to refer to the cause of alarm occurrence 1 15 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Alarm No 10 Name Undervoltage P The voltage of the control circuit power supply has dropped The voltage of the main circuit power supply has dropped Voltage drop in the control circuit power 1 The control circuit power supply connection is incorrect
231. verter unit It is not enabled Check 2 It is not connected Connect the protection coordination cable correctly Converter unit It is enabled 1 The forced stop of the forced stop converter unit is enabled during the servo on command The protection coordination cable is not correctly connected Check the protection coordination cable 1 99 1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT Alarm No EA Name ABS servo on warning Alarm content The servo on was not enabled within 1 s after ABSM ABS transfer mode was turned on EA 1 ABS servo on 1 The wiring of I O signals Check if the I O signal It has a failure Repair or replace the A warning is incorrect wire is disconnected o I O signal wire connected loosely It has no failure Check 2 2 The sequence program Check the sequence The sequence Modify the sequence is incorrect program program is incorrect program Alarm No EB Name The other axis error warning An alarm which stops all axes such as LAL 24 Main circuit error or LAL 32 Overcurrent occurred in other Alarm content axis All alarms of Target alarm selection of the other axis error warning is selected in Pr PF02 B 1 E The other axis 1 AL 24 occurred at Check if AL 24 is It is occurring Eliminate the cause error warning other axis occurring at other axis of AL 24 on the other axis side other axis occurring at
232. wer fois number seting R o ooon Aros SSS 11 Switch setting error 112 Disabling control axis setting error ST Rawerort TS SS Taar TS ez lansa fos KEO o KLE H 9 KEH R o DE 13 2 Clock error 2 DB _ o Common all axes 14 1 Control process enor D8 N o common Alt axes 142 Control process enor BB_ o common Alt axes 14 3 Control process errors DB o Common All axes NNNN 0 0 0 Pelee Common All axes axes Po Common a Common All axes Memory error 1 RAM NN NNN 1 EA 13 Clock error operation error Receive data error 1 Memory error 2 4 EEP ROM 5 ao N 15 17 3 17 4 17 5 17 6 17 7 17 8 1 Board error axis axis Encoder initial communication Each Each 16 2 i R Receive data error 2 axis axis Encoder initial communication Each Each 16 3 E R Receive data error 3 axis axis Encoder initial communication Each Each 16 5 RI S 2 Transmission data error 1 axis axis Encoder initial communication Each Each 16 6 eek N Transmission data error 2 axis axis NE 16 7 Encoder initial communication Each Each Encoder initial Transmission data error 3 axis axis 16 communication E 1 1 error 1 16 A ncoder initial communication Each Each Process error 1 axis axis 16 B Encoder initial communication Each Each Process error 2 axis axis 16 C Encoder initial communication Each Each i Process error 3 axis ax
233. wer e _ sTo_ 6 8 Dga foson eve awe fme ver Ro stop A Analog Motor Torque Current Command Within one Speed 0 888 speed command pulse revolution command an frequency position Dga cson EMG alma e mer Ro fso m 0 444 a e e e e a e a Dga cson EMG Alma ne mer RD so m Analog Motor Torque Current Command Droop Speed Bus 0 888 speed command pulse pulses command voltage frequency 1 pulse Dga CSON EMG Alma e mer Ro so m Digital cson eme ama me mer R0 so PF Analog Motor Torque Current Internal Tempera Bus Effective 56 8 speed command tempera ture of voltage load ratio ture of motor encoder thermistor Digital SON EMG alma ne D Ro fso m Data cson eme ama ie mer R0 so F Analog Motor Torque Current Overload Bus Effective 56 8 speed command pulses alarm voltage load ratio margin Digia cson_ emo alma nr me RO fso m Analog Motor Torque Current Droop Speed Bus Effective 0 888 AL10 speed command pulses command voltage load ratio i 1 pulse Analog Motor Torque ABS Within one Current Encoder Encoder speed counter revolution command error error position counter 1 counter 2 0 888 Analog Motor Torque Current Droop Regene Effective speed command pulses lt a rative load load ratio 1 pulse ratio Analog Motor Torque Current Bus Effective U phase V phase speed command voltage load ratio current current feedback feedback Analog Motor Torque Cu

MR-J4 Servo amplifier INSTRUCTION MANUAL

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