ABOUT THE MANUAL. This Instruction Manual covers the following models. These include servo amplifiers (drive units) which have optional units.
Name: Clock error. Alarm content. ∙ A part in the servo amplifier is failure. ∙ A clock error transmitted from the controller occurred.
Dec 14, 2020 — 1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT). 1.2 Alarm list. 15. 1. 42. Servo control error. (for linear servo motor and direct drive motor).
General-Purpose AC Servo
Servo Amplifier Instruction Manual (Troubleshooting)
SAFETY PRECAUTIONS
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".
WARNING Indicates that incorrect handling may cause hazardous conditions, resulting in death or severe injury.
CAUTION
Indicates that incorrect handling may cause hazardous conditions, resulting in minor or moderate injury or property 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.
Indicates what must not be done. For example, "No Fire" is indicated by .
Indicates what must be done. For example, grounding is indicated by .
In this Instruction Manual, instructions at a lower level than the above, instructions for other functions, 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.
[To prevent fire, note the following]
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.
[To prevent injury, note the following]
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.
[Additional instructions]
The following instructions should also be fully noted. Incorrect handling may cause a malfunction, injury, electric shock, etc.
[Wiring]
CAUTION
Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly. Make sure to connect the cables and connectors by using the fixing screws and the locking
mechanism. Otherwise, the cables and connectors may be disconnected during operation. To avoid a malfunction of the servo motor, connect the wires to the correct phase terminals (U/V/W) of
the servo amplifier (drive unit) and the servo motor. Connect the servo amplifier (drive unit) power output (U/V/W) to the servo motor power input (U/V/W)
directly. Do not connect a magnetic contactor and others between them. Otherwise, it may cause a malfunction.
Servo amplifier (drive unit) U
V
W
Servo motor U
V M
W
Servo amplifier (drive unit) U
V
W
Servo motor U
V M
W
2
CAUTION
Configure a circuit to turn off EM2 or EM1 when the main circuit power supply is turned off to prevent an unexpected restart of the servo amplifier (drive unit).
To prevent malfunction, avoid bundling power lines (input/output) and signal cables of the servo amplifier (drive unit) and the converter unit together or running them in parallel to each other. Separate the power lines from the signal cables.
[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. Wire options and peripheral equipment, etc. correctly in the specified combination. Otherwise, it may
cause an electric shock, fire, injury, etc. If the dynamic brake is activated at power-off, alarm occurrence, etc., do not rotate the servo motor by
an external force. Doing so may cause a malfunction of the dynamic brake or a fire.
[Corrective actions]
CAUTION
Ensure safety by confirming the power off, etc. before performing corrective actions. Otherwise, it may cause an accident.
If it is assumed that a power failure or product malfunction may result in a hazardous situation, use a servo motor with an electromagnetic brake or provide an external brake system for holding purpose to prevent such hazard.
Configure an electromagnetic brake circuit which is interlocked with an external emergency stop switch.
Contacts must be opened when ALM (Malfunction) or MBR (Electromagnetic brake interlock) turns off.
Contacts must be opened with the emergency stop switch.
Servo motor RA
BU
24 V DC
Electromagnetic brake
When an alarm occurs, eliminate its cause, ensure safety, and deactivate the alarm to restart operation.
If the molded-case circuit breaker or fuse is activated, be sure to remove the cause and secure safety before switching the power on. If necessary, replace the servo amplifier (drive unit) and converter unit, and recheck the wiring. Otherwise, it may cause smoke, fire, or an electric shock.
Provide an adequate protection to prevent unexpected restart after an instantaneous power failure. After an earthquake or other natural disasters, ensure safety by checking the conditions of the
installation, mounting, wiring, and equipment before switching the power on to prevent an electric shock, injury, or fire.
3
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-J4-03A6/MR-J4-03A6-RJ/MR-J4W2-0303B6 MR-J4-_GF/MR-J4-_GF4/MR-J4-_GF1/MR-J4-_GF-RJ/MR-J4-_GF4-RJ/MR-J4-_GF1-RJ 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-J4-DU_B4-RJ100 MR-CV_ MR-CR55K/MR-CR55K4
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/MR-J4-DU_B4-RJ100
[WB]
MR-J4W_-_B/MR-J4W2-0303B6
[RJ010] MR-J4-_B-RJ010/MR-J4-_B4-RJ010
[GF]
MR-J4-_GF/MR-J4-_GF4/MR-J4-_GF1/MR-J4-_GF-RJ/MR-J4-_GF4-RJ/MR-J4-_GF1-RJ
[Other] For manufacturer adjustment
4
CONTENTS
CONTENTS
SAFETY PRECAUTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1 ABOUT THE MANUAL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4
CHAPTER 1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)
6
1.1 Explanation for the lists . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 1.2 Alarm list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 1.3 Warning list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 1.4 Remedies for alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 1.5 Remedies for warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103 1.6 Trouble which does not trigger alarm/warning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127 1.7 Network module error codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141
CHAPTER 2 TROUBLESHOOTING FOR MR-CV_POWER REGENERATION CON-
VERTER UNIT
142
2.1 Explanations of the lists . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142 2.2 Alarm list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143 2.3 Warning list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143 2.4 Remedies for alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144 2.5 Remedies for warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148
CHAPTER 3 TROUBLESHOOTING FOR MR-CR55K(4) RESISTANCE REGENERATION
CONVERTER UNIT
149
3.1 Explanation for the lists . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149 3.2 Alarm/warning list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149
Alarm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149 Warning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150 3.3 Remedies for alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150 3.4 Remedies for warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155
CHAPTER 4 DRIVE RECORDER
157
4.1 How to use drive recorder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157 4.2 How to display drive recorder information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164
APPENDIX
165
Appendix 1 Detection points of [AL. 25], [AL. 92], and [AL. 9F] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165 REVISIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .167 WARRANTY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .173 TRADEMARKS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .174
5
1 TROUBLESHOOTING FOR SERVO AMPLIFIER
(DRIVE UNIT)
· As soon as an alarm occurs, turn SON (Servo-on) off and interrupt the power. · [AL. 37 Parameter error] and warnings (except [AL. F0 Tough drive warning]) are not recorded in the alarm
history. · [AL. 8D.1 CC-Link IE communication error 1] and [AL. 8D.2 CC-Link IE communication error 2] are not
recorded in the alarm history. For MR-J4-_GF_(-RJ), these alarms are recorded by setting [Pr. PN06] to "_ _ _ 1".
When an error occurs during operation, the corresponding alarm or warning is displayed. When an alarm occurs, ALM will turn off. Refer to the following and take the appropriate action. Page 28 Remedies for alarms When an warning is displayed, refer to the following and take the appropriate action. Page 103 Remedies for warnings
1.1 Explanation for the lists
No./Name/Detail No./Detail name
Indicates each No./Name/Detail No./Detail name of alarms or warnings.
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.
Alarm deactivation
After its cause has been removed, the alarm can be deactivated in any of the methods marked 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.
MR-J4-_A_(-RJ)/MR-J4-DU_A_(-RJ)
Alarm deactivation
Alarm reset
Cycling the power
Explanation
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. Click "Occurred Alarm Reset" in the "Alarm Display" window of MR Configurator2.
Turning the power off and then turning it on again.
MR-J4-_B_(-RJ010)/MR-J4W_-_B_/MR-J4-DU_B_(-RJ)
Alarm deactivation
Alarm reset
CPU reset Cycling the power
Explanation
1. Reset command from controller 2. Click "Occurred Alarm Reset" in the "Alarm Display" window of MR Configurator2. Resetting the controller itself Turning the power off and then turning it on again.
6
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.1 Explanation for the lists
MR-J4-_GF_(-RJ)
Alarm deactivation
Alarm reset
Explanation
1. Turn on RES (Reset) with input device *1
1
2. Error reset command from the controller
3. Click "Occurred Alarm Reset" in the "Alarm Display" window of MR Configurator2.
CPU reset
Resetting the controller itself
Cycling the power
Turning the power off and then turning it on again.
*1 Available on servo amplifiers with software version A7 or later.
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.
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.
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.
1.2 Alarm list
Alarm No. Name
10 Undervoltage
11 Switch setting error
12 Memory error 1 (RAM)
13 Clock error
Detail No. Name
10.1 Voltage drop in the control circuit power
10.2 Voltage drop in the main circuit power
11.1 Axis number setting error/ Station number setting error
11.2 Disabling control axis setting error
12.1 RAM error 1 12.2 RAM error 2 12.3 RAM error 3 12.4 RAM error 4 12.5 RAM error 5 12.6 RAM error 6 13.1 Clock error 1 13.2 Clock error 2 13.3 Clock error 3
Stop method
*2*3
EDB
Alarm deactivation
Alarm CPU reset reset
Cycling the power
Process
ing
system
*9
Common
Stop system
*9
All axes
Alarm code *8
ACD3 ACD2 ACD1 ACD0 (Bit 3) (Bit 2) (Bit 1) (Bit 0)
0
0
1
0
SD
Common All axes
DB
Common All axes
DB
DB
DB
DB
DB
DB
DB
DB
DB
DB
Common All axes
Common All axes 0
0
0
0
Common All axes
Common All axes
Common All axes
Common All axes
Common All axes 0
0
0
0
Common All axes
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.2 Alarm list
7
Alarm No. Name
14 Control process error
15 Memory error 2 (EEP-ROM)
Detail No. Name
14.1 14.2 14.3 14.4 14.5 14.6 14.7 14.8 14.9 14.A 14.B 14.C 14.D 15.1 15.2 15.4
Control process error 1
Control process error 2
Control process error 3
Control process error 4
Control process error 5
Control process error 6
Control process error 7
Control process error 8
Control process error 9
Control process error 10
Control process error 11
Control process error 12
Control process error 13
EEP-ROM error at power on
EEP-ROM error during operation
Home position information read error
Stop method
*2*3
DB DB DB DB DB DB DB DB DB DB DB DB DB DB DB DB
Alarm deactivation
Alarm CPU reset reset
Cycling the power
Process
ing
system
*9
Common
Common
Common
Common
Common
Common
Common
Common
Common
Common
Common
Common
Stop system
*9
All axes All axes All axes All axes All axes All axes All axes All axes All axes All axes All axes All axes
Alarm code *8
ACD3 ACD2 ACD1 ACD0 (Bit 3) (Bit 2) (Bit 1) (Bit 0)
0
0
0
0
0
0
0
0
8
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.2 Alarm list
Alarm No. Name
Detail No. Name
Stop
Alarm deactivation
Process Stop
Alarm code *8
method
*2*3
Alarm
CPU
reset reset
Cycling ing
the
system
*9
system
*9
ACD3
ACD2
ACD1
ACD0
(Bit 3) (Bit 2) (Bit 1) (Bit 0)
1
power
16 Encoder initial 16.1 Encoder initial DB
communication
communication
error 1
- Receive data
error 1
Each axis Each
0
1
1
0
axis
16.2 Encoder initial DB communication - Receive data error 2
Each axis Each axis
16.3 Encoder initial DB communication - Receive data error 3
Each axis Each axis
16.4 Encoder initial DB
communication
- Encoder malfunction *6
Each axis Each axis
16.5 Encoder initial DB communication - Transmission data error 1
Each axis Each axis
16.6 Encoder initial DB communication - Transmission data error 2
Each axis Each axis
16.7 Encoder initial DB communication - Transmission data error 3
Each axis Each axis
16.8 Encoder initial DB
communication
- Incompatible encoder *6
Each axis Each axis
16.A Encoder initial DB communication - Process error 1
Each axis Each axis
16.B Encoder initial DB communication - Process error 2
Each axis Each axis
16.C Encoder initial DB communication - Process error 3
Each axis Each axis
16.D Encoder initial DB communication - Process error 4
Each axis Each axis
16.E Encoder initial DB communication - Process error 5
Each axis Each axis
16.F Encoder initial DB communication - Process error 6
Each axis Each axis
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.2 Alarm list
9
Alarm No. Name
Detail No. Name
17 Board error
17.1 Board error 1
17.3 Board error 2
17.4 Board error 3
17.5 Board error 4
17.6 Board error 5
17.7 Board error 7 17.8 Board error 6 *6
17.9 Board error 8
19 Memory error 19.1 Flash-ROM
3 (Flash-ROM)
error 1
19.2 Flash-ROM error 2
19.3 Flash-ROM error 3
1A Servo motor combination error
1A.1
Servo motor combination error 1
1A.2
Servo motor control mode combination error
1A.4
Servo motor combination error 2
1B Converter error 1B.1 Converter unit error
1E Encoder initial 1E.1 Encoder
communication
malfunction
error 2
1E.2 Load-side
encoder
malfunction
1F Encoder initial 1F.1 Incompatible
communication
encoder
error 3
1F.2 Incompatible
load-side
encoder
Stop method
*2*3
DB DB DB DB DB DB EDB DB DB DB DB DB
DB
DB
DB DB DB
DB DB
Alarm deactivation
Alarm CPU reset reset
Cycling the power
Process ing system
*9
Common Common Common Common Common Common Common
Stop system
*9
All axes All axes All axes All axes All axes All axes All axes
Alarm code *8
ACD3 ACD2 (Bit 3) (Bit 2)
0
0
0
0
ACD1 (Bit 1)
0
0
ACD0 (Bit 0)
0
0
Common All axes
Each axis Each
0
1
1
0
axis
Each axis Each axis
Each axis Each axis
0
0
1
0
Each axis Each
0
1
1
0
axis
Each axis Each axis
Each axis Each
0
1
1
0
axis
Each axis Each axis
10
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.2 Alarm list
Alarm No. Name
Detail No. Name
Stop
Alarm deactivation
Process Stop
Alarm code *8
method
*2*3
Alarm
CPU
reset reset
Cycling ing
the
system
*9
system
*9
ACD3
ACD2
ACD1
ACD0
(Bit 3) (Bit 2) (Bit 1) (Bit 0)
1
power
20 Encoder
20.1 Encoder normal EDB
normal
communication
communication
- Receive data
error 1
error 1
Each axis Each
0
1
1
0
axis
20.2 Encoder normal EDB
communication
- Receive data
error 2
Each axis Each axis
20.3 Encoder normal EDB
communication
- Receive data
error 3
Each axis Each axis
20.5 Encoder normal EDB
communication
- Transmission
data error 1
Each axis Each axis
20.6 Encoder normal EDB
communication
- Transmission
data error 2
Each axis Each axis
20.7 Encoder normal EDB
communication
- Transmission
data error 3
Each axis Each axis
20.9 Encoder normal EDB
communication
- Receive data
error 4
Each axis Each axis
20.A Encoder normal EDB
communication
- Receive data
error 5
Each axis Each axis
21 Encoder
21.1 Encoder data
EDB
normal
error 1
communication 21.2 Encoder data
EDB
error 2
update error
Each axis Each
0
1
1
0
axis
Each axis Each axis
21.3 Encoder data
EDB
waveform error
Each axis Each axis
21.4 Encoder non- EDB
signal error
Each axis Each axis
21.5 Encoder
EDB
hardware error
1
Each axis Each axis
21.6 Encoder
EDB
hardware error
2
Each axis Each axis
21.9 Encoder data
EDB
error 2
Each axis Each axis
24 Main circuit error
24.1 Ground fault
DB
detected by
hardware
detection circuit
Each axis All axes 1
1
0
0
24.2 Ground fault
DB
detected by
software
detection
function
Each axis All axes
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.2 Alarm list
11
Alarm No. Name
Detail No. Name
25 Absolute
25.1 Servo motor
position erased
encoder -
Absolute
position erased
25.2 Scale measurement encoder Absolute position erased
27 Initial magnetic 27.1 Initial magnetic
pole detection
pole detection -
error
Abnormal
termination
27.2 Initial magnetic pole detection Time out error
27.3 Initial magnetic pole detection Limit switch error
27.4 Initial magnetic pole detection Estimated error
27.5 Initial magnetic pole detection Speed deviation error
27.6 Initial magnetic pole detection Position deviation error
27.7 Initial magnetic pole detection Current error
28 Linear encoder 28.1 Linear encoder -
error 2
Environment
error
2A Linear encoder 2A.1 Linear encoder
error 1
error 1-1
2A.2 Linear encoder 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
2B Encoder counter error
2B.1 Encoder counter error 1
2B.2 Encoder counter error 2
Stop method
*2*3 DB
DB
DB
DB DB
DB DB
DB
DB EDB EDB EDB EDB EDB EDB EDB EDB EDB EDB EDB
Alarm deactivation
Alarm CPU reset reset
Cycling the power
Process
ing
system
*9
Each axis
Each axis
Each axis
Each axis Each axis
Each axis Each axis
Each axis
Each axis
Each axis
Each axis Each axis Each axis Each axis Each axis Each axis Each axis Each axis Each axis Each axis
Stop system
*9
Each axis
Each axis
Each axis
Each axis
Each axis
Each axis
Each axis
Each axis
Each axis
Each axis
Each axis Each axis Each axis Each axis Each axis Each axis Each axis Each axis Each axis Each axis
Alarm code *8
ACD3 ACD2 ACD1 ACD0 (Bit 3) (Bit 2) (Bit 1) (Bit 0)
1
1
1
0
1
1
1
0
0
1
1
0
0
1
1
0
1
1
1
0
12
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.2 Alarm list
Alarm No. Name
Detail No. Name
Stop
Alarm deactivation
Process Stop
Alarm code *8
method
*2*3
Alarm
CPU
reset reset
Cycling ing
the
system
*9
system
*9
ACD3
ACD2
ACD1
ACD0
(Bit 3) (Bit 2) (Bit 1) (Bit 0)
1
power
30 Regenerative 30.1 Regeneration
DB
error
heat error
*1
*1
*1
Common All axes 0
0
0
1
30.2 Regeneration
DB
signal error
*1
*1
*1
Common All axes
30.3 Regeneration
DB
feedback signal
error
*1
*1
*1
Common All axes
31 Overspeed
31.1 Abnormal motor SD speed
Each axis Each
0
1
0
1
axis
32 Overcurrent
32.1 Overcurrent
DB
detected at
hardware
detection circuit
(during
operation)
Each axis All axes 0
1
0
0
32.2 Overcurrent
DB
detected at
software
detection
function (during
operation)
Each axis All axes
32.3 Overcurrent
DB
detected at
hardware
detection circuit
(during a stop)
Each axis All axes
32.4 Overcurrent
DB
detected at
software
detection
function (during
a stop)
Each axis All axes
33 Overvoltage
33.1 Main circuit
EDB
voltage error
Common All axes 1
0
0
1
34 SSCNET
34.1 SSCNET
SD*10
receive error 1
receive data
error
*5
Common All axes
34.2 SSCNET
SD*10
connector
connection error
Common All axes
34.3 SSCNET
SD*10
communication
data error
Each axis Each
axis
34.4 Hardware error SD*10
signal detection
Common All axes
34.5 SSCNET
SD*10
receive data
error (safety
observation
function)
34.6 SSCNET
SD*10
communication
data error
(safety
observation
function)
35 Command
35.1 Command
SD
frequency error
frequency error
Each axis Each
1
1
0
1
axis
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.2 Alarm list
13
Alarm No. Name
36 SSCNET receive error 2
37 Parameter error
39 Program error
3A Inrush current suppression circuit error
3D Parameter setting error for driver communication
3E Operation mode error
Detail No. Name
36.1 36.2
37.1 37.2 37.3 39.1 39.2 39.3 39.4 3A.1 3D.1
3D.2
3E.1 3E.6 3E.8
Continuous communication data error
Continuous communication data error (safety observation function)
Parameter setting range error
Parameter combination error
Point table setting error
Program error
Instruction argument external error
Register No. error
Noncorrespondence instruction error
Inrush current suppression circuit error
Parameter combination error for driver communication on slave
Parameter combination error for driver communication on master
Operation mode error
Operation mode switch error
MR-D30 combination error
Stop method
*2*3 SD*10 SD*10
DB DB DB DB DB DB DB EDB DB
DB
DB DB DB
Alarm deactivation
Alarm CPU reset reset
Cycling the power
Process
ing
system
*9
Each axis
Each axis Each axis
Common
Each axis
Stop system
*9
Each axis
Each axis Each axis
All axes
Each axis
Alarm code *8
ACD3 ACD2 (Bit 3) (Bit 2)
1
0
0
0
0
0
1
0
ACD1 (Bit 1)
0
0
0 0
ACD0 (Bit 0)
0
0
0 0
14
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.2 Alarm list
Alarm No. Name
Detail No. Name
Stop
Alarm deactivation
Process Stop
Alarm code *8
method
*2*3
Alarm
CPU
reset reset
Cycling ing
the
system
*9
system
*9
ACD3
ACD2
ACD1
ACD0
(Bit 3) (Bit 2) (Bit 1) (Bit 0)
1
power
42 Servo control 42.1 Servo control
EDB
*4
error
error by position
(for linear
deviation
servo motor
42.2 Servo control
EDB
*4
and direct
error by speed
drive motor)
deviation
*4
*4
Each axis Each
0
1
1
0
axis
Each axis Each axis
42.3 Servo control
EDB
*4
error by torque/
thrust deviation
*4
Each axis Each axis
Fully closed
42.8 Fully closed
EDB
*4
loop control
loop control
error
error by position
(for fully closed
deviation
loop control)
42.9 Fully closed
EDB
*4
loop control
error by speed
deviation
*4
*4
Each axis Each axis
Each axis Each axis
42.A Fully closed
EDB
*4
loop control
error by position
deviation during
command stop
*4
Each axis Each axis
45 Main circuit device overheat
45.1 Main circuit
SD
device overheat
error 1
*1
*1
*1
Common All axes 0
0
1
1
45.2 Main circuit
SD
device overheat
error 2
*1
*1
*1
Common All axes
46 Servo motor overheat
46.1 Abnormal
SD
temperature of
servo motor 1
*1
*1
*1
Each axis Each
0
0
1
1
axis
46.2 Abnormal
SD
temperature of
servo motor 2
*1
*1
*1
Each axis Each axis
46.3 Thermistor
SD
disconnected
error
*1
*1
*1
Each axis Each axis
46.4 Thermistor
SD
circuit error
*1
*1
*1
Each axis Each axis
46.5 Abnormal
DB
temperature of
servo motor 3
*1
*1
*1
Each axis Each axis
46.6 Abnormal
DB
temperature of
servo motor 4
*1
*1
*1
Each axis Each axis
47 Cooling fan error
47.1 Cooling fan stop SD error
Common All axes 0
0
1
1
47.2 Cooling fan
SD
speed reduction
error
Common All axes
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.2 Alarm list
15
Alarm No. Name
Detail No. Name
50 Overload 1
50.1 Thermal overload error 1 during operation
50.2 Thermal overload error 2 during operation
50.3 Thermal overload error 4 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
51 Overload 2
51.1 Thermal overload error 3 during operation
51.2 Thermal overload error 3 during a stop
52 Error excessive
52.1 Excess droop pulse 1
52.3 Excess droop pulse 2
52.4 Error excessive during 0 torque limit
52.5 Excess droop pulse 3
52.6 Excess droop pulse during servo-off
54 Oscillation detection
54.1 Oscillation detection error
56 Forced stop error
56.2 Over speed during forced stop
56.3 Estimated distance over during forced stop
56.4 Forced stop start error
61 Operation error 61.1 Point table setting range error
63 STO timing error
63.1 STO1 off 63.2 STO2 off
63.5 STO by functional safety unit
Stop method
*2*3 SD
SD
SD
SD
SD
SD
DB
DB
SD SD SD
EDB SD
EDB EDB
EDB
EDB DB
DB DB DB
Alarm deactivation
Alarm CPU reset reset
Cycling the power
*1
*1
*1
Process ing system
*9
Each axis
*1
*1
*1
Each axis
*1
*1
*1
Each axis
*1
*1
*1
Each axis
*1
*1
*1
Each axis
*1
*1
*1
Each axis
*1
*1
*1
Each axis
*1
*1
*1
Each axis
Each axis Each axis Each axis
Each axis Each axis
Each axis Each axis
Each axis
Each axis
Common Common
Stop system
*9
Each axis
Each axis
Each axis
Each axis
Each axis
Each axis
Each axis
Each axis
Each axis Each axis Each axis
Each axis Each axis
Each axis Each axis
Each axis
Each axis
All axes All axes
Alarm code *8
ACD3 ACD2 (Bit 3) (Bit 2)
0
0
0
0
0
1
0
0
0
1
0
1
0
1
ACD1 (Bit 1)
1
1 0
1 1
0 1
ACD0 (Bit 0)
1
1 1
1 0
1 0
16
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.2 Alarm list
Alarm No. Name
Detail No. Name
Stop
Alarm deactivation
Process Stop
Alarm code *8
method
*2*3
Alarm
CPU
reset reset
Cycling ing
the
system
*9
system
*9
ACD3
ACD2
ACD1
ACD0
(Bit 3) (Bit 2) (Bit 1) (Bit 0)
1
power
64 Functional
64.1 STO input error DB
safety unit
64.2 Compatibility
DB
setting error
mode setting
error
1
0
0
0
64.3 Operation mode DB
setting error
65 Functional
65.1 Functional
SD
safety unit
safety unit
connection
communication
error
error 1
0
0
0
0
65.2 Functional
SD
safety unit
communication
error 2
65.3 Functional
SD
safety unit
communication
error 3
65.4 Functional
SD
safety unit
communication
error 4
65.5 Functional
SD
safety unit
communication
error 5
65.6 Functional
SD
safety unit
communication
error 6
65.7 Functional
SD
safety unit
communication
error 7
65.8 Functional
DB
safety unit shut-
off signal error 1
65.9 Functional
DB
safety unit shut-
off signal error 2
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.2 Alarm list
17
Alarm No. Name
Detail No. Name
Stop
method
*2*3
66 Encoder initial 66.1 Encoder initial DB
communication
communication
error (safety
- Receive data
observation
error 1 (safety
function)
observation
function)
66.2 Encoder initial DB communication - Receive data error 2 (safety observation function)
66.3 Encoder initial DB communication - Receive data error 3 (safety observation function)
66.7 Encoder initial DB communication - Transmission data error 1 (safety observation function)
66.9 Encoder initial DB communication - Process error 1 (safety observation function)
67 Encoder
67.1 Encoder normal DB
normal
communication
communication
- Receive data
error 1 (safety
error 1 (safety
observation
observation
function)
function)
67.2 Encoder normal DB communication - Receive data error 2 (safety observation function)
67.3 Encoder normal DB communication - Receive data error 3 (safety observation function)
67.4 Encoder normal DB communication - Receive data error 4 (safety observation function)
67.7 Encoder normal DB communication - Transmission data error 1 (safety observation function)
68 STO diagnosis 68.1 Mismatched
DB
error
STO signal error
Alarm deactivation
Alarm CPU reset reset
Cycling the power
Process
ing
system
*9
Common
Stop
system
*9
Alarm code *8
ACD3 ACD2 (Bit 3) (Bit 2)
ACD1 (Bit 1)
ACD0 (Bit 0)
0
1
1
0
0
1
1
0
Common 0
0
0
0
18
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.2 Alarm list
Alarm No. Name
Detail No. Name
Stop
Alarm deactivation
Process Stop
Alarm code *8
method
*2*3
Alarm
CPU
reset reset
Cycling ing
the
system
*9
system
*9
ACD3
ACD2
ACD1
ACD0
(Bit 3) (Bit 2) (Bit 1) (Bit 0)
1
power
69 Command
69.1 Forward
SD
error
rotation-side
software limit
detection -
Command
excess error
69.2 Reverse
SD
rotation-side
software limit
detection -
Command
excess error
69.3 Forward rotation SD
stroke end
detection -
Command
excess error
69.4 Reverse
SD
rotation stroke
end detection -
Command
excess error
69.5 Upper stroke
SD
limit detection -
Command
excess error
69.6 Lower stroke
SD
limit detection -
Command
excess error
70 Load-side
70.1 Load-side
DB
encoder initial
encoder initial
communication
communication
error 1
- Receive data
error 1
Each axis Each
0
1
1
0
axis
70.2 Load-side
DB
encoder initial
communication
- Receive data
error 2
Each axis Each axis
70.3 Load-side
DB
encoder initial
communication
- Receive data
error 3
Each axis Each axis
70.4 Load-side
DB
encoder initial
communication
- Encoder malfunction *6
Each axis Each axis
70.5 Load-side
DB
encoder initial
communication
- Transmission
data error 1
Each axis Each axis
70.6 Load-side
DB
encoder initial
communication
- Transmission
data error 2
Each axis Each axis
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.2 Alarm list
19
Alarm No. Name
Detail No. Name
70 Load-side
70.7 Load-side
encoder initial
encoder initial
communication
communication
error 1
- Transmission
data error 3
70.8 Load-side encoder initial communication - Incompatible encoder *6
70.A
Load-side encoder initial communication - Process error 1
70.B
Load-side encoder initial communication - Process error 2
70.C
Load-side encoder initial communication - Process error 3
70.D
Load-side encoder initial communication - Process error 4
70.E
Load-side encoder initial communication - Process error 5
70.F
Load-side encoder initial communication - Process error 6
71 Load-side
71.1 Load-side
encoder
encoder normal
normal
communication
communication
- Receive data
error 1
error 1
71.2 Load-side encoder normal communication - Receive data error 2
71.3 Load-side encoder normal communication - Receive data error 3
71.5 Load-side encoder normal communication - Transmission data error 1
Stop method
*2*3 DB DB DB DB DB DB DB DB EDB EDB EDB EDB
Alarm deactivation
Alarm CPU reset reset
Cycling the power
Process ing system
*9
Each axis
Stop system
*9
Each axis
Alarm code *8
ACD3 ACD2 (Bit 3) (Bit 2)
0
1
ACD1 (Bit 1)
1
ACD0 (Bit 0)
0
Each axis Each axis
Each axis Each axis
Each axis Each axis
Each axis Each axis
Each axis Each axis
Each axis Each axis
Each axis Each axis
Each axis Each
0
1
1
0
axis
Each axis Each axis
Each axis Each axis
Each axis Each axis
20
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.2 Alarm list
Alarm No. Name
Detail No. Name
Stop
Alarm deactivation
Process Stop
Alarm code *8
method
*2*3
Alarm
CPU
reset reset
Cycling ing
the
system
*9
system
*9
ACD3
ACD2
ACD1
ACD0
(Bit 3) (Bit 2) (Bit 1) (Bit 0)
1
power
71 Load-side
71.6 Load-side
EDB
encoder
encoder normal
normal
communication
communication
- Transmission
error 1
data error 2
Each axis Each
0
1
1
0
axis
71.7 Load-side
EDB
encoder normal
communication
- Transmission
data error 3
Each axis Each axis
71.9 Load-side
EDB
encoder normal
communication
- Receive data
error 4
Each axis Each axis
71.A Load-side
EDB
encoder normal
communication
- Receive data
error 5
Each axis Each axis
72 Load-side
72.1 Load-side
EDB
encoder
encoder data
normal
error 1
communication 72.2 Load-side
EDB
error 2
encoder data
update error
Each axis Each
0
1
1
0
axis
Each axis Each axis
72.3 Load-side
EDB
encoder data
waveform error
Each axis Each axis
72.4 Load-side
EDB
encoder non-
signal error
Each axis Each axis
72.5 Load-side
EDB
encoder
hardware error
1
Each axis Each axis
72.6 Load-side
EDB
encoder
hardware error
2
Each axis Each axis
72.9 Load-side
EDB
encoder data
error 2
Each axis Each axis
74 Option card
74.1 Option card
DB
error 1
error 1
74.2 Option card
DB
error 2
74.3 Option card
DB
error 3
74.4 Option card
DB
error 4
74.5 Option card
DB
error 5
75 Option card
75.3 Option card
EDB
error 2
connection error
75.4 Option card
DB
disconnected
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.2 Alarm list
21
Alarm No. Name
79 Functional safety unit diagnosis error
7A Parameter setting error (safety observation function)
Detail No. Name
79.1 79.2 79.3 79.4 79.5 79.6 79.7 79.8 7A.1
7A.2
7A.3
7A.4
Functional safety unit power voltage error
Functional safety unit internal error
Abnormal temperature of functional safety unit
Servo amplifier error
Input device error
Output device error
Mismatched input signal error
Position feedback fixing error
Parameter verification error (safety observation function)
Parameter setting range error (safety observation function)
Parameter combination error (safety observation function)
Functional safety unit combination error (safety observation function)
Stop method
*2*3 DB
DB SD
SD SD SD SD DB DB
DB
DB
DB
Alarm deactivation
Alarm CPU reset reset
Cycling the power
*7
Process ing system
*9
*7
Stop system
*9
Alarm code *8
ACD3 ACD2 (Bit 3) (Bit 2)
1
1
1
0
ACD1 (Bit 1)
1
0
ACD0 (Bit 0)
1
0
22
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.2 Alarm list
Alarm No. Name
Detail No. Name
Stop
Alarm deactivation
Process Stop
Alarm code *8
method
*2*3
Alarm
CPU
reset reset
Cycling ing
the
system
*9
system
*9
ACD3
ACD2
ACD1
ACD0
(Bit 3) (Bit 2) (Bit 1) (Bit 0)
1
power
7B Encoder
7B.1 Encoder
DB
diagnosis error
diagnosis error
(safety
1 (safety
observation
observation
function)
function)
0
1
1
0
7B.2 Encoder
DB
diagnosis error
2 (safety
observation
function)
7B.3 Encoder
DB
diagnosis error
3 (safety
observation
function)
7B.4 Encoder
DB
diagnosis error
4 (safety
observation
function)
7C Functional
7C.1 Functional
SD
*7
safety unit
safety unit
communication
communication
diagnosis error
setting error
(safety
(safety
observation
observation
function)
function)
0
0
0
0
7C.2 Functional
SD
*7
safety unit
communication
data error
(safety
observation
function)
7D Safety
7D.1 Stop
DB
*3
observation
observation
error
error
7D.2 Speed
DB
*7
observation
error
1
1
1
1
82 Master-slave 82.1 Master-slave
EDB
operation error
operation error
1
1
84 Network
84.1 Network module DB
module
undetected
initialization
error
error
84.2 Network module DB
initialization
error 1
84.3 Network module DB
initialization
error 2
85 Network
85.1 Network module SD
module error
error 1
85.2 Network module SD
error 2
85.3 Network module SD
error 3
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.2 Alarm list
23
Alarm No. Name
Detail No. Name
86 Network
86.1 Network
communication
communication
error
error 1
86.2 Network communication error 2
86.3 Network communication error 3
86.4 Network communication error 4
8A USB
8A.1 USB
communication
communication
time-out error/
time-out error/
serial
serial
communication
communication
time-out error/
time-out error
Modbus RTU communication time-out error
8A.2
Modbus RTU communication time-out error
8D CC-Link IE
8D.1 CC-Link IE
communication
communication
error
error 1
8D.2
CC-Link IE communication error 2
8D.3 Master station setting error 1
8D.5 Master station setting error 2
8D.6
CC-Link IE communication error 3
8D.7
CC-Link IE communication error 4
8D.8
CC-Link IE communication error 5
8D.9 Synchronization error 1
8D.A Synchronization error 2
8E USB
8E.1 USB
communication
communication
error/serial
receive error/
communication
serial
error/Modbus
communication
RTU
receive error
communication 8E.2 USB
error
communication
checksum error/
serial
communication
checksum error
8E.3
USB communication character error/ serial communication character error
Stop method
*2*3 SD SD SD SD SD
SD SD SD DB DB SD SD SD SD SD SD
SD
SD
Alarm deactivation
Alarm CPU reset reset
Cycling the power
Process
ing
system
*9
Common
Common
Common
Common
Stop system
*9 All axes
All axes
All axes
All axes
Alarm code *8
ACD3 ACD2 ACD1 ACD0 (Bit 3) (Bit 2) (Bit 1) (Bit 0)
0
0
0
0
0
0
0
0
24
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.2 Alarm list
Alarm No. Name
Detail No. Name
Stop
Alarm deactivation
Process Stop
Alarm code *8
method
*2*3
Alarm
CPU
reset reset
Cycling ing
the
system
*9
system
*9
ACD3
ACD2
ACD1
ACD0
(Bit 3) (Bit 2) (Bit 1) (Bit 0)
1
power
8E USB
8E.4 USB
SD
communication
communication
error/serial
command error/
communication
serial
error/Modbus
communication
RTU
command error
communication 8E.5 USB
SD
error
communication
data number
error/serial
communication
data number
error
Common All axes 0
0
0
0
Common All axes
8E.6 Modbus RTU
SD
communication
receive error
8E.7 Modbus RTU
SD
communication
message frame
error
8E.8 Modbus RTU
SD
communication
CRC error
888 Watchdog
8888 Watchdog
DB
88
._
Common All axes
*1 After resolving the source of trouble, cool the equipment for approximately 30 minutes. *2 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; [AL. 30.1], [AL. 32.2], [AL. 32.4], [AL. 51.1], [AL. 51.2], [AL. 888] SD: Forced stop deceleration 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.
Series
HG-KR HG-MR HG-SR HG-AK
Servo motor
HG-KR053/HG-KR13/HG-KR23/HG-KR43 HG-MR053/HG-MR13/HG-MR23/HG-MR43 HG-SR51/HG-SR52 HG-AK0136/HG-AK0236/HG-AK0336
*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 The alarm can be canceled by setting as follows:
For the fully closed loop control: set [Pr. PE03] to "1 _ _ _". When a linear servo motor or direct drive motor is used: set [Pr. PL04] to "1 _ _ _". *5 In some controller communication status, the alarm factor may not be removed. *6 This alarm will occur only in the J3 compatibility mode. *7 Reset this while all the safety observation functions are stopped. *8 Alarm codes are outputted only from MR-J4-_A_(-RJ)/MR-J4-DU_A_(-RJ). Refer to the following for details. Page 6 Explanation for the lists *9 The processing and stop systems are applicable only for the multi-axis servo amplifiers (MR-J4W_-_B_). Refer to the following for details. Page 6 Explanation for the lists *10 In the parallel drive system, the stop method is DB.
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.2 Alarm list
25
1.3 Warning list
Warning No. Name
90 Home position return incomplete warning 91 Servo amplifier overheat warning *1 92 Battery cable disconnection warning 93 ABS data transfer warning 95 STO warning
96 Home position setting warning
97 Positioning specification warning 98 Software limit warning
99 Stroke limit warning
9A Optional unit input data error warning 9B Error excessive warning
9C Converter error 9D CC-Link IE warning 1
9E CC-Link IE warning 2 9F Battery warning E0 Excessive regeneration warning
Detail
No. Name
90.1 Home position return incomplete
90.2 Home position return abnormal termination
90.5 Z-phase unpassed
91.1 Main circuit device overheat warning
92.1 Encoder battery cable disconnection warning
92.3 Battery degradation
93.1 ABS data transfer requirement warning during magnetic pole detection
95.1 STO1 off detection
95.2 STO2 off detection
95.3 STO warning 1 (safety observation function)
95.4 STO warning 2 (safety observation function)
95.5 STO warning 3 (safety observation function)
96.1 In-position warning at home positioning
96.2 Command input warning at home positioning
96.3 Servo off warning at home positioning
96.4 Home positioning warning during magnetic pole detection
97.1 Program operation disabled warning
97.2 Next station position warning
98.1 Forward rotation-side software stroke limit reached
98.2 Reverse rotation-side software stroke limit reached
99.1 Forward rotation stroke end off
99.2 Reverse rotation stroke end off
99.4 Upper stroke limit off
99.5 Lower stroke limit off
9A.1 Optional unit input data sign error
9A.2 Optional unit BCD input data error
9B.1 Excess droop pulse 1 warning
9B.3 Excess droop pulse 2 warning
9B.4
Error excessive warning during 0 torque limit
9C.1 Converter unit error
9D.1 Station number switch change warning
9D.2 Master station setting warning
9D.3 Overlapping station number warning
9D.4 Mismatched station number warning
9E.1 CC-Link IE communication warning
9F.1 Low battery
9F.2 Battery degradation warning
E0.1 Excessive regeneration warning
Stop method *2*3
DB DB DB DB DB
*4*7 *4*7 *7 *7
Processing system *5
Common Each axis
Each axis
Common Common Each axis Each axis
Each axis Each axis Each axis Each axis Each axis
Each axis Each axis Common
Stop system *5
All axes All axes
26
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.3 Warning list
Warning No. Name
E1 Overload warning 1
Detail
Stop
Processing Stop
No. Name
method *2*3 system *5
system *5
E1.1 Thermal overload warning 1 during
Each axis
1
operation
E1.2 Thermal overload warning 2 during
operation
Each axis
E1.3 Thermal overload warning 3 during
operation
Each axis
E1.4 Thermal overload warning 4 during
operation
Each axis
E1.5 Thermal overload error 1 during a stop
Each axis
E1.6 Thermal overload error 2 during a stop
Each axis
E1.7 Thermal overload error 3 during a stop
Each axis
E1.8 Thermal overload error 4 during a stop
Each axis
E2 Servo motor overheat warning
E2.1 Servo motor temperature warning
Each axis
E3 Absolute position counter warning
E3.1 Multi-revolution counter travel distance
excess warning
E3.2 Absolute position counter warning
Each axis
E3.4 Absolute positioning counter EEP-ROM
writing frequency warning
E3.5 Encoder absolute positioning counter
warning
Each axis
E4 Parameter warning
E4.1 Parameter setting range error warning
Each axis
E5 ABS time-out warning
E5.1 Time-out during ABS data transfer
E5.2 ABSM off during ABS data transfer
E5.3 SON off during ABS data transfer
E6 Servo forced stop warning
E6.1 Forced stop warning
SD
Common
All axes
E6.2 SS1 forced stop warning 1 (safety
SD
observation function)
E6.3 SS1 forced stop warning 2 (safety
SD
observation function)
E7 Controller forced stop warning
E7.1 Controller forced stop input warning
SD
Common
All axes
E8 Cooling fan speed reduction warning
E8.1 Decreased cooling fan speed warning
Common
E8.2 Cooling fan stop
Common
E9 Main circuit off warning
E9.1 Servo-on signal on during main circuit off
DB
Common
All axes
E9.2 Bus voltage drop during low speed
DB
operation
Common
All axes
E9.3 Ready-on signal on during main circuit off DB
Common
All axes
E9.4 Converter unit forced stop
DB
EA ABS servo-on warning EB The other axis error warning
EA.1 EB.1
ABS servo-on warning The other axis error warning
DB
Each axis
*6
EC Overload warning 2
EC.1 Overload warning 2
Each axis
ED Output watt excess warning
ED.1 Output watt excess warning
Each axis
F0 Tough drive warning
F0.1 Instantaneous power failure tough drive
warning
Each axis
F0.3 Vibration tough drive warning
Each axis
F2 Drive recorder - Miswriting warning
F2.1 Drive recorder - Area writing time-out
warning
Common
F2.2 Drive recorder - Data miswriting warning
Common
F3 Oscillation detection warning
F3.1 Oscillation detection warning
Each axis
F4 Positioning warning
F4.4 Target position setting range error warning
F4.6 Acceleration time constant setting range
error warning
F4.7 Deceleration time constant setting range
error warning
F4.9 Home position return type error warning
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.3 Warning list
27
Warning No. Name
Detail No. Name
Stop
Processing Stop
method *2*3 system *5
system *5
F5 Simple cam function - Cam data
F5.1 Cam data - Area writing time-out warning
miswriting warning
F5.2 Cam data - Area miswriting warning
F5.3 Cam data checksum error
F6 Simple cam function - Cam control
F6.1 Cam axis one cycle current value
warning
restoration failed
F6.2 Cam axis feed current value restoration
failed
F7 Machine diagnosis warning
F6.3 Cam unregistered error
F6.4 Cam control data setting range error
F6.5 Cam No. external error
F6.6 Cam control inactive
F7.1 Vibration failure prediction warning
F7.2 Friction failure prediction warning
F7.3 Total travel distance failure prediction
warning
Each axis
Each axis
Each axis
*1 After resolving the source of trouble, cool the equipment for approximately 30 minutes. *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 For MR-J4-_A_ servo amplifier, 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 the following for details. Page 6 Explanation for the lists *6 As the initial value, it is applicable only for [AL. 24] and [AL. 32]. All-axis stop can be selected using [Pr. PF02]. *7 For MR-J4-_GF_ servo amplifier, quick stop or slow stop can be selected using [Pr. PD12]. (I/O mode only)
1.4 Remedies for alarms
CAUTION
· When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before restarting operation. Otherwise, it may cause injury. · If [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.
28
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.4 Remedies for alarms
Alarm No.: 10
Name: Undervoltage
Alarm content
The voltage of the control circuit power supply has dropped. The voltage of the main circuit power supply has dropped.
1
Detail Detail name Cause No.
Check method
Check result
Action
Target
10.1
Voltage drop in (1) The control circuit
Check the connection of It has a failure.
the control circuit power
power supply connection is incorrect.
the control circuit power supply.
It has no failure.
(2) The voltage of the control circuit power supply is low.
Check if the voltage of 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
The voltage is the prescribed value or lower.
The voltage is higher than the prescribed value.
Connect it correctly. Check (2).
Review the voltage of the control circuit power supply. Check (3).
[A] [B] [WB] [RJ010] [GF]
(3) The power was cycled before the internal control circuit power supply stopped.
Check the power-on method if it has a problem.
It has a problem.
Cycle the power after the seven-segment LED of the servo amplifier is turned off.
It has no problem.
Check (4).
(4) An instantaneous power Check if the power has a It has a problem.
failure has occurred for problem.
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
It has no problem.
_ _" and the J3
extension function is
used. The time will be
the value set in [Pr.
PX28] when [Pr. PX25]
is "_ 1 _ _".
An instantaneous power
failure of 15 ms or
longer has occurred on
MR-J4-03A6(-RJ) or
MR-J4W2-0303B6.
Review the power. Check (5).
(5) When a power
Check if the power has a It has a problem.
regeneration converter problem.
is used, the voltage of When power supply
the control circuit power impedance is high,
supply is distorted.
power supply voltage will
be distorted due to
current at power
regeneration, and it may
be recognized as
undervoltage.
Review the setting of "[AL. 10 Undervoltage] detection method selection" with the following parameters. [A]: [Pr. PC27] [B] [WB] [RJ010] [GF]: [Pr. PC20] Review the power.
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.4 Remedies for alarms
29
Alarm No.: 10 Alarm content
Detail No.
10.2
Detail name
Voltage drop in the main circuit power
Name: Undervoltage
The voltage of the control circuit power supply has dropped. The voltage of the main circuit power supply has dropped.
Cause
Check method
Check result
(1) The main circuit power Check the main circuit
supply wiring was
power supply wiring.
disconnected.
Check the main circuit
For the drive unit, the power supply wiring of
main circuit power
the converter unit.
supply wiring of the
converter unit was
disconnected.
(2) The wiring between P3 Check the wiring
and P4 was
between P3 and P4.
disconnected.
Check the wiring
For the drive unit, the between P1 and P2 of
wiring between P1 and the converter unit.
P2 of the converter unit
was disconnected.
(3) For the drive unit, the Check the magnetic
magnetic contactor
contactor control
control connector of the connector of the
converter unit was
converter unit.
disconnected.
It is disconnected. It is connected.
It is disconnected. It is connected. It is disconnected. It has no failure.
Action
Connect it correctly.
Check (2).
Target
[A] [B] [WB] [RJ010] [GF]
Connect it correctly. Check (3). Connect it correctly. Check (4).
(4) For the drive unit, the Check the bus bar
bus bar between the
between the converter
converter unit and drive unit and drive unit.
unit was disconnected.
It is disconnected. It has no failure.
(5) The voltage of the main Check if the voltage of
The voltage is the
circuit power supply is the main circuit power
prescribed value or
low.
supply is the prescribed lower.
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
The voltage is higher than the prescribed value.
24 V DC setting: 15 V DC
Connect it correctly.
Check (5).
Increase the voltage of the main circuit power supply.
Check (6).
(6) The alarm has occurred Check if the bus voltage The voltage is lower than Increase the acceleration
during acceleration.
during acceleration is
the prescribed value.
time constant. Or
lower than the prescribed
increase the power
value.
supply capacity.
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
The voltage is equal to or higher than the prescribed value.
Check (7).
24 V DC setting: 15 V DC
(7) The servo amplifier is malfunctioning.
Check the bus voltage value.
The bus voltage is less than the prescribed value although the voltage 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: 15 V DC
Replace the servo amplifier.
(8) For the drive unit, the converter unit is malfunctioning.
Replace the converter unit, and then check the repeatability.
It is not repeatable.
Replace the converter unit.
30
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.4 Remedies for alarms
Alarm No.: 11
Name: Switch setting error
Alarm content
The setting of the axis selection rotary switch or auxiliary axis number setting switch is incorrect.
1
The setting of the disabling control axis switch is incorrect.
The setting of the station number selection rotary switch is incorrect.
Detail Detail name Cause No.
Check method
Check result
Action
Target
11.1
Axis number
(1) The setting of the axis Check the settings of the When both of the
Set the axis No. correctly. [WB]
setting error
No. is incorrect.
auxiliary axis number
auxiliary axis number
setting switches (SW2-5/ setting switches are on,
SW2-6) and axis
check the axis selection
selection rotary switch
rotary switch if "F" is
(SW1).
selected for MR-J4W2,
("E" or "F" is selected for
MR-J4W3).
Both of the auxiliary axis number setting switches are off.
Replace the servo amplifier.
Station number (2) The station number is Check the settings of the The setting of the station Set the station number
setting error
set to a value other than station number selection number selection rotary correctly.
"1" to "120" with the
rotary switches (SW2/
switch is set to "0" or
station number
SW3).
"121" or more.
selection rotary switch.
The station number is set Replace the servo
to a value from "1" to
amplifier.
"120" with the station
number selection rotary
switch.
[GF]
11.2
Disabling
(1) The setting of the
Check the setting of the Check if the setting is as Set it correctly.
control axis
disabling control axis
disabling control axis
follows.
setting error
switch is incorrect.
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.
[WB]
The setting is other than Replace the servo
above.
amplifier.
Alarm No.: 12
Alarm content
Detail Detail name No.
12.1
RAM error 1
12.2
RAM error 2
12.3
RAM error 3
12.4
RAM error 4
12.5
RAM error 5
12.6
RAM error 6
Name: Memory error 1 (RAM)
A part (RAM) in the servo amplifier is failure.
Cause
Check method
Check result
Action
(1) A part in the servo amplifier is failure.
Disconnect the cables except for the control circuit power supply, and then check the repeatability.
(2) Something near the device caused it.
Check the power supply for noise.
Check it with the check method for [AL. 12.1].
It is repeatable. It is not repeatable.
There is a problem in the surrounding.
Replace the servo amplifier. Check (2).
Take countermeasures against its cause.
Target
[A] [B] [WB] [RJ010] [GF]
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.4 Remedies for alarms
31
Alarm No.: 13 Alarm content
Detail No.
13.1
Detail name
Clock error 1
13.2
Clock error 2
13.3
Clock error 3
Name: Clock error
A part in the servo amplifier is failure. A clock error transmitted from the controller occurred. [RJ010]: MR-J3-T10 came off.
Cause
Check method
Check result
Action
Target
(1) The MR-J3-T10 came off during the CC-Link IE communication.
(2) A part in the servo amplifier is failure.
(3) A clock error transmitted from the controller occurred.
(4) The servo amplifier of the next axis is malfunctioning.
(5) Something near the device caused it.
Check if [AL. 74 Option card error 1] occurred with alarm history.
Disconnect the cables except for the control circuit power supply, and then check the repeatability.
Check if the alarm occurs when you connect the amplifier to the controller.
Check if the servo amplifier of the next axis is malfunctioning.
Check the power supply for noise. Check if the connector is shorted.
Check it with the check method for [AL. 13.1].
It is occurring.
It did not occur. It is repeatable.
It is not repeatable.
It occurs. It does not occur. It is malfunctioning.
It is not malfunctioning. There is a problem in the surrounding.
Check it with the check method for [AL. 74]. Check (2). Replace the servo amplifier. Check (3).
Replace the controller. Check (4).
Replace the servo amplifier of the next axis. Check (5). Take countermeasures against its cause.
[RJ010]
[A] [B] [WB] [RJ010] [GF] [B] [WB]
[A] [B] [WB] [RJ010] [GF]
Alarm No.: 14 Alarm content
Detail No.
14.1
Detail name
Control process error 1
Name: Control process error
The process did not complete within the specified time. [RJ010]: MR-J3-T10 came off. [GF]: A part (communication IC) in the servo amplifier is failure.
Cause
Check method
Check result
(1) The MR-J3-T10 came off during the CC-Link IE communication.
(2) The parameter setting is incorrect.
(3) Something near the device caused it.
(4) 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.
It is occurring.
It did not occur. It is incorrect. It is correct. There is a problem in the surrounding. There is no problem in the surrounding. It is not repeatable.
Action
Check it with the check method for [AL. 74]. Check (2). Set it correctly. Check (3). Take countermeasures against its cause. Check (4).
Replace the servo amplifier.
Target
[RJ010]
[A] [B] [WB] [RJ010] [GF]
32
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.4 Remedies for alarms
Alarm No.: 14
Name: Control process error
Alarm content
The process did not complete within the specified time.
[RJ010]: MR-J3-T10 came off.
1
[GF]: A part (communication IC) in the servo amplifier is failure.
Detail Detail name Cause No.
Check method
Check result
Action
Target
14.2
Control process (1) The MR-J3-T10 came Check if [AL. 74 Option It is occurring.
error 2
off during the CC-Link card error 1] occurred
IE communication.
with alarm history.
It did not occur.
Check it with the check method for [AL. 74].
Check (2).
[RJ010]
(2) A synchronous signal Replace the controller, error transmitted from and then check the the controller occurred. repeatability.
It is repeatable. It is not repeatable.
Replace the servo amplifier.
Check (3).
[B] [WB]
(3) Adaptive tuning mode Check the setting of [Pr. It has been executed for Execute it for each axis. [WB]
or vibration suppression PB01] or [Pr. PB02].
multiple axes
control tuning mode has With the J3 extension
simultaneously.
been executed for multiple axes simultaneously.
function, Check the setting of [Pr. PB01], [Pr. PB02], or [Pr. PX03].
It has not been executed for multiple axes simultaneously.
Check (4).
(4) The parameter setting is incorrect.
(5) Something near the device caused it.
Check if the parameter setting is incorrect.
Check the power supply for noise. Check if the connector is shorted.
It is incorrect.
It is correct.
There is a problem in the surrounding.
There is no problem in the surrounding.
Set it correctly. Check (5). Take countermeasures against its cause. Check (6).
[A] [B] [WB] [RJ010] [GF]
(6) The servo amplifier is malfunctioning.
Replace the servo amplifier, and then check the repeatability.
It is not repeatable.
Replace the servo amplifier.
14.3
Control process Check it with the check method for [AL. 14.1].
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
14.B
Control process (1) error 11
The MR-J3-T10 came off during the CC-Link IE communication.
Check if [AL. 74 Option card error 1] occurred with alarm history.
It is occurring. It did not occur.
Check it with the check method for [AL. 74].
Check (2).
[RJ010]
(2) The parameter setting is incorrect.
Check if the parameter setting is incorrect.
It is incorrect. It is correct.
Set it correctly. Check (3).
[A] [B] [WB] [RJ010]
(3) Something near the device caused it.
(4) The servo amplifier is malfunctioning.
Check the power supply for noise. Check if the connector is shorted.
Replace the servo amplifier, and then check the repeatability.
It has a failure.
It has no failure. It is not repeatable.
Take countermeasures against its cause.
Check (4).
Replace the servo amplifier.
[A] [B] [WB] [RJ010] [GF]
14.C
Control process Check it with the check method for [AL. 14.B]. error 12
14.D
Control process error 13
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.4 Remedies for alarms
33
Alarm No.: 15 Alarm content
Detail No.
15.1
Detail name
EEP-ROM error at power on
15.2
EEP-ROM error
during
operation
15.4
Home position
information
read error
Name: Memory error 2 (EEP-ROM)
A part (EEP-ROM) in the servo amplifier is failure. [RJ010]: MR-J3-T10 came off.
Cause
Check method
Check result
(1) EEP-ROM is
Disconnect the cables
It is repeatable.
malfunctioning at power except for the control
on.
circuit power supply, and It is not repeatable.
then check the
repeatability.
(2) Something near the device caused it.
Check the power supply for noise. Check if the connector is shorted.
There is a problem in the surrounding.
There is no problem in the surrounding.
(3) The number of write times exceeded 100,000.
Check if parameters, point tables, or programs are changed very frequently.
It was changed.
(1) The MR-J3-T10 came off during the CC-Link IE communication.
Check if [AL. 74 Option card error 1] occurred with alarm history.
It is occurring. It did not occur.
(2) EEP-ROM is malfunctioning during normal operation.
Check if the error occurs when you change parameters during normal operation.
It occurs. It does not occur.
(3) A write error occurred Check if the alarm occurs It takes an hour or more.
while adjustment results after an hour from power
were processed.
on.
It takes less than an
hour.
(4) Something near the device caused it.
Check the power supply for noise. Check if the connector is shorted.
There is a problem in the surrounding.
(1) EEP-ROM is
Disconnect the cables
It is repeatable.
malfunctioning at power except for the control
on.
circuit power supply, and It is not repeatable.
then check the
repeatability.
(2) Multiple rotation data
Check if the home
saved as a home
position was set
position and read from correctly.
EEP-ROM were failure.
It has a failure. It has no failure.
(3) Something near the device caused it.
Check the power supply for noise. Check if the connector is shorted.
There is a problem in the surrounding.
There is no problem in the surrounding.
(4) The number of write times exceeded 100,000.
Check if parameters has been used very frequently.
It was changed.
Action
Replace the servo amplifier. Check (2).
Take countermeasures against its cause. Check (3).
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]. Check (2). Replace the servo amplifier. Check (3).
Replace the servo amplifier. Check (4).
Take countermeasures against its cause.
Replace the servo amplifier. Check (2).
Make home position setting again. Check (3).
Take countermeasures against its cause. Check (4).
Replace the servo amplifier. Change the process to use parameters less frequently after replacement.
Target
[A] [B] [WB] [RJ010] [GF]
[RJ010]
[A] [B] [WB] [RJ010] [GF]
[A] [GF]
34
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.4 Remedies for alarms
Alarm No.: 16
Name: Encoder initial communication error 1
Alarm content
Detail Detail name No.
An error occurred in the communication between an encoder and servo amplifier.
Cause
Check method
Check result
Action
1
Target
16.1
Encoder initial (1) An encoder cable is
communication
malfunctioning.
- Receive data
error 1
Check if the encoder cable is disconnected or shorted.
It has a failure. It has no failure.
Replace or repair the cable.
Check (2).
[A] [B] [WB] [RJ010] [GF]
(2) When you use a linear Check if the servo
The servo amplifier is not Use a servo amplifier
[A]
servo motor with an A/ amplifier (MR-J4-_-RJ) is compatible with it.
which is compatible with [B]
B/Z-phase differential compatible with the A/B/
it.
[GF]
output linear encoder, the servo amplifier is not compatible with the
Z-phase differential output linear encoder.
The servo amplifier is compatible with it.
Check (3).
linear encoder.
(3) When you use a linear Check if the wiring of the The wiring is incorrect.
servo motor with an A/ B/Z-phase differential
linear encoder is correct. The wiring is correct. (Check if it is wired to
output linear encoder, PSEL.)
the connection with the
linear encoder is
incorrect.
Wire it correctly. Check (4).
(4) The servo amplifier is malfunctioning.
(5) An encoder is malfunctioning.
Replace the servo amplifier, and then check the repeatability.
Replace the servo motor or linear encoder, and then check the repeatability.
It is not repeatable.
It is repeatable. It is not repeatable. It is repeatable.
Replace the servo amplifier. Check (5). Replace the servo motor. Check (6).
[A] [B] [WB] [RJ010] [GF]
(6) Something near the device caused it.
Check the noise, ambient temperature, vibration, etc.
There is a problem in the surrounding.
Take countermeasures against its cause.
16.2
Encoder initial Check it with the check method for [AL. 16.1].
communication
- Receive data
error 2
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.4 Remedies for alarms
35
Alarm No.: 16
Alarm content
Detail Detail name No.
16.3
Encoder initial
communication
- Receive data
error 3
16.4
Encoder initial
communication
- Encoder
malfunction
16.5
Encoder initial
communication
- Transmission
data error 1
16.6
Encoder initial
communication
- Transmission
data error 2
16.7
Encoder initial
communication
- Transmission
data error 3
Name: Encoder initial communication error 1
An error occurred in the communication between an encoder and servo amplifier.
Cause
Check method
Check result
Action
Target
(1) An axis not used is not Check the setting of the
set as disabled-axis.
disabling control axis
switches (SW2-2/SW2-3/
SW2-4).
(2) An encoder cable was disconnected.
Check if the encoder cable is connected correctly.
(3) The parameter setting of communication method is incorrect. [A]: [Pr. PC22] [B] [WB] [RJ010] [GF]: [Pr. PC04]
Check the parameter setting.
(4) In the parallel drive system, the setting of [Pr. PF40] is incorrect.
Check the parameter setting.
(5) An encoder cable is malfunctioning.
Check if the encoder cable is disconnected or shorted.
(6) When you use a linear Check if the wiring of the servo motor with an A/ linear encoder is correct. B/Z-phase differential (Check if it is wired to output linear encoder, PSEL.) the connection with the linear encoder is incorrect.
(7) The voltage of the control circuit power supply has been unstable.
Check the voltage of the control circuit power supply.
(8) The servo amplifier is malfunctioning.
Replace the servo amplifier, and then check the repeatability.
(9) An encoder is malfunctioning.
Replace the servo motor, and then check the repeatability.
(10) Something near the device caused it.
Check the noise, ambient temperature, vibration, etc.
(1) An encoder is malfunctioning.
Replace the servo motor, and then check the repeatability.
(2) Something near the device caused it.
Check the noise, ambient temperature, vibration, etc.
Check it with the check method for [AL. 16.1].
It is not set as disabledaxis. It is set as disabled-axis. It is not connected. It is connected. The setting is incorrect. The setting is correct.
The setting is incorrect. The setting is correct. It has a failure.
It has no failure.
The wiring is incorrect. The wiring is correct.
An instantaneous power failure is occurring at the control circuit power supply. It has no failure. It is not repeatable.
It is repeatable. It is not repeatable. It is repeatable. There is a problem in the surrounding.
It is not repeatable. It is repeatable. There is a problem in the surrounding.
Set it as disabled-axis. [WB]
Check (2).
Connect it correctly. Check (3).
Set it correctly. Check (4).
[A] [B] [WB] [RJ010] [GF]
Set it correctly. Check (5).
Replace or repair the cable. Check (6).
Wire it correctly. Check (7).
[B]
[A] [B] [WB] [RJ010] [GF] [A] [B] [GF]
Review the power and related parts.
Check (8).
[A] [B] [WB] [RJ010] [GF]
Replace the servo amplifier.
Check (9).
Replace the servo motor.
Check (10).
Take countermeasures against its cause.
Replace the servo motor. [B]
Check (2).
[WB]
Take countermeasures against its cause.
36
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.4 Remedies for alarms
Alarm No.: 16
Name: Encoder initial communication error 1
Alarm content
Detail Detail name No.
An error occurred in the communication between an encoder and servo amplifier.
Cause
Check method
Check result
Action
Target
1
16.8
Encoder initial (1) A servo motor or linear Check the model of the It is not compatible with Replace it with a
communication
encoder, which is not
servo motor/linear
the servo amplifier.
compatible one.
- Incompatible encoder
compatible with the servo amplifier, was connected.
encoder.
It is compatible with the servo amplifier.
Check (2).
[B] [WB]
(2) The software version of Check if the software the servo amplifier does version supports the not support the servo servo motor/linear motor or linear encoder. encoder.
It is not compatible.
Replace the servo amplifier to one which software version supports the servo motor/linear encoder.
It is compatible.
Check (3).
(3) An encoder is malfunctioning.
Replace the servo motor or linear encoder, and then check the repeatability.
It is not repeatable. It is repeatable.
Replace the servo motor or linear encoder.
Replace the servo amplifier.
16.A
Encoder initial (1) The servo amplifier is
communication
malfunctioning.
- Process error
1 (2) An encoder is
malfunctioning.
Replace the servo amplifier, and then check the repeatability.
Replace the servo motor, and then check the repeatability.
It is not repeatable.
It is repeatable. It is not repeatable. It is repeatable.
Replace the servo amplifier. Check (2). Replace the servo motor. Check (3).
[A] [B] [WB] [RJ010] [GF]
(3) Something near the device caused it.
Check the noise, ambient temperature, vibration, etc.
There is a problem in the surrounding.
Take countermeasures against its cause.
16.B
Encoder initial communication - Process error 2
Check it with the check method for [AL. 16.A].
16.C
Encoder initial communication - Process error 3
16.D
Encoder initial communication - Process error 4
16.E
Encoder initial communication - Process error 5
16.F
Encoder initial communication - Process error 6
Alarm No.: 17
Alarm content
Detail Detail name No.
17.1
Board error 1
17.3
Board error 2
Name: Board error
A part in the servo amplifier is malfunctioning.
Cause
Check method
Check result
Action
(1) A current detection
Check if the alarm occurs
circuit is malfunctioning. during the servo-on
status.
(2) Something near the device caused it.
Check the noise, ambient temperature, etc.
Check it with the check method for [AL. 17.1].
It occurs.
It does not occur. There is a problem in the surrounding.
Replace the servo amplifier.
Check (2).
Take countermeasures against its cause.
Target
[A] [B] [WB] [RJ010] [GF]
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.4 Remedies for alarms
37
Alarm No.: 17
Alarm content
Detail Detail name No.
17.4
Board error 3
17.5
Board error 4
17.6
Board error 5
17.7
Board error 7
17.8
Board error 6
17.9
Board error 8
Name: Board error
A part in the servo amplifier is malfunctioning.
Cause
Check method
Check result
Action
(1) The servo amplifier recognition signal was not read properly.
Disconnect the cables except for the control circuit power supply, and then check the repeatability.
(2) Something near the device caused it.
Check the noise, ambient temperature, etc.
(1) The setting value of the Disconnect the cables
axis selection rotary
except for the control
switch (SW1) was not circuit power supply, and
read properly.
then check the
repeatability.
(2) Something near the device caused it.
Check the noise, ambient temperature, etc.
(1) The setting value of the Disconnect the cables
control axis setting
except for the control
switch (SW2) was not circuit power supply, and
read properly.
then check the
repeatability.
(2) Something near the device caused it.
Check the noise, ambient temperature, etc.
Check it with the check method for [AL. 17.4].
(1) Inrush current suppressor circuit is malfunctioning.
Replace the servo amplifier, and then check the repeatability.
(1) Something near the device caused it.
Check the noise, ambient temperature, etc.
(2) The servo amplifier is malfunctioning.
Replace the servo amplifier, and then check the repeatability.
It is repeatable.
It is not repeatable.
There is a problem in the surrounding. It is repeatable.
It is not repeatable.
There is a problem in the surrounding. It is repeatable.
It is not repeatable.
There is a problem in the surrounding.
It is not repeatable.
There is a problem in the surrounding. There is no problem in the surrounding. It is not repeatable.
Replace the servo amplifier. Check (2).
Take countermeasures against its cause. Replace the servo amplifier. Check (2).
Take countermeasures against its cause. Replace the servo amplifier. Check (2).
Take countermeasures against its cause.
Replace the servo amplifier.
Take countermeasures against its cause. Check (2).
Replace the servo amplifier.
Target
[A] [B] [WB] [RJ010] [GF]
[B] [WB]
[B] [WB]
[B] [WB] [GF]
Alarm No.: 19
Alarm content
Detail Detail name No.
19.1
Flash-ROM
error 1
19.2
Flash-ROM
error 2
19.3
Flash-ROM
error 3
Name: Memory error 3 (Flash-ROM)
A part (Flash-ROM) in the servo amplifier is failure.
Cause
Check method
Check result
Action
(1) The Flash-ROM is malfunctioning.
Disconnect the cables except for the control circuit power supply, and then check the repeatability.
(2) Something near the device caused it.
Check the noise, ambient temperature, etc.
Check it with the check method for [AL. 19.1].
It is repeatable. It is not repeatable.
There is a problem in the surrounding.
Replace the servo amplifier. Check (2).
Take countermeasures against its cause.
Target
[A] [B] [WB] [RJ010] [GF]
38
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.4 Remedies for alarms
Alarm No.: 1A
Alarm content
Detail Detail name No.
Name: Servo motor combination error
The combination of servo amplifier and servo motor is incorrect.
Cause
Check method
Check result
Action
1
Target
1A.1
Servo motor combination error 1
(1) The servo amplifier and Check the model name
the servo motor was
of the servo motor and
connected incorrectly. corresponding servo
amplifier.
The combination is incorrect.
The combination is correct.
Use them in the correct combination.
Check (2).
[A] [B] [WB] [RJ010] [GF]
(2) The setting of [Pr. PA01] Check the [Pr. PA01]
The combination is
is not corresponding to setting.
incorrect.
the connected servo
Rotary servo motor: "_ _
motor.
0 _"
Linear servo motor: "_ _ 4 _" Direct drive motor: "_ _ 6
The combination is correct.
_"
Set [Pr. PA01] correctly. When using a linear servo motor, also check (3).
Check (4).
[A] [B] [WB] [GF]
(3) [Pr. PA17] and [Pr.
Check if [Pr. PA17] and
PA18] were not set
[Pr. PA18] are set
according to the linear correctly.
servo motor to be used.
It is not set correctly.
Set them correctly according to the linear servo motor to be used.
(4) The software version of Check if the software
the servo amplifier does version of the servo
not support the TM-
amplifier supports the
RG2M/TM-RU2M
TM-RG2M/TM-RU2M
series direct drive
series.
motor.
It is C7 or earlier. It is C8 or later.
Replace the servo amplifier with a one whose software version supports the TM-RG2M/ TM-RU2M series.
Check (5).
(5) An encoder is malfunctioning.
Replace the servo motor, and then check the repeatability.
It is not repeatable.
Replace the servo motor.
[A] [B] [WB] [RJ010] [GF]
1A.2
Servo motor control mode combination error
(1) The setting of [Pr. PA01] Check the [Pr. PA01]
The combination is
is not corresponding to setting.
incorrect.
the connected servo
Rotary servo motor: "_ _
motor.
0 _"
Linear servo motor: "_ _
4 _"
Direct drive motor: "_ _ 6
_"
Set [Pr. PA01] correctly.
[A] [B] [WB] [GF]
(2) When the fully closed loop control mode is selected, encoders of the servo motor side and the machine side are connected reversely.
Check the connection destination of the encoder.
The connection destination of the encoder is incorrect.
Connect it correctly.
1A.4
Servo motor combination error 2
(1) The servo amplifier is malfunctioning.
Replace the servo amplifier, and then check the repeatability.
It is not repeatable.
Replace the servo amplifier.
Alarm No.: 1B
Alarm content
Detail Detail name No.
1B.1
Converter unit error
Name: Converter alarm
An alarm occurred in the converter unit during the servo-on.
Cause
Check method
Check result
Action
Target
(1) The protection
Check the protection
coordination cable is
coordination cable
not correctly connected. connection.
It is not connected. It is connected.
Connect it correctly.
[A]
Check (2).
[B]
(2) An alarm occurred in the converter unit during the servo-on.
Check the alarm of the converter unit, and take the action following the remedies for alarms of the converter unit.
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.4 Remedies for alarms
39
Alarm No.: 1E
Alarm content
Detail Detail name No.
1E.1
Encoder malfunction
1E.2
Load-side encoder malfunction
Name: Encoder initial communication error 2
An encoder is malfunctioning.
Cause
Check method
Check result
Action
Target
(1) An encoder is malfunctioning.
(2) Something near the device caused it.
(1) A load-side encoder is malfunctioning.
(2) Something near the device caused it.
Replace the servo motor, and then check the repeatability.
Check the noise, ambient temperature, vibration, etc.
Replace the load-side encoder, and then check the repeatability.
Check the noise, ambient temperature, vibration, etc.
It is not repeatable. It is repeatable.
There is a problem in the surrounding.
It is not repeatable.
It is repeatable. There is a problem in the surrounding.
Replace the servo motor. Check (2).
Take countermeasures against its cause.
Replace the load-side encoder. Check (2). Take countermeasures against its cause.
[A] [B] [WB] [RJ010] [GF]
[A] [B] [WB] [GF]
Alarm No.: 1F
Alarm content
Detail Detail name No.
1F.1
Incompatible
encoder
1F.2
Incompatible
load-side
encoder
Name: Encoder initial communication error 3
The connected encoder is not compatible with the servo amplifier.
Cause
Check method
Check result
(1) A servo motor or linear Check the model of the
encoder, which is not
servo motor/linear
compatible with the
encoder.
servo amplifier, was
connected.
(2) The software version of Check if the software the servo amplifier does version supports the not support the servo servo motor/linear motor or linear encoder. encoder.
It is not compatible with the servo amplifier. It is compatible with the servo amplifier.
It is not compatible.
(3) An encoder is malfunctioning.
Replace the servo motor or linear encoder, and then check the repeatability.
It is compatible. It is not repeatable.
It is repeatable.
(1) A load-side encoder,
Check the model of the
which is not compatible load-side encoder.
with the servo amplifier,
was connected.
(2) The software version of Check if the software
the servo amplifier does version of the servo
not support the load-
amplifier supports the
side encoder.
load-side encoder.
It is not compatible with the servo amplifier.
It is compatible with the servo amplifier. It is not compatible.
(3) A load-side encoder is malfunctioning.
Replace the load-side encoder, and then check the repeatability.
It is compatible. It is not repeatable.
It is repeatable.
Action
Target
Replace it with a compatible one. Check (2).
Replace the servo amplifier to one which software version supports the servo motor/linear encoder. Check (3). Replace the servo motor or linear encoder. Replace the servo amplifier. Use a load-side encoder which is compatible with the servo amplifier. Check (2).
[A] [B] [WB] [RJ010] [GF]
[A] [B] [WB] [GF]
Replace the servo amplifier to one which software version supports the load-side encoder.
Check (3).
Replace the load-side encoder.
Replace the servo amplifier.
40
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.4 Remedies for alarms
Alarm No.: 20
Alarm content
Detail Detail name No.
Name: Encoder normal communication error 1
An error occurred in the communication between an encoder and servo amplifier.
Cause
Check method
Check result
Action
1
Target
20.1
Encoder normal (1) An encoder cable is
communication
malfunctioning.
- Receive data
error 1
Check if the encoder cable is disconnected or shorted. When you use an A/B/Z-phase differential output linear encoder, check the wiring of the linear encoder.
It has a failure. It has no failure.
Repair or replace the cable.
Check (2).
[A] [B] [WB] [RJ010] [GF]
(2) The external conductor Check if it is connected. It is not connected.
of the encoder cable is not connected to the
It is connected.
ground plate of the
connector.
Connect it correctly. Check (3).
(3) The parameter setting of communication method is incorrect. [A]: [Pr. PC22] [B] [WB] [RJ010] [GF]: [Pr. PC04]
Check the parameter setting.
The setting is incorrect. The setting is correct.
Set it correctly. Check (4).
(4) In the parallel drive system, the setting of [Pr. PF40] is incorrect.
Check the parameter setting.
The setting is incorrect. The setting is correct.
Set it correctly. Check (5).
(5) The servo amplifier is malfunctioning.
Replace the servo amplifier, and then check the repeatability.
It is not repeatable. It is repeatable.
Replace the servo amplifier.
Check (6).
(6) An encoder is malfunctioning.
Replace the servo motor or linear encoder, and then check the repeatability.
It is not repeatable. It is repeatable.
Replace the servo motor or linear encoder.
Check (7).
(7) Something near the device caused it.
Check the noise, ambient temperature, vibration, etc.
There is a problem in the surrounding.
Take countermeasures against its cause.
20.2
Encoder normal Check it with the check method for [AL. 20.1].
communication
- Receive data
error 2
20.3
Encoder normal
communication
- Receive data
error 3
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.4 Remedies for alarms
41
Alarm No.: 20
Alarm content
Detail Detail name No.
20.5
Encoder normal
communication
- Transmission
data error 1
20.6
Encoder normal
communication
- Transmission
data error 2
20.7 20.9 20.A
Encoder normal communication - Transmission data error 3
Encoder normal communication - Receive data error 4
Encoder normal communication - Receive data error 5
Name: Encoder normal communication error 1
An error occurred in the communication between an encoder and servo amplifier.
Cause
Check method
Check result
Action
(1) When you use an A/B/ Check if the A/B-phase It is disconnected or
Z-phase differential
pulse signals (PA, PAR, shorted.
output linear encoder, the wiring of the linear encoder is incorrect.
PB, and PBR) of the encoder cable are disconnected or shorted.
It is not disconnected or shorted.
(2) An encoder cable is malfunctioning.
Check it with the check method for [AL. 20.1].
(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.
(1) When you use an A/B/ Check if the Z-phase
It is disconnected or
Z-phase differential
pulse signals (PZ/PZR) shorted.
output linear encoder, the wiring of the linear encoder is incorrect.
of the encoder cable are It is not disconnected or disconnected or shorted. shorted.
(2) An encoder cable is malfunctioning.
Check it with the check method for [AL. 20.1].
(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.
Check it with the check method for [AL. 20.1].
Repair the encoder cable. Check (2).
Repair the encoder cable. Check (2).
Target
[A] [B] [GF]
[A] [B] [WB] [RJ010] [GF]
[A] [B] [GF]
[A] [B] [WB] [RJ010] [GF]
42
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.4 Remedies for alarms
Alarm No.: 21
Alarm content
Detail Detail name No.
Name: Encoder normal communication error 2
The encoder detected an error signal.
Cause
Check method
Check result
Action
1
Target
21.1
Encoder data (1) The encoder detected a Decrease the loop gain, It is not repeatable.
error 1
high speed/
and then check the
acceleration rate due to repeatability. an oscillation or other
It is repeatable.
factors.
Use the encoder with low loop gain.
Check (2).
[A] [B] [WB] [RJ010] [GF]
(2) The external conductor Check if it is connected. It is not connected.
of the encoder cable is not connected to the
It is connected.
ground plate of the
connector.
Connect it correctly. Check (3).
(3) An encoder is malfunctioning.
Replace the servo motor, and then check the repeatability.
It is not repeatable. It is repeatable.
Replace the servo motor. Check (4).
(4) Something near the device caused it.
Check the noise, ambient temperature, vibration, etc.
There is a problem in the surrounding.
Take countermeasures against its cause.
21.2
Encoder data (1) An encoder is
update error
malfunctioning.
Replace the servo motor, and then check the repeatability.
It is not repeatable. It is repeatable.
(2) The external conductor Check if it is connected. It is not connected.
of the encoder cable is not connected to the
It is connected.
ground plate of the
connector.
Replace the servo motor. Check (2).
Connect it correctly. Check (3).
[A] [B] [WB] [RJ010] [GF]
(3) Something near the device caused it.
Check the noise, ambient There is a problem in the Take countermeasures
temperature, etc.
surrounding.
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.
signal error
has not been inputted. cable is wired correctly. It has no failure.
(2) The external conductor Check if it is connected. It is not connected.
of the encoder cable is not connected to the
It is connected.
ground plate of the
connector.
Review the wiring. Check (2). Connect it correctly. Check (3).
[A] [B] [WB] [GF]
(3) Something near the device caused it.
Check the noise, ambient There is a problem in the Take countermeasures
temperature, etc.
surrounding.
against its cause.
21.5
Encoder
Check it with the check method for [AL. 21.2].
hardware error
1
21.6
Encoder
hardware error
2
21.9
Encoder data Check it with the check method for [AL. 21.1].
error 2
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.4 Remedies for alarms
43
Alarm No.: 24 Alarm content
Detail No.
24.1
Detail name
Ground fault detected by hardware detection circuit
24.2
Ground fault
detected by
software
detection
function
Name: Main circuit error
A ground fault occurred on the servo motor power lines. A ground fault occurred at the servo motor. Power supply voltage for inverter circuit control is low. (Only for MR-J4W2-0303B6)
Cause
Check method
Check result
Action
(1) The servo amplifier is malfunctioning.
Disconnect the servo motor power cables (U/V/ W) and check if the alarm occurs.
It occurs. It does not occur.
Replace the servo amplifier.
Check (2).
(2) A ground fault or short occurred at the servo motor power cable.
Check if only the servo motor power cable is shorted.
It is shorted. It is not shorted.
Replace the servo motor power cable.
Check (3).
(3) A ground fault occurred Disconnect the servo
at the servo motor.
motor power cables on
motor side, and check
insulation of the motor
(between U/V/W/ ).
It is shorted. It is not shorted.
Replace the servo motor. Check (4).
(4) The main circuit power Shut off the power, and They are in contact.
Correct the wiring.
supply cable and servo check if the main circuit motor power cable were power supply cable and
They are not in contact.
Check (5).
shorted.
servo motor power cable
are in contact.
(5) The wiring of the
Check if the wiring of the The wiring is incorrect.
regenerative resistor
regenerative resistor
(regenerative option) is (regenerative option) is
The wiring is correct.
incorrect.
incorrect.
Wire it correctly. Check (6).
(6) The regenerative
Check if the combination The combination is
resistor (regenerative of the regenerative
incorrect.
option) and the servo amplifier are connected in a wrong combination.
resistor (regenerative option) and the servo amplifier is correct as
The combination is correct.
specified.
Use them in a correct combination.
Check (7).
(7) Something near the device caused it.
Check the noise, ambient There is a problem in the Take countermeasures
temperature, etc.
surrounding.
against its cause.
(1) For MR-J4W2-0303B6, Check the control circuit The control circuit power Input the servo-on
the servo-on command power supply voltage
supply voltage was
command after the
was inputted when the when the servo-on
below 20 V.
control circuit power
control circuit power
command was inputted.
supply voltage reaches
supply voltage was
20 V or higher.
below 20 V.
The control circuit power Check (2).
supply voltage was 20 V
or higher.
(2) The servo amplifier is malfunctioning.
Disconnect the servo motor power cable (U/V/ W), and check if the alarm occurs.
It occurs. It does not occur.
Replace the servo amplifier.
Check (3).
(3) A ground fault or short occurred at the servo motor power cable.
Check if only the servo motor power cable is shorted.
It is shorted. It is not shorted.
Replace the servo motor power cable.
Check (4).
(4) A ground fault occurred Disconnect the servo
at the servo motor.
motor power cables on
motor side, and check
insulation between
phases (U/V/W/ ).
It is shorted. It is not shorted.
Replace the servo motor. Check (5).
(5) The main circuit power Shut off the power, and They are in contact.
Correct the wiring.
supply cable and servo check if the main circuit motor power cable were power supply cable and
They are not in contact.
Check (6).
shorted.
servo motor power cable
are in contact.
(6) Something near the device caused it.
Check the noise, ambient There is a problem in the Take countermeasures
temperature, etc.
surrounding.
against its cause.
Target
[A] [B] [WB] [RJ010] [GF]
[WB]
[A] [B] [WB] [RJ010] [GF]
44
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.4 Remedies for alarms
Alarm No.: 25 Alarm content
Name: Absolute position erased
The absolute position data is faulty.
1
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
switched on for the first time.
Detail Detail name Cause No.
Check method
Check result
Action
Target
25.1
Servo motor
(1) Power was switched on Check if this is the first This is the first time.
Check that the battery is [A]
encoder -
for the first time in the time you switched on the
mounted correctly, and [B]
Absolute
absolute position
power in the absolute
make home position
[WB]
position erased
detection system.
position detection
return.
[RJ010]
system.
This is not the first time. Check (2).
[GF]
(2) 1) When an MR-
Check if the battery was It was removed.
BAT6V1SET(-A)
removed in this way
battery or MR-
when the control circuit
BT6VCASE battery power supply was off.
case was used,
CN4 of the servo
amplifier was
disconnected during
control circuit power
supply off.
2) When an MR-
BAT6V1BJ battery
for junction battery cable was used,
It was not removed.
both CN4 of the
servo amplifier and
MR-BAT6V1BJ
battery for junction
battery cable were
disconnected from
the MR-
BT6VCBL03M
junction battery
cable.
Check that the battery is mounted correctly, and make home position return.
Check (3).
(3) 1) When an MR-
Check if the power was
BAT6V1SET(-A)
turned off in this state.
battery or MR-
BT6VCASE battery
case was used, the
power was turned
off with the battery
disconnected from
CN4.
2) 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.
It was turned off. It was not turned off.
Check that the battery is mounted correctly, and make home position return.
MR-BAT6V1BJ battery for junction battery cable: Refer to (4). MR-BAT6V1SET(-A) battery or MRBT6VCASE battery case: Refer to (6).
(4) The encoder cable was Check if the encoder
It was disconnected.
disconnected with the cable was disconnected
MR-BAT6V1BJ battery in this state.
disconnected from MR-
BT6VCBL03M junction
battery cable.
Check that the MRBAT6V1BJ battery is connected to CN4 and MR-BT6VCBL03M junction battery cable, and execute a home position return.
[A] [B] [RJ010] [GF]
It was not disconnected. Check (5).
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.4 Remedies for alarms
45
Alarm No.: 25 Alarm content
Detail No.
25.1
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 switched on for the first time.
Cause
Check method
Check result
Action
Target
(5) The MR-BT6VCBL03M Check if the MR-
It is not connected.
junction battery cable is BT6VCBL03M junction
not connected to the
battery cable is
encoder cable.
connected to the encoder
cable.
It is connected.
(6) The battery voltage is low. The battery is consumed.
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.
It is less than 3 V DC. It is 3 V DC or more.
(7) The voltage has
Check if a recommended It is not used.
dropped greatly in the cable is used for the
encoder cable wired to encoder cable.
the battery.
It is used.
(8) A battery cable is malfunctioning.
Check for the loose
It has a failure.
connection with a tester.
(9) There is a loose connection of the encoder cable on the servo motor side.
(10) The absolute position storage unit was not connected for using a direct drive motor.
(11) There is a problem with the encoder cable.
(12) The servo amplifier is malfunctioning.
(13) An encoder is malfunctioning.
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.
Check if the encoder cable has been disconnected or has shorted. Replace the servo amplifier, and then check the repeatability.
Replace the servo motor, and then check the repeatability.
It has no failure. It has a failure.
It has no failure. It is not connected.
It is connected. There is a problem. There is no problem.
It is not repeatable.
It is repeatable. It is not repeatable.
Connect the MRBT6VCBL03M junction battery cable to the encoder cable, then perform home position return.
Check (6).
Replace the battery, then perform home position return.
Check (7).
[A] [B] [RJ010] [GF]
[A] [B] [WB] [RJ010] [GF]
Use a recommended cable, then perform home position return.
Check (8).
Replace the battery cable, then perform home position return.
Check (9).
Repair or replace the encoder cable, then perform home position return.
Check (10).
Connect the absolute position storage unit correctly, then perform home position return.
[A] [B] [WB] [GF]
Check (11).
Replace or repair the cable, then perform home position return.
Replace the servo amplifier, then perform home position return.
[A] [B] [WB] [RJ010] [GF]
Check (13).
Replace the servo motor.
46
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.4 Remedies for alarms
Alarm No.: 25
Name: Absolute position erased
Alarm content
The absolute position data is faulty.
Power was switched on for the first time in the absolute position detection system.
1
After the scale measurement encoder was set to the absolute position detection system, the power was
switched on for the first time.
Detail Detail name Cause No.
Check method
Check result
Action
Target
25.2
Scale
(1) After the scale
Check if this is the first This is the first time.
Check that the battery is [B]
measurement
measurement encoder time to switch on the
mounted correctly, and [WB]
encoder -
was set to the absolute power after the scale
make home position
[GF]
Absolute
position detection
measurement encoder
return.
position erased
system, the power was was set to the absolute switched on for the first position detection
This is not the first time. Check (2).
time.
system.
(2) The battery was
Check if the battery was It was removed.
removed (replaced)
removed when the
when the control circuit control circuit power
power supply was off. supply was off.
Check that the battery is mounted correctly, and make home position return.
It was not removed.
Check (3).
(3) The power was turned Check if the power was
off with the battery
turned off in this state.
disconnected from CN4.
It was turned off.
Check that the battery is mounted correctly, and make home position return.
It was not turned off.
Check (4).
(4) The battery voltage is low. The battery is consumed.
Check the battery voltage with a tester.
It is less than 3 V DC. It is 3 V DC or more.
Replace the battery. Check (5).
(5) The voltage has
Check if a recommended It is not used.
dropped greatly in the cable is used for the
encoder cable wired to the battery.
encoder cable.
It is used.
Use a recommended wire.
Check (6).
(6) A battery cable is malfunctioning.
Check for the loose
It has a failure.
connection with a tester.
Replace the battery cable.
It has no failure.
Check (7).
(7) There is a loose connection of the encoder cable on the scale measurement encoder side.
Check for the loose connection with a tester. Measure the voltage on the scale measurement encoder side.
It has a failure. It has no failure.
Repair or replace the encoder cable.
Check (8).
(8) The servo amplifier is malfunctioning.
Replace the servo amplifier, and then check the repeatability.
It is not repeatable. It is repeatable.
Replace the servo amplifier.
Check (9).
(9) The scale measurement Replace the scale
encoder is
measurement encoder,
malfunctioning.
and then check the
repeatability.
It is not repeatable.
Replace the scale measurement encoder.
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.4 Remedies for alarms
47
Alarm No.: 27
Alarm content
Detail Detail name No.
27.1
Initial magnetic
pole detection -
Abnormal
termination
27.2
Initial magnetic
pole detection -
Time out error
Name: Initial magnetic pole detection error
The initial magnetic pole detection was not completed properly.
Cause
Check method
Check result
(1) A moving part collided against the machine.
Check if it collided.
It collided.
It did not collided.
(2) The wiring of the servo Check if the wiring of the It has a failure.
motor power cable is incorrect.
servo motor power cable It has no failure. is correct.
(3) The linear encoder
Check the setting of [Pr. The setting is incorrect.
resolution setting differs PL02] and [Pr. PL03]. from the setting value.
The setting is correct.
(4) The direction of
Check polarities of the
mounting linear encoder linear encoder and the
is incorrect.
linear servo motor.
The mounting direction is incorrect.
The mounting direction is correct.
(5) An excitation level of
Check if the travel
It is too short.
the magnetic pole
distance during the
detection voltage level magnetic pole detection
is small.
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).
The travel distance is too long or a vibration is occurring.
(1) Servo-on was enabled Check if servo-on was
Servo-on was enabled
when the primary side enabled when the motor when the motor did not
of linear servo motor or did not stop.
stop.
rotor of direct drive
motor did not stop.
Servo-on was enabled
when the motor stopped.
(2) Only one of the limit switches is on during magnetic pole detection.
Check the limit switches. It has a failure.
It has no failure.
(3) The magnetic pole
Check if the travel
It is too short.
detection voltage level distance during the
is small.
magnetic pole detection
is too short (for a position
detection method).
Action
Move the start position of the magnetic pole detection. Check (2). Correct the wiring. Check (3).
Set it correctly. Check (4).
Mount it correctly. Review the "encoder pulse count polarity selection" setting of the parameter as required. [A]: [Pr. PC45] [B] [WB] [GF]: [Pr. PC27] Check (5).
Increase it with the [Pr. PL09] setting.
Review the [Pr. PL17] setting.
Stop the linear servo motor and the direct drive motor, and enable servo-on again. Check (2).
Remove the cause. Move the start position of the magnetic pole detection. Check (3). Increase it with the [Pr. PL09] setting.
Target
[A] [B] [WB] [GF]
48
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.4 Remedies for alarms
Alarm No.: 27
Name: Initial magnetic pole detection error
Alarm content
Detail Detail name No.
The initial magnetic pole detection was not completed properly.
Cause
Check method
Check result
Action
Target
1
27.3
Initial magnetic (1) Both of the limit
Check the limit switches. Both of them are off.
pole detection -
switches are off during
Limit switch
the magnetic pole
error
detection.
Turn on the limit switches. When using a direct drive motor, also check (2).
[A] [B] [WB] [GF]
(2) When using a direct
Check the [Pr. PL08]
drive motor in a system setting.
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
[GF]: LSP and LSN
(FLS and RLS from the
controller)
The [Pr. PL08] setting is Set the [Pr. PL08] setting
"_ 0 _ _".
to "_ 1 _ _".
27.4
Initial magnetic Check it with the check method for [AL. 27.1].
pole detection -
Estimated error
27.5
Initial magnetic
pole detection -
Speed deviation
error
27.6
Initial magnetic
pole detection -
Position
deviation error
27.7
Initial magnetic
pole detection -
Current error
Alarm No.: 28
Alarm content
Detail Detail name No.
28.1
Linear encoder
- Environment
error
Name: Linear encoder error 2
Working environment of linear encoder is not normal.
Cause
Check method
Check result
Action
(1) The ambient
Check the ambient
It is out of specifications. Lower the temperature.
temperature of the
temperature of the linear
Contact the linear
linear encoder is out of encoder.
encoder manufacturer.
specifications.
It is within specifications. Check (2).
(2) The signal level of the linear encoder has dropped.
Check the mounting condition of the linear encoder.
It has a failure.
Correct the mounting method of the linear encoder.
Target
[A] [B] [WB] [GF]
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.4 Remedies for alarms
49
Alarm No.: 2A Alarm content
Detail No.
2A.1
Detail name
Linear encoder error 1-1
2A.2 2A.3 2A.4 2A.5 2A.6 2A.7 2A.8
Linear encoder error 1-2
Linear encoder error 1-3
Linear encoder error 1-4
Linear encoder error 1-5
Linear encoder error 1-6
Linear encoder error 1-7
Linear encoder error 1-8
Name: Linear encoder error 1
An error of the linear encoder was detected. (The details vary depending on the linear encoder manufacturer.)
Cause
Check method
Check result
Action
Target
(1) Mounting condition of Adjust the positions of
the linear encoder and the scale and head, and
head is failure.
then check the
repeatability.
(2) The external conductor Check if it is connected. of the encoder cable is not connected to the ground plate of the connector.
(3) Something near the device caused it.
Check the noise, ambient temperature, vibration, etc.
(4) An alarm of the linear Check the content of the encoder was detected. alarm detail list of the Linear Encoder Instruction Manual.
Check it with the check method for [AL. 2A.1].
It is not repeatable.
It is repeatable.
It is not connected. It is connected.
There is a problem in the surrounding. There is no problem in the surrounding. Remove its cause described in the instruction manual.
Use the equipment at the adjusted position. Check (2).
Connect it correctly. Check (3).
Take countermeasures against its cause. Check (4).
Contact each encoder manufacturer for how to deal with it.
[A] [B] [WB] [GF]
Alarm No.: 2B
Alarm content
Detail Detail name No.
2B.1
Encoder counter error 1
2B.2
Encoder counter error 2
Name: Encoder counter error
Data which encoder created is failure.
Cause
Check method
Check result
Action
(1) An encoder cable is malfunctioning.
Check if the encoder cable is disconnected or shorted.
It has a failure. It has no failure.
Repair or replace the cable.
Check (2).
(2) The external conductor Check if it is connected. It is not connected.
of the encoder cable is not connected to the
It is connected.
ground plate of the
connector.
Connect it correctly. Check (3).
(3) Something near the device caused it.
Check the noise, ambient temperature, vibration, etc.
There is a problem in the surrounding.
There is no problem in the surrounding.
Take countermeasures against its cause.
Check (4).
(4) An encoder is malfunctioning.
Replace the direct drive motor, and then check the repeatability.
It is not repeatable.
Replace the direct drive motor.
(1) The connection of the Check the U/V/W wiring. The wiring is incorrect.
servo motor is incorrect.
The wiring is correct.
Connect it correctly. Check (2).
(2) Check it with the check method for [AL. 2B.1].
Target
[A] [B] [WB] [GF]
50
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.4 Remedies for alarms
Alarm No.: 30
Name: Regenerative error
Alarm content
Permissible regenerative power of the built-in regenerative resistor or regenerative option is exceeded. A regenerative transistor in the servo amplifier is malfunctioning.
1
Detail Detail name Cause No.
Check method
Check result
Action
Target
30.1
Regeneration (1) The setting of the
Check the regenerative The setting value is
heat error
regenerative resistor
resistor (regenerative
incorrect.
(regenerative option) is option) and [Pr. PA02]
incorrect.
setting.
It is set correctly.
Set it correctly. Check (2).
(2) The regenerative resistor (regenerative option) is not connected.
Check if the regenerative resistor (regenerative option) is connected correctly.
It is not connected correctly.
It is connected correctly.
Connect it correctly. Check (3).
[A] [B] [WB] [RJ010] [GF]
(3) The combination of regenerative resistor (regenerative option) and servo amplifier is incorrect.
Check if the regenerative resistor (regenerative option) and the servo amplifier are connected in the specified combination.
The combination is incorrect.
The combination is correct.
Use them in the correct combination.
Check (4).
(4) The power supply voltage is high.
Check if the voltage of the input power supply 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
It is higher than the prescribed value.
It is at the prescribed value or lower.
Reduce the power supply voltage.
Check (5).
(5) The regenerative load ratio exceeded 100%.
Check the regenerative load ratio when alarm occurs.
It is 100% or more.
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. If the actions above do not solve the problem, replace the servo amplifier.
30.2
Regeneration (1) A detection circuit of the Check if the regenerative It is overheating
signal error
servo amplifier is
resistor (regenerative
abnormally.
malfunctioning.
option) is overheating.
Replace the servo amplifier.
30.3
Regeneration (1) A detection circuit of the Remove the regenerative The alarm occurs.
feedback signal
servo amplifier is
option or built-in
error
malfunctioning.
regenerative resistor,
and then check if the
alarm occurs at power
on.
The alarm does not
For MR-J4-03A6(-RJ)
occur.
and MR-J4W2-0303B,
check if the alarm occurs
at power on.
Replace the servo amplifier.
Check (2).
(2) Something near the device caused it.
Check the noise, ground fault, ambient temperature, etc.
There is a problem in the surrounding.
Take countermeasures against its cause.
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.4 Remedies for alarms
51
Alarm No.: 31 Alarm content
Detail No.
31.1
Detail name
Abnormal motor speed
Name: Overspeed
The servo motor speed has exceeded the instantaneous permissible speed. The linear servo motor speed has exceeded the instantaneous permissible speed.
Cause
Check method
Check result
Action
Target
(1) The command pulse frequency is high.
Check the command pulse frequency.
The command pulse frequency is high.
Check operation pattern. [A]
The command pulse frequency is low.
Check (2).
(2) The settings of the electronic gear are incorrect.
Check the setting value of the electronic gear.
The setting value is incorrect.
The setting value is correct.
Review the settings. Check (6).
(3) The command from the Check if the command It is over the permissible Check operation pattern. [B]
controller is excessive. from the controller is over speed.
[WB]
the permissible speed.
It is less than the permissible speed.
Check (4).
[RJ010] [GF]
(4) The backlash
Check if the backlash
It has been set.
compensation set in the compensation has been
controller is excessive. set in the controller.
It has not been set.
Refer to the manual for the controller being used.
Check (5).
(5) A larger speed command than the overspeed alarm level was inputted.
Check that the actual servo motor speed is higher than the setting value of [Pr. PC08 Overspeed alarm detection level].
The servo motor speed is higher than the overspeed alarm detection level.
The servo motor speed is lower than the overspeed alarm detection level.
Review the [Pr. PC08] setting.
Check (6).
(6) The servo motor was at Check if the torque
the maximum torque
(thrust) at the time of
(maximum thrust) at the acceleration is the
time of acceleration.
maximum torque
(maximum thrust).
It is the maximum torque (maximum thrust).
It is less than the maximum torque (maximum thrust).
Increase the acceleration/deceleration time constant. Or reduce the load.
Check (7).
[A] [B] [WB] [RJ010] [GF]
(7) The servo system is
Check if the servo motor It is oscillating.
unstable and oscillating. is oscillating.
Adjust the servo gain. Or reduce the load.
It is not oscillating.
Check (8).
(8) The velocity waveform Check if it is
has overshot.
overshooting because
the acceleration time
constant is too short.
It is overshooting. It is not overshooting.
Increase the acceleration/deceleration time constant.
Check (9).
(9) For MR-J4-03A6(-RJ) Check if a bus voltage
The bus voltage has
and MR-J4W2-0303B6, drops temporarily during dropped.
the speed has overshot an operation.
when the power was
restored from a
temporary bus voltage
drop during an
operation.
Review the capacity of the 24 V DC main circuit power supply. Increase the voltage of the 24 V DC main circuit power supply within the permissible voltage fluctuation range. Change the main circuit input voltage to 48 V DC. Check operation pattern.
[A] [WB]
The bus voltage has not Check (10). dropped.
(10) The connection destination of the encoder cable is incorrect.
Check the connection destinations of CN2A, CN2B, and CN2C.
It is not correct. It is correct.
Wire it correctly. Check (11).
[WB]
52
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.4 Remedies for alarms
Alarm No.: 31
Name: Overspeed
Alarm content
Detail Detail name No.
The servo motor speed has exceeded the instantaneous permissible speed. The linear servo motor speed has exceeded the instantaneous permissible speed.
Cause
Check method
Check result
Action
1
Target
31.1
Abnormal motor (11) The connection of the Check the wiring of U/V/ It is incorrect.
Set it correctly.
[A]
speed
servo motor is incorrect. W.
(12) The encoder or linear encoder is malfunctioning.
Check if the alarm is occurring during less than instantaneous
It is correct.
It is occurring during less than instantaneous permissible speed.
Check (12).
Replace the servo motor or linear encoder.
[B] [WB] [RJ010] [GF]
permissible speed.
Alarm No.: 32
Alarm content
Detail Detail name No.
Name: Overcurrent
A current higher than the permissible current was applied to the servo amplifier.
Cause
Check method
Check result
Action
Target
32.1
Overcurrent
(1) The servo amplifier is Disconnect the servo
It occurs.
detected at
malfunctioning.
motor power cables (U/V/
hardware detection circuit
W) and check if the alarm It does not occur. occurs.
(during operation)
(2) A ground fault or short occurred at the servo
Check if only the servo motor power cable is
It is shorted.
motor power cable.
shorted.
It is not shorted.
Replace the servo amplifier. Check (2).
Replace the servo motor power cable. Check (3).
[A] [B] [WB] [RJ010] [GF]
(3) The servo motor is malfunctioning.
Disconnect the servo motor power cables on motor side, and check insulation of the motor (between U/V/W/ / ).
A ground fault is occurring.
A ground fault is not occurring.
Replace the servo motor. Check (4).
(4) The dynamic brake is malfunctioning.
Check if the alarm occurs when you turn on the servo-on command.
It occurs. It does not occur.
Replace the servo amplifier.
Check (5).
(5) The wiring of the
Check if the wiring of the The wiring is incorrect.
regenerative resistor
regenerative resistor
(regenerative option) is (regenerative option) is
incorrect.
incorrect.
The wiring is correct.
Wire it correctly. Check (6).
(6) The regenerative
Check if the combination The combination is
resistor (regenerative of the regenerative
incorrect.
option) and the servo amplifier are connected in a wrong combination.
resistor (regenerative option) and the servo amplifier is correct as
The combination is correct.
specified.
(7) The connection destination of the encoder cable is incorrect.
Check the connection destinations of CN2A, CN2B, and CN2C.
It is not correct. It is correct.
Use them in a correct combination. [WB]: Check (7). [A] [B] [RJ010] [GF]: Check (9).
Wire it correctly.
Check (8).
[WB]
(8) Something near the device caused it.
(9) Something near the device caused it.
Check the noise, ambient temperature, etc.
Check the noise, ambient temperature, etc.
There is a problem in the surrounding.
There is a problem in the surrounding.
There is no problem in the surrounding.
Take countermeasures against its cause.
Take countermeasures against its cause.
Check it with the check method for [AL. 45.1].
[A] [B] [RJ010] [GF]
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.4 Remedies for alarms
53
Alarm No.: 32
Alarm content
Detail Detail name No.
32.2
Overcurrent
detected at
software
detection
function (during
operation)
32.3
Overcurrent
detected at
hardware
detection circuit
(during a stop)
32.4
Overcurrent
detected at
software
detection
function (during
a stop)
Name: Overcurrent
A current higher than the permissible current was applied to the servo amplifier.
Cause
Check method
Check result
Action
Target
(1) The servo gain is high. Check if an oscillation is An oscillation is
occurring.
occurring.
(2) The servo amplifier is malfunctioning.
(3) A ground fault or short occurred at the servo motor power cable.
(4) The servo motor is malfunctioning.
(5) The connection destination of the encoder cable is incorrect.
(6) Something near the device caused it.
An oscillation is not occurring.
Disconnect the servo motor power cables (U/V/ W) and check if the alarm occurs.
It occurs. It does not occur.
Check if only the servo motor power cable is shorted.
It is shorted. It is not shorted.
Disconnect the servo motor power cables on motor side, and check insulation of the motor (between U/V/W/ / ).
A ground fault is occurring.
A ground fault is not occurring.
Check the connection destinations of CN2A, CN2B, and CN2C.
It is not correct. It is correct.
Check the noise, ambient There is a problem in the
temperature, etc.
surrounding.
Check it with the check method for [AL. 32.1].
Reduce the speed loop gain ([Pr. PB09]). 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. Check (2).
Replace the servo amplifier. Check (3).
Replace the servo motor power cable. Check (4). Replace the servo motor.
Check (5).
Connect it correctly. Check (6).
Take countermeasures against its cause.
[A] [B] [WB] [RJ010] [GF]
[WB]
[A] [B] [WB] [RJ010] [GF]
Check it with the check method for [AL. 32.2].
54
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.4 Remedies for alarms
Alarm No.: 33
Name: Overvoltage
Alarm content
The value of the bus voltage exceeded the prescribed value.
1
200 V class: 400 V DC
400 V class: 800 V DC
100 V class: 400 V DC
48 V DC setting: 75 V DC
24 V DC setting: 55 V DC
Detail Detail name Cause No.
Check method
Check result
Action
Target
33.1
Main circuit
(1) The setting of the
Check the regenerative The setting value is
voltage error
regenerative resistor
resistor (regenerative
incorrect.
(regenerative option) is option) and [Pr. PA02]
incorrect.
setting.
It is set correctly.
Set it correctly. Check (2).
(2) The regenerative resistor (regenerative option) is not connected.
Check if the regenerative resistor (regenerative option) is connected correctly.
It is not connected correctly.
It is connected correctly.
Connect it correctly. Check (3).
[A] [B] [WB] [RJ010] [GF]
(3) Wire breakage of built- Measure the resistance in regenerative resistor of the built-in or regenerative option regenerative resistor or regenerative option.
The resistance is abnormal.
When using a built-in regenerative resistor, replace the servo amplifier. When using a regenerative option, replace the regenerative option.
The resistance is normal. Check (4).
(4) The regeneration capacity is insufficient.
Set a longer deceleration time constant, and then check the repeatability.
It is not repeatable.
When using a built-in regenerative resistor, use a regenerative option. When using a regenerative option, use a larger capacity one.
It is repeatable.
Check (5).
(5) Power supply voltage high.
Check if the voltage of the input power supply 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: 75 V DC 24 V DC setting: 55 V DC
It is higher than the prescribed value.
It is at the prescribed value or lower.
Reduce the power supply voltage.
Check (6).
(6) Something near the device caused it.
Check the noise, ambient There is a problem in the Take countermeasures
temperature, etc.
surrounding.
against its cause.
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.4 Remedies for alarms
55
Alarm No.: 34 Alarm content
Detail No.
34.1
Detail name
SSCNET receive data error
34.2
SSCNET
connector
connection
error
34.3
SSCNET
communication
data error
34.4
Hardware error
signal detection
34.5
SSCNET
receive data
error (safety
observation
function)
34.6
SSCNET
communication
data error
(safety
observation
function)
Name: SSCNET receive error 1
An error occurred in SSCNET /H communication. (continuous communication error with 3.5 ms interval)
Cause
Check method
Check result
Action
Target
(1) The SSCNET cable was disconnected.
Check the SSCNET cable connection.
(2) The surface at the end Wipe off the dirt from the
of SSCNET cable got cable tip, and then check
dirty.
the repeatability.
(3) The SSCNET cable is broken or severed.
Check if the SSCNET cable is malfunctioning.
(4) A vinyl tape is stacked to the SSCNET cable. Or a wire insulator containing migrating plasticizer is adhered to the cable.
(5) The servo amplifier 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.
(6) The previous or next axis servo amplifier of the alarm occurred is malfunctioning.
Replace the previous and next servo amplifier of the axis alarm occurred, and then check the repeatability.
(7) The controller is malfunctioning.
Replace the controller, and then check the repeatability.
(8) Something near the device caused it.
Check the noise, ambient temperature, etc.
Check it with the check method for [AL. 34.1].
It is disconnected.
It is connected. It is not repeatable.
It is repeatable. It has a failure.
It has no failure. It is used. They are in contact. It is not used. They are not in contact. It is not repeatable.
It is repeatable. It is not repeatable.
It is repeatable.
It is not repeatable. It is repeatable. There is a problem in the surrounding.
Turn off the control circuit power supply of the servo amplifier, and then connect the SSCNET cable. Check (2). Take measure to keep the cable tip clean. Check (3). Replace the SSCNET cable. Check (4). Take countermeasures against its cause.
Check (5).
Replace the servo amplifier. Check (6). Replace the servo amplifier. Check (7).
Replace the controller. Check (8).
Take countermeasures against its cause.
[B] [WB]
56
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.4 Remedies for alarms
Alarm No.: 35
Alarm content
Detail Detail name No.
Name: Command frequency error
Input pulse frequency of command pulse is too high.
Cause
Check method
Check result
Action
1
Target
35.1
Command
(1) The command pulse
Check the command
frequency error
frequency is high.
pulse frequency.
The command pulse frequency is high.
Check operation pattern. [A]
The command pulse frequency is low.
Check (2).
(2) The setting of
Check if the command It is out of setting range. Review the filter setting.
"Command input pulse train filter selection" in [Pr. PA13] is not correct.
pulse frequency is within the setting range of the filter.
It is within the setting range.
Check (7).
(3) Inputted frequency with Check the inputted
The command pulse
a manual pulse
frequency of the manual frequency is high.
generator is high.
pulse generator.
Reduce the inputted frequency of the manual pulse generator.
The command pulse frequency is low.
Check (7).
(4) The command from the Check if the command It is the permissible
controller is excessive. from the controller is the speed or higher.
permissible speed or higher.
It is lower than the permissible speed.
Check operation pattern. Check (6).
[B] [WB] [RJ010] [GF]
(5) The backlash
Check if the backlash
It has been set.
compensation set in the compensation has been
controller is excessive. set in the controller.
It has not been set.
Refer to the manual for the controller being used.
Check (6).
(6) The controller is malfunctioning.
Replace the controller, and then check the repeatability.
It is not repeatable. It is repeatable.
Replace the controller. Check (7).
(7) The command pulse
Check the command
frequency is high when pulse frequency.
the synchronous
encoder axis is
selected.
The command pulse frequency is high.
The command pulse frequency is low.
Check operation pattern. [GF] Check (8).
(8) Something near the device caused it.
Check the noise, ambient There is a problem in the Take countermeasures
temperature, etc.
surrounding.
against its cause.
[A] [B] [WB] [RJ010] [GF]
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.4 Remedies for alarms
57
Alarm No.: 36 Alarm content
Detail No.
36.1
Detail name
Continuous communication data error
36.2
Continuous
communication
data error
(safety
observation
function)
Name: SSCNET receive error 2
An error occurred in SSCNET /H communication. (intermittent communication error with about 70 ms interval)
Cause
Check method
Check result
Action
Target
(1) The SSCNET cable was disconnected.
Check the SSCNET cable connection.
(2) The surface at the end Wipe off the dirt from the
of SSCNET cable got cable tip, and then check
dirty.
the repeatability.
(3) The SSCNET cable is broken or severed.
Check if the SSCNET cable is malfunctioning.
(4) A vinyl tape is stacked to the SSCNET cable. Or a wire insulator containing migrating plasticizer is adhered to the cable.
(5) The servo amplifier 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.
(6) The previous or next axis servo amplifier of the alarm occurred is malfunctioning.
Replace the previous and next servo amplifier of the axis alarm occurred, and then check the repeatability.
(7) The controller is malfunctioning.
Replace the controller, and then check the repeatability.
(8) Something near the device caused it.
Check the noise, ambient temperature, etc.
Check it with the check method for [AL. 36.1].
It is disconnected.
It is connected. It is not repeatable.
It is repeatable. It has a failure.
It has no failure. It is used. They are in contact. It is not used. They are not in contact.
It is not repeatable.
It is repeatable. It is not repeatable.
It is repeatable.
It is not repeatable. It is repeatable. There is a problem in the surrounding.
Turn off the control circuit power supply of the servo amplifier, and then connect the SSCNET cable. Check (2). Take measure to keep the cable tip clean. Check (3). Replace the SSCNET cable. Check (4). Take countermeasures against its cause. Check (5).
Replace the servo amplifier. Check (6). Replace the servo amplifier. Check (7).
Replace the controller. Check (8).
Take countermeasures against its cause.
[B] [WB]
58
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.4 Remedies for alarms
Alarm No.: 37
Name: Parameter error
Alarm content
Parameter setting is incorrect.
1
Point table setting is incorrect.
Detail Detail name Cause No.
Check method
Check result
Action
Target
37.1
Parameter
(1) A parameter was set
Check the parameter
It is out of setting range. Set it within the range.
[A]
setting range error
out of setting range.
(2) A parameter setting contradicts another.
error No. and setting value.
Check the parameter error No. and setting
It is within the setting range.
A setting value is incorrect.
Check (2). Correct the setting value.
[B] [WB] [RJ010] [GF]
value.
A setting value is correct. Check (3).
(3) The parameter setting has changed due to a servo amplifier malfunction.
Replace the servo amplifier, and then check the repeatability.
It is not repeatable.
Replace the servo amplifier.
37.2
Parameter
combination
error
(1) A parameter setting contradicts another.
Check the parameter error No. and setting value.
A setting value is incorrect.
Correct the setting value. (When the master-slave function is set, also check (2).)
(2) [Pr. PA01] on the
Check the parameter
master side was set to setting.
other than "standard
control mode" or "fully
closed loop control
mode".
[Pr. PA01] is set to other than "standard control mode" or "fully closed loop control mode".
[Pr. PA01] is set to "standard control mode" or "fully closed loop control mode".
Set [Pr. PA01] to "standard control mode" or "fully closed loop control mode".
Check (4).
[B] (master)
(3) [Pr. PA01] on the slave Check the parameter
side was set to other
setting.
than "standard control
mode".
[Pr. PA01] is set to other than "standard control mode".
[Pr. PA01] is set to "standard control mode".
Set [Pr. PA01] to "standard control mode".
Check (4).
[B] (slave)
(4) "Forced stop
Check the parameter
deceleration function
setting.
selection" in [Pr. PA04]
is enabled.
"Forced stop deceleration function selection" setting in [Pr. PA04] is enabled.
Disable "forced stop deceleration function selection" in [Pr. PA04].
[B] (master) (slave)
37.3
Point table
setting error
(1) The setting of point tables is incorrect.
Check if the setting of
A setting value is
Correct the setting value. [A]
point tables is within the incorrect.
[GF]
setting range.
Check the parameter
error No. and point table
error No. with the point
table error No. display on A setting value is correct. Check (2). the display of the servo
amplifier. Or check the
setting value with the
point table display of MR
Configurator2.
(2) A point table setting has Replace the servo
It is not repeatable.
changed due to a servo amplifier, and then check
amplifier malfunction. the repeatability.
Replace the servo amplifier.
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.4 Remedies for alarms
59
Alarm No.: 39
Name: Program error
Alarm content
Detail Detail name No.
A program used for the program operation is incorrect.
Cause
Check method
Check result
39.1
Program error (1) A checksum of the
Check if an error
It has a failure.
program did not match occurred (such as
at power-on. (The program has an error.)
entered noise, power-off) It has no failure. at program write.
(2) A program has changed Replace the servo
It is not repeatable.
due to a servo amplifier amplifier, and then check
malfunction.
the repeatability.
39.2
Instruction
(1) A program has never
Check if a program was It was not executed.
argument external error
been written since program initialization.
written.
It was executed.
(2) A command argument is using a value out of specifications.
Check if the command description has a failure.
It has a failure. It has no failure.
(3) A program has changed Replace the servo
It is not repeatable.
due to a servo amplifier amplifier, and then check
malfunction.
the repeatability.
39.3
Register No.
(1) A specified number of Check if the command It has a failure.
error
the general purpose
description has a failure.
register used for a command is a value out
It has no failure.
of specifications.
(2) A program has changed Replace the servo
It is not repeatable.
due to a servo amplifier amplifier, and then check
malfunction.
the repeatability.
39.4
Non-
(1) A used command is not Check if the command It has a failure.
correspondence
correspondent to the
description has a failure.
instruction error
program.
It has no failure.
(2) A program has changed Replace the servo
It is not repeatable.
due to a servo amplifier amplifier, and then check
malfunction.
the repeatability.
Action
Target
Rewrite the program.
[A]
Check (2).
Replace the servo amplifier.
Write the program. Check (2).
Correct the command description. Check (3). Replace the servo amplifier.
Correct the command description.
Check (2).
Replace the servo amplifier.
Correct the command description. Check (2). Replace the servo amplifier.
Alarm No.: 3A
Alarm content
Detail Detail name No.
3A.1
Inrush current suppression circuit error
Name: Inrush current suppression circuit error
The inrush current suppression circuit error was detected.
Cause
Check method
Check result
(1) Inrush current suppressor circuit is malfunctioning.
Replace the servo amplifier, and then check the repeatability.
It is not repeatable.
Action
Replace the servo amplifier.
Target
[A] [B] [WB] [RJ010] [GF]
Alarm No.: 3D
Alarm content
Detail Detail name No.
3D.1
Parameter combination error for driver communication on slave
3D.2
Parameter combination error for driver communication on master
Name: Parameter setting error for driver communication
The control parameter setting value for driver communication is incorrect.
Cause
Check method
Check result
Action
(1) The master transmit
Check the settings of [Pr. The setting is incorrect.
data selection for driver PD16] and [Pr. PD17] on
communication is not the master side.
set correctly.
Set it correctly.
Check it with the check method for [AL. 3D.1].
60
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.4 Remedies for alarms
Target
[B] (slave)
[B] (master)
Alarm No.: 3E
Alarm content
Detail Detail name No.
Name: Operation mode error
The operation mode setting was changed.
Cause
Check method
Check result
Action
1
Target
3E.1
Operation mode (1) error
The MR-J4 servo amplifier used in J3 compatibility mode was connected to the other SSCNET /H controller. Or an MR-J4 servo amplifier which was connected to SSCNET /H controller was connected to another SSCNET controller.
Check if the connection was changed to like these.
The connection was changed.
Restore the servo amplifier to the factory setting with the application "MR-J4(W)-B mode selection" or "MR Mode Change" in MR Configurator2, then connect the servo amplifier to the controller again.
[B] [WB]
(2) The [Pr. PA01] setting value was changed.
Check if [Pr. PA01] was changed.
It was changed.
Set [Pr. PA01] correctly.
3E.6
Operation mode (1) switch error
A method of positioning data memorized in the servo amplifier (point table method/program method) is different from the actual positioning mode (point table method/program method).
Check if the positioning mode (point table method/program method) was changed.
Positioning mode: [Pr. PA01] "_ _ _ x"
It was changed. (with a purpose)
After changing the
[A]
positioning mode,
initialize the point table
method/ program
method. (Refer to section
7.2.8 [Pr. PT34] of "MR-
J4-_A_-RJ Servo
Amplifier Instruction
Manual (Positioning
Mode)")
It was changed by mistake.
Set the positioning mode back to the correct setting.
3E.8
MR-D30 combination error
(1) With CC-Link IE Field Network Basic communication selected, MR-D30 functional safety unit was connected.
Check if MR-D30 is connected.
It is connected.
Disconnect MR-D30.
[GF]
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.4 Remedies for alarms
61
Alarm No.: 42
Alarm content
Detail Detail name No.
42.1
Servo control
error by position
deviation
Name: Servo control error (for linear servo motor and direct drive motor)
A servo control error occurred.
Cause
Check method
Check result
Action
(1) [Pr. PA17] and [Pr.
Check if [Pr. PA17] and They have been set
PA18] were not set in [Pr. PA18] have been set incorrectly.
accordance with the
correctly.
linear servo motor to be
used.
They have been set
correctly.
Set the parameters correctly in accordance with the linear servo motor to be used.
Check (2).
(2) The linear encoder
Check the setting of [Pr. The setting is incorrect.
resolution setting differs PL02] and [Pr. PL03]. from the setting value.
The setting is correct.
Set it correctly. Check (3).
(3) The direction of
Check polarities of the
mounting linear encoder linear encoder and the
is incorrect.
linear servo motor.
The mounting direction is incorrect.
Mount it correctly. Review the "encoder pulse count polarity selection" setting of the parameter as required. [A]: [Pr. PC45] [B] [WB] [GF]: [Pr. PC27]
The mounting direction is Check (4). correct.
(4) The connection of the Check the wiring. servo motor is incorrect.
The wiring is incorrect. The wiring is correct.
Connect it correctly. Check (5).
(5) The initial magnetic
Execute the magnetic
It is not repeatable.
pole detection was not pole detection, and then
executed.
check the repeatability. It is repeatable.
Execute the magnetic pole detection.
Check (6).
(6) The position deviation Check the value of droop The deviation is large. exceeded the detection pulses. level.
Review the operation status. Review the [Pr. PL05] setting depending on circumstances.
Target
[A] [B] [WB] [GF]
62
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.4 Remedies for alarms
Alarm No.: 42
Name: Servo control error (for linear servo motor and direct drive motor)
Alarm content
Detail Detail name No.
A servo control error occurred.
Cause
Check method
Check result
Action
Target
1
42.2
Servo control (1) [Pr. PA17] and [Pr.
Check if [Pr. PA17] and They have been set
error by speed
PA18] were not set in [Pr. PA18] have been set incorrectly.
deviation
accordance with the
correctly.
linear servo motor to be
used.
They have been set
correctly.
Set the parameters correctly in accordance with the linear servo motor to be used.
Check (2).
[A] [B] [WB] [GF]
(2) The linear encoder
Check the setting of [Pr. The setting is incorrect.
resolution setting differs PL02] and [Pr. PL03]. from the setting value.
The setting is correct.
Set it correctly. Check (3).
(3) The direction of
Check polarities of the
mounting linear encoder linear encoder and the
is incorrect.
linear servo motor.
The mounting direction is incorrect.
Mount it correctly. Review the "encoder pulse count polarity selection" setting of the parameter as required. [A]: [Pr. PC45] [B] [WB] [GF]: [Pr. PC27]
The mounting direction is Check (4). correct.
(4) The connection of the Check the wiring. servo motor is incorrect.
The wiring is incorrect. The wiring is correct.
Connect it correctly. Check (5).
(5) The initial magnetic
Execute the magnetic
It is not repeatable.
pole detection was not pole detection, and then
executed.
check the repeatability. It is repeatable.
Execute the magnetic pole detection.
Check (6).
(6) The speed deviation
Calculate the deviation
exceeded the detection between the speed
level.
command and actual
speed.
The deviation is large.
Review the operation status. Review the [Pr. PL06] setting depending on circumstances.
42.3
Servo control (1) [Pr. PA17] and [Pr.
Check if [Pr. PA17] and They have been set
error by torque/
PA18] were not set in [Pr. PA18] have been set incorrectly.
thrust deviation
accordance with the
correctly.
linear servo motor to be
used.
They have been set
correctly.
Set the parameters correctly in accordance with the linear servo motor to be used.
Check (2).
(2) The linear encoder
Check the setting of [Pr. The setting is incorrect.
resolution setting differs PL02] and [Pr. PL03]. from the setting value.
The setting is correct.
Set it correctly. Check (3).
(3) The direction of
Check polarities of the
mounting linear encoder linear encoder and the
is incorrect.
linear servo motor.
The mounting direction is incorrect.
Mount it correctly. Review the "encoder pulse count polarity selection" setting of the parameter as required. [A]: [Pr. PC45] [B] [WB] [GF]: [Pr. PC27]
The mounting direction is Check (4). correct.
(4) The connection of the Check the wiring. servo motor is incorrect.
The wiring is incorrect. The wiring is correct.
Connect it correctly. Check (5).
(5) The initial magnetic
Execute the magnetic
It is not repeatable.
pole detection was not pole detection, and then
executed.
check the repeatability. It is repeatable.
Execute the magnetic pole detection.
Check (6).
(6) The torque/thrust
Calculate the deviation
deviation exceeded the between the current
detection level.
command and torque/
thrust.
The deviation is large.
Review the operation status. Review the [Pr. PL07] setting depending on circumstances.
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.4 Remedies for alarms
63
Alarm No.: 42
Alarm content
Detail Detail name No.
42.8
Fully closed
loop control
error by position
deviation
42.9
Fully closed
loop control
error by speed
deviation
42.A
Fully closed loop control error by position deviation during command stop
Name: Fully closed loop control error detection (during fully closed loop control)
A fully closed loop control error has occurred.
Cause
Check method
Check result
Action
(1) The resolution of the load-side encoder setting differs from the setting value.
(2) The direction of mounting load-side encoder is incorrect.
Check the setting of [Pr. PE04] and [Pr. PE05].
Check the mounting direction of the load-side encoder.
(3) The position deviation Check the value of droop exceeded the detection pulses. level.
(1) The resolution of the load-side encoder setting differs from the setting value.
(2) The direction of mounting load-side encoder is incorrect.
Check the setting of [Pr. PE04] and [Pr. PE05].
Check the mounting direction of the load-side encoder.
(3) The speed deviation
Calculate the deviation
exceeded the detection between the speed
level.
command and actual
speed.
Check it with the check method for [AL. 42.8].
The setting is incorrect. The setting is correct.
The mounting direction is incorrect.
The mounting direction is correct. The deviation is large.
The setting is incorrect. The setting is correct.
The mounting direction is incorrect.
The mounting direction is correct. The deviation is large.
Set it correctly. Check (2).
Mount it correctly. Review the "encoder pulse count polarity selection" setting of the parameter as required. [A]: [Pr. PC45] [B] [WB] [GF]: [Pr. PC27] Check (3).
Review the operation status. Review the [Pr. PE07] setting depending on circumstances. Set it correctly. Check (2).
Mount it correctly. Review the "encoder pulse count polarity selection" setting of the parameter as required. [A]: [Pr. PC45] [B] [WB] [GF]: [Pr. PC27] Check (3).
Review the operation status. Review the [Pr. PE06] setting depending on circumstances.
Target
[A] [B] [WB] [GF]
64
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.4 Remedies for alarms
Alarm No.: 45
Alarm content
Detail Detail name No.
Name: Main circuit device overheat
Inside of the servo amplifier overheated.
Cause
Check method
Check result
Action
1
Target
45.1
Main circuit
(1) Ambient temperature
Check the ambient
It is over 55 .
Lower the ambient
[A]
device overheat
has exceeded 55 .
temperature.
temperature.
[B]
error 1
(2) The close mounting is out of specifications.
Check the specifications of close mounting.
It is less than 55 . It is out of specifications.
Check (2).
Use within the range of specifications.
[WB] [RJ010] [GF]
It is within specifications. Check (3).
(3) Turning on and off were Check if the overload
repeated under the
status occurred many
overload status.
times.
It occurred. It did not occur.
Check operation pattern. Check (4).
(4) A cooling fan, heat sink, Clean the cooling fan,
or openings is clogged heat sink, or openings,
with foreign matter.
and then check the
repeatability.
It is not repeatable. It is repeatable.
Clean it periodically. Check (5).
(5) The servo amplifier is malfunctioning.
Replace the servo amplifier, and then check the repeatability.
It is not repeatable.
Replace the servo amplifier.
45.2
Main circuit
(1) Check it with the check method for [AL. 45.1].
device overheat
error 2
Alarm No.: 46
Alarm content
Detail Detail name No.
46.1
Abnormal
temperature of
servo motor 1
Name: Servo motor overheat
The servo motor overheated.
Cause
Check method
Check result
Action
Target
(1) The ambient temperature of the servo motor has exceeded the prescribed value.
(2) Servo motor is overloaded.
(3) The thermal sensor in the encoder is malfunctioning.
Check the ambient temperature of the servo motor.
Check the effective load ratio.
Check the servo motor temperature when the alarm occurs.
The prescribed value has been exceeded. The prescribed value has not been exceeded.
The effective load ratio is high.
The effective load ratio is small. The servo motor temperature is low.
Lower the ambient temperature. Check (2).
Reduce the load or review the operation pattern. Check (3).
[A] [B] [WB] [RJ010] [GF]
Replace the servo motor.
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.4 Remedies for alarms
65
Alarm No.: 46
Alarm content
Detail Detail name No.
46.2
Abnormal
temperature of
servo motor 2
46.3
Thermistor
disconnected
error
46.4
Thermistor
circuit error
46.5
Abnormal
temperature of
servo motor 3
46.6
Abnormal
temperature of
servo motor 4
Name: Servo motor overheat
The servo motor overheated.
Cause
Check method
Check result
Action
Target
(1) The ambient temperature of the linear servo motor, direct drive motor, or servo motor with thermistors has exceeded the prescribed value.
Check the ambient temperature of the linear servo motor, direct drive motor, or servo motor with thermistors.
(2) The linear servo motor, Check the effective load
direct drive motor, or
ratio.
servo motor with
thermistors has been
overloaded.
(3) There is a problem with Check if the thermistor
the thermistor wire.
wire has shorted.
(1) In the parallel drive
Check the settings of [Pr.
system, the parameter PF37 Parallel drive -
settings and the axis
Encoder ID setting 1].
number settings are
Check if the setting of
incorrect.
[Pr. PF40 Parallel drive -
Servo motor side system
setting] matches the
setting of the axis
number set with the
combination of SW2-3,
SW2-4, and SW1.
(2) In the parallel drive
Check if the encoder
system, the encoder
cable from the servo
cable from the servo
motor is connected to the
motor is not connected encoder master servo
to the encoder master amplifier.
servo amplifier.
(3) A thermistor wire is not Check the thermistor
connected.
wire.
(4) The encoder cable MR- Check the model of the ENECBL_M-H for HF- encoder cable. JP series servo motors is used for the HGJR22K1M(4) servo motor.
(5) The thermistor wire is disconnected.
Check the thermistor wire.
(1) A thermistor circuit of the servo amplifier is malfunctioning.
Replace the servo amplifier, and then check the repeatability.
Check it with the check method for [AL. 46.1].
The prescribed value has been exceeded. The prescribed value has not been exceeded.
The effective load ratio is high. The effective load ratio is small. It has shorted. It has not shorted. It is not set correctly.
It is set correctly.
It is not connected.
It is connected. It is not connected. It is connected. MR-ENECBL_M-H is used. MR-ENECBL_M-H-MTH is used.
It is disconnected. It is not disconnected. It is not repeatable.
Lower the ambient temperature. Check (2).
Reduce the load or review the operation pattern. Check (3).
Replace or repair the cable. Replace the servo motor. Set the parameter and the axis number correctly. Check (2).
Connect the encoder cable of the servo motor to the encoder master servo amplifier. Connect the encoder master servo amplifier and the encoder slave servo amplifier in the order of the axis number. Check (3). Connect it correctly. Check (4). Change it to MRENECBL_M-H-MTH. Check (5).
Repair the lead wire. Replace the servo motor. Replace the servo amplifier.
[A] [B] [WB] [GF]
[A] [B] [WB] [GF]
(1) A current was applied to Check the effective load The effective load ratio is Reduce the load or
the servo amplifier in
ratio.
high.
review the operation
excess of its continuous
pattern. Or use a larger
output current.
capacity motor.
[A] [B] [WB] [RJ010] [GF]
66
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.4 Remedies for alarms
Alarm No.: 47
Name: Cooling fan error
Alarm content
The speed of the servo amplifier cooling fan decreased.
1
Or the fan speed decreased to the alarm occurrence level or less.
Detail Detail name Cause No.
Check method
Check result
Action
Target
47.1
Cooling fan stop (1) Foreign matter was
Check if a foreign matter Something has been
error
caught in the cooling
is caught in the cooling caught.
fan.
fan.
Nothing has been
caught.
(2) Cooling fan life expired. Check if the cooling fan is stopping.
It is stopping.
Remove the foreign matter. Check (2).
Replace the servo amplifier.
[A] [B] [WB] [RJ010] [GF]
47.2
Cooling fan
(1) Foreign matter was
Check if a foreign matter Something has been
speed reduction
caught in the cooling
is caught in the cooling caught.
error
fan.
fan.
Nothing has been
caught.
Remove the foreign matter.
Check (2).
(2) Cooling fan life expired. Check the cooling fan speed.
The fan speed is less than the alarm occurrence level.
Replace the servo amplifier.
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.4 Remedies for alarms
67
Alarm No.: 50
Alarm content
Detail Detail name No.
50.1
Thermal
overload error 1
during
operation
50.2
Thermal
overload error 2
during
operation
50.3
Thermal
overload error 4
during
operation
Name: Overload 1
Load exceeded overload protection characteristic of servo amplifier.
Cause
Check method
Check result
(1) The servo motor power Check the servo motor
cable was
power cable.
disconnected.
It is disconnected. It is not disconnected.
(2) The connection of the Check the wiring of U/V/ It is incorrect.
servo motor is incorrect. W.
It is correct.
(3) The electromagnetic
Check if the
It is not released.
brake has not released. electromagnetic brake is
(The electromagnetic brake has been
released during operation.
It is released.
activated.)
(4) The direction of
Check polarities of the
mounting linear encoder linear encoder and the
is incorrect.
linear servo motor.
The mounting direction is incorrect.
The mounting direction is correct.
(5) A current was applied to Check the effective load The effective load ratio is
the servo amplifier in
ratio.
high.
excess of its continuous output current.
The effective load ratio is small.
(6) The connection destination of the encoder cable is incorrect.
(7) The servo system is unstable and resonating.
Check the connection destinations of CN2A, CN2B, and CN2C.
It is not correct. It is correct.
Check if it is resonating. It is resonating.
(8) The servo amplifier is malfunctioning.
Replace the servo amplifier, and then check the repeatability.
(9) The encoder or linear encoder is malfunctioning.
Replace the servo motor or linear encoder, and then check the repeatability.
Check it with the check method for [AL. 50.1].
It is not resonating. It is not repeatable.
It is repeatable. It is not repeatable.
Action
Target
Repair or replace the servo motor power cable. Check (2). Connect it correctly. Check (3).
[A] [B] [WB] [RJ010] [GF]
Release the electromagnetic brake.
Check (4).
Mount it correctly. Review the "encoder pulse count polarity selection" setting of the parameter as required. [A]: [Pr. PC45] [B] [WB] [GF]: [Pr. PC27]
Check (5).
[A] [B] [WB] [GF]
Reduce the load. Or use a larger capacity motor. Check (6).
Connect it correctly. Check (7).
[A] [B] [WB] [RJ010] [GF]
[WB]
Adjust gains. 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.
Check (8).
Replace the servo amplifier.
Check (9).
Replace the servo motor or linear encoder.
[A] [B] [WB] [RJ010] [GF]
68
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.4 Remedies for alarms
Alarm No.: 50
Name: Overload 1
Alarm content
Detail Detail name No.
Load exceeded overload protection characteristic of servo amplifier.
Cause
Check method
Check result
Action
Target
1
50.4
Thermal
(1) A moving part collided Check if it collided.
It collided.
Check operation pattern. [A]
overload error 1 during a stop
(2)
against the machine.
The servo motor power cable was disconnected.
Check the servo motor power cable.
It did not collide. It is disconnected.
It is not disconnected.
Check (2).
Repair or replace the servo motor power cable.
Check (3).
[B] [WB] [RJ010] [GF]
(3) Hunting occurs during servo-lock.
Check if the hunting is occurring.
The hunting is occurring.
The hunting is not occurring.
Adjust gains. Check (4).
(4) The electromagnetic
Check if the
It is not released.
brake has not released. electromagnetic brake is
(The electromagnetic brake has been
released.
It is released.
activated.)
Release the electromagnetic brake.
Check (5).
(5) The direction of
Check polarities of the
mounting linear encoder linear encoder and the
is incorrect.
linear servo motor.
The mounting direction is incorrect.
Mount it correctly. Review the "encoder pulse count polarity selection" setting of the parameter as required. [A]: [Pr. PC45] [B] [WB] [GF]: [Pr. PC27]
[A] [B] [WB] [GF]
The mounting direction is Check (6). correct.
(6) A current was applied to Check the effective load The effective load ratio is Reduce the load. Or use [A]
the servo amplifier in
ratio.
high.
a larger capacity motor. [B]
excess of its continuous output current.
The effective load ratio is Check (7). small.
[WB] [RJ010] [GF]
(7) The connection destination of the encoder cable is incorrect.
Check the connection destinations of CN2A, CN2B, and CN2C.
It is not correct. It is correct.
Connect it correctly. Check (8).
[WB]
(8) The servo system is unstable and resonating.
(9) The servo amplifier is malfunctioning.
Check if it is resonating.
It is resonating. It is not resonating.
Replace the servo amplifier, and then check the repeatability.
It is not repeatable. It is repeatable.
Adjust gains. Check (9).
Replace the servo amplifier. Check (10).
[A] [B] [WB] [RJ010] [GF]
(10) The encoder, servo motor, or linear encoder is malfunctioning.
Replace the servo motor or linear encoder, and then check the repeatability.
It is not repeatable.
Replace the servo motor or linear encoder.
50.5
Thermal
Check it with the check method for [AL. 50.4].
overload error 2
during a stop
50.6
Thermal
overload error 4
during a stop
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.4 Remedies for alarms
69
Alarm No.: 51
Alarm content
Detail Detail name No.
51.1
Thermal
overload error 3
during
operation
51.2
Thermal
overload error 3
during a stop
Name: Overload 2
Maximum output current flowed continuously due to machine collision or the like.
Cause
Check method
Check result
Action
Target
(1) The servo motor power Check the servo motor
cable was
power cable.
disconnected.
It is disconnected. It is not disconnected.
(2) The connection of the Check the wiring of U/V/ It is incorrect.
servo motor is incorrect. W.
It is correct.
Repair or replace the servo motor power cable. Check (2). Connect it correctly. Check (3).
[A] [B] [WB] [RJ010] [GF]
(3) The connection of the encoder cable is incorrect.
Check if the encoder cable is connected correctly.
It is incorrect. It is correct.
Connect it correctly. Check (4).
(4) The direction of
Check polarities of the
mounting linear encoder linear encoder and the
is incorrect.
linear servo motor.
The mounting direction is incorrect.
Mount it correctly. Review the "encoder pulse count polarity selection" setting of the parameter as required. [A]: [Pr. PC45] [B] [WB] [GF]: [Pr. PC27]
[A] [B] [WB] [GF]
The mounting direction is Check (5). correct.
(5) The torque is insufficient.
Check the peak load ratio.
The torque is saturated.
The torque is not saturated.
Reduce the load or review the operation pattern. Or use a larger capacity motor.
Check (6).
[A] [B] [WB] [RJ010] [GF]
(6) The servo amplifier is malfunctioning.
Replace the servo amplifier, and then check the repeatability.
It is not repeatable. It is repeatable.
Replace the servo amplifier.
Check (7).
(7) An encoder or servo
Replace the servo motor, It is not repeatable.
motor is malfunctioning. and then check the
repeatability.
Replace the servo motor.
(1) A moving part collided against the machine.
Check if it collided.
It collided. It did not collide.
Check operation pattern. Refer to (2).
(2) The servo motor power Check it with the check method for [AL. 51.1]. cable was disconnected.
(3) The connection of the servo motor is incorrect.
(4) The connection of the encoder cable is incorrect.
(5) The direction of mounting linear encoder is incorrect.
(6) The torque is saturated.
(7) The servo amplifier is malfunctioning.
(8) An encoder is malfunctioning.
70
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.4 Remedies for alarms
Alarm No.: 52
Name: Error excessive
Alarm content
Detail Detail name No.
Droop pulses have exceeded the alarm occurrence level.
Cause
Check method
Check result
Action
1
Target
52.1
Excess droop (1) The servo motor power Check the servo motor It is disconnected.
Repair or replace the
[A]
pulse 1
cable was
power cable.
servo motor power cable. [B]
disconnected.
It is not disconnected.
(2) The connection of the Check the wiring of U/V/ It is incorrect.
servo motor is incorrect. W.
It is correct.
Check (2). Connect it correctly. Check (3).
[WB] [RJ010] [GF]
(3) The connection of the encoder cable is incorrect.
Check if the encoder cable is connected correctly.
It is incorrect. It is correct.
Connect it correctly. Check (4).
(4) The torque limit has been enabled.
Check if the limiting torque is in progress.
The limiting torque is in progress.
Increase the torque limit value.
The limiting torque is not Check (5). in progress.
(5) A moving part collided against the machine.
Check if it collided.
It collided. It did not collide.
Check operation pattern. Check (6).
(6) The electromagnetic
Check if electromagnetic It is not released.
brake has not released. brake is released.
(The electromagnetic brake has been
It is released.
activated.)
Release the electromagnetic brake.
Check (7).
(7) The torque is insufficient.
Check the peak load ratio.
The torque is saturated.
Reduce the load or review the operation pattern. Or use a larger capacity motor.
The torque is not saturated.
Check (8).
(8) Power supply voltage dropped.
Check the bus voltage value.
The bus voltage is low.
Check the power supply voltage and power supply capacity.
The bus voltage is high. Check (9).
(9) Acceleration/ deceleration time constant is too short.
Set a longer deceleration time constant, and then check the repeatability.
It is not repeatable.
Increase the acceleration/deceleration time constant.
It is repeatable.
Check (10).
(10) The position loop gain is small.
Increase the position loop gain, and then check the repeatability.
It is not repeatable. It is repeatable.
Increase the position loop gain ([Pr. PB08]).
Check (11).
(11) The error excessive alarm level was not set correctly.
Check the setting of the error excessive alarm level. [A]: [Pr. PC24], [Pr. PC43] [B] [WB] [RJ010] [GF]: [Pr. PC01], [Pr. PC06]
It is not set correctly. It is set correctly.
Set it correctly. Check (12).
(12) The feedback pulse electronic gear is set while the scale measurement function is enabled.
Check the settings of the feedback pulse electronic gear ([Pr. PE04], [Pr. PE05], [Pr. PE34], and [Pr. PE35]).
A value other than 1/1 has been set.
1/1 has been set.
Set to 1/1. Check (13).
[B] [WB] [GF]
(13) Servo motor shaft was Measure the actual
It is rotated by external Review the machine.
rotated by external
position under the servo- force./ It was moved by
force./ The moving part lock status.
external force.
of the linear servo motor was moved by external force.
It is not rotated by external force./ It was not moved by external force.
Check (13).
[A] [B] [WB] [RJ010] [GF]
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.4 Remedies for alarms
71
Alarm No.: 52
Alarm content
Detail Detail name No.
52.1
Excess droop
pulse 1
52.3
Excess droop
pulse 2
52.4
Error excessive
during 0 torque
limit
52.5
Excess droop
pulse 3
52.6
Excess droop
pulse during
servo-off
Name: Error excessive
Droop pulses have exceeded the alarm occurrence level.
Cause
Check method
Check result
(14) Servo-on was enabled while the servo motor was rotating. Servo-on is performed while the linear servo motor is moving.
Measure the actual position at servo-on.
(15) The encoder or the servo motor is malfunctioning.
Replace the servo motor, and then check the repeatability.
(16) The servo amplifier is malfunctioning.
Replace the servo amplifier, and then check the repeatability.
Check it with the check method for [AL. 52.1].
Servo is enabled while the servo motor is rotating. Servo-on is enabled while the linear servo motor is moving.
Servo-on is not enabled while the servo motor is rotating. Servo-on is not enabled while the linear servo motor is moving.
It is not repeatable.
It is repeatable.
It is not repeatable.
(1) The torque limit has been 0.
Check the torque limit value.
The torque limit has been 0.
Check it with the check method for [AL. 52.1].
(1) Servo motor shaft was Measure the actual
rotated by external
position at servo-off.
force.
The moving part of the
linear servo motor was
moved by external
force.
It is rotated by external force. It was moved by external force.
It is not rotated by external force. It was not moved by external force.
(2) Servo-on was enabled Measure the actual while the servo motor position at servo-on. was rotating. Servo-on is performed while the linear servo motor is moving.
Servo is enabled while the servo motor is rotating. Servo-on is enabled while the linear servo motor is moving.
Servo-on is not enabled while the servo motor is rotating. Servo-on is not enabled while the linear servo motor is moving.
(3) The controller is malfunctioning.
Replace the controller, and then check the repeatability.
It is not repeatable. It is repeatable.
(4) The encoder or the servo motor is malfunctioning.
Replace the servo motor, and then check the repeatability.
It is not repeatable. It is repeatable.
(5) The servo amplifier is malfunctioning.
Replace the servo amplifier, and then check the repeatability.
It is not repeatable.
Action
Target
Review the timing of the servo-on.
[A] [B] [WB] [RJ010] [GF]
Check (15).
Replace the servo motor.
Check (16).
Replace the servo amplifier.
Do not input a command while the torque limit value is 0.
[A] [B] [WB] [RJ010] [GF]
Review the machine. Check (2).
[B] [WB] [GF]
Review the timing of the servo-on.
Check (3).
Replace the controller. Check (4). Replace the servo motor. Check (5). Replace the servo amplifier.
72
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.4 Remedies for alarms
Alarm No.: 54
Alarm content
Detail Detail name No.
Name: Oscillation detection
An oscillation of the servo motor was detected.
Cause
Check method
Check result
Action
1
Target
54.1
Oscillation
(1) The servo system is
Check if the servo motor The torque ripple is
Adjust the servo gain
[A]
detection error
unstable and oscillating. is oscillating. Check the vibrating.
with the auto tuning. Set [B]
torque ripple with MR
the machine resonance [WB]
Configurator2.
suppression filter.
[RJ010]
The torque ripple is not Check (2).
[GF]
vibrating.
(2) The resonance
Measure the resonance The resonance
Change the setting value
frequency has changed frequency of the
frequency of the
of the machine
due to deterioration.
equipment and compare equipment is different
resonance suppression
it with the setting value of from the filter setting
filter.
the machine resonance value.
suppression filter.
The resonance
Check (3).
frequency of the
equipment is the same
as the filter setting value.
(3) The encoder or linear encoder is malfunctioning.
Replace the servo motor or linear encoder, and then check the repeatability.
It is not repeatable.
Replace the servo motor or linear encoder.
Alarm No.: 56
Alarm content
Detail Detail name No.
56.2
Over speed
during forced
stop
56.3
Estimated
distance over
during forced
stop
Name: Forced stop error
The servo motor does not decelerate normally during forced stop deceleration.
Cause
Check method
Check result
Action
Target
(1) The forced stop deceleration time constant is short. [A]: [Pr. PC51] [B] [WB] [RJ010] [GF]: [Pr. PC24]
Increase the parameter setting value, and then check the repeatability.
It is not repeatable. It is repeatable.
Adjust the deceleration time constant.
Check (2).
[A] [B] [WB] [RJ010] [GF]
(2) The torque limit has been enabled.
Check if the limiting torque is in progress.
The limiting torque is in progress.
Review the torque limit value.
The limiting torque is not Check (3). in progress.
(3) The servo system is
Check if the servo motor The torque ripple is
unstable and oscillating. is oscillating. Check the vibrating.
torque ripple with MR
Configurator2.
Adjust the servo gain. Set the machine resonance suppression filter.
The torque ripple is not vibrating.
Check (4).
(4) The encoder or linear encoder is malfunctioning.
Replace the servo motor or linear encoder, and then check the repeatability.
It is not repeatable.
Replace the servo motor or linear encoder.
(1) The forced stop deceleration time constant is short. [A]: [Pr. PC51] [B] [WB] [RJ010] [GF]: [Pr. PC24]
Increase the parameter setting value, and then check the repeatability.
It is not repeatable. It is repeatable.
Adjust the deceleration time constant.
Check (2).
(2) The torque limit has been enabled.
Check if the limiting torque is in progress.
The limiting torque is in progress.
Review the torque limit value.
The limiting torque is not Check (3). in progress.
(3) The encoder or linear encoder is malfunctioning.
Replace the servo motor or linear encoder, and then check the repeatability.
It is not repeatable.
Replace the servo motor or linear encoder.
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.4 Remedies for alarms
73
Alarm No.: 56
Alarm content
Detail Detail name No.
56.4
Forced stop
start error
Name: Forced stop error
The servo motor does not decelerate normally during forced stop deceleration.
Cause
Check method
Check result
Action
(1) The SSCNET cable is disconnected.
Check if the SSCNET cable is connected correctly.
It is not connected. It is connected.
Connect it correctly. Check (2).
(2) The SSCNET cable is malfunctioning.
Check if the SSCNET cable is disconnected or shorted.
It has a failure. It has no failure.
Replace or repair the cable.
Check (3).
(3) Something near the device caused it.
Check the noise, ambient temperature, vibration, etc.
There is a problem in the surrounding.
There is no problem in the surrounding.
Take countermeasures against its cause.
Check (4).
(4) The servo amplifier is malfunctioning.
Replace the servo amplifier, and then check the repeatability.
It is not repeatable. It is repeatable.
Replace the servo amplifier.
Check (5).
(5) The controller is malfunctioning.
Replace the controller, and then check the repeatability.
It is not repeatable.
Replace the controller.
Target
[B]
Alarm No.: 61
Alarm content
Detail Detail name No.
61.1
Point table
setting range
error
Name: Operation error
An operation of the positioning function failed.
Cause
Check method
Check result
(1) "1" or "3" was set to the Check if "1" or "3" was sub function of the last set. point table (255).
It was set.
Action
Review the settings.
Target
[A] [GF]
Alarm No.: 63
Alarm content
Detail Detail name No.
63.1
STO1 off
63.2
STO2 off
Name: STO timing error
STO input signal turns off while the servo motor is rotating.
Cause
Check method
Check result
(1) STO1 was turned off
Check if STO1 is off
(enabled) under the
(enabled).
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
(1) STO2 was turned off
Check if STO2 is off
(enabled) under the
(enabled).
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
It is off (enabled). It is off (enabled).
Action
Target
Turn on STO1 (disabled).
[A] [B] [WB] [RJ010] [GF]
Turn on STO2 (disabled).
74
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.4 Remedies for alarms
Alarm No.: 63
Name: STO timing error
Alarm content
Detail Detail name No.
STO input signal turns off while the servo motor is rotating.
Cause
Check method
Check result
Action
Target
1
63.5
STO by
functional
safety unit
(1) STO of the functional
Check if STO of the
safety unit was turned functional safety unit is
off (enabled) under the off (enabled).
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
It is off (enabled).
Turn on STO (disabled). [A] [B] [GF]
Alarm No.: 64
Alarm content
Detail Detail name No.
64.1
STO input error
64.2
Compatibility
mode setting
error
64.3
Operation mode
setting error
Name: Functional safety unit setting error
A setting of the servo amplifier or functional safety unit was incorrect.
Cause
Check method
Check result
Action
(1) When a functional
Check the connection of It is connected.
safety unit is used, a
the CN8 connector.
connector is connected
to CN8 of the servo
amplifier.
(1) When a functional
Check the parameter
safety unit is used, the setting.
J3 compatibility mode is
set.
The J3 compatibility mode is set.
(1) The speed monitoring Check if the parameter
function has been
setting is correct.
enabled in the fully
closed loop control
mode, linear servo
motor control mode,
direct drive motor
control mode, or
standard control mode
(scale measurement
function enabled).
The setting is incorrect.
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.
Target
[A] [B] [GF]
[B]
[A] [B] [GF]
Alarm No.: 65
Alarm content
Detail Detail name No.
65.1
Functional
safety unit
communication
error 1
Name: Functional safety unit connection error
Communication or signal between a functional safety unit and servo amplifier failed.
Cause
Check method
Check result
Action
Target
(1) The functional safety unit came off.
(2) The functional safety unit is malfunctioning.
(3) The servo amplifier is malfunctioning.
(4) Something near the device caused it.
Check the installation of It is disconnected. the functional safety unit.
Turn off the control circuit [A]
power supply of the
[B]
servo amplifier, and then [GF]
connect the functional
safety unit.
It is connected.
Check (2).
Replace the functional safety unit, and then check the repeatability.
It is not repeatable. It is repeatable.
Replace the functional safety unit.
Check (3).
Replace the servo amplifier, and then check the repeatability.
It is not repeatable. It is repeatable.
Replace the servo amplifier.
Check (4).
Check the noise, ambient There is a problem in the Take countermeasures
temperature, etc.
surrounding.
against its cause.
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.4 Remedies for alarms
75
Alarm No.: 65
Name: Functional safety unit connection error
Alarm content
Communication or signal between a functional safety unit and servo amplifier failed.
Detail Detail name Cause No.
Check method
Check result
Action
65.2
Functional
Check it with the check method for [AL. 65.1].
safety unit
communication
error 2
65.3
Functional
safety unit
communication
error 3
65.4
Functional
safety unit
communication
error 4
65.5
Functional
safety unit
communication
error 5
65.6
Functional
safety unit
communication
error 6
65.7
Functional
safety unit
communication
error 7
65.8
Functional
safety unit shut-
off signal error 1
65.9
Functional
safety unit shut-
off signal error 2
Target
Alarm No.: 66 Alarm content
Detail No.
66.1
Detail name
Encoder initial communication - Receive data error 1 (safety observation function)
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.
Cause
Check method
Check result
Action
Target
(1) An encoder cable is malfunctioning.
(2) The servo amplifier is malfunctioning.
(3) An encoder is malfunctioning.
(4) Something near the device caused it.
Check if the encoder cable is disconnected or shorted.
It has a failure. It has no failure.
Replace or repair the
[A]
cable.
[B]
Check (2).
[GF]
Replace the servo amplifier, and then check the repeatability.
It is not repeatable. It is repeatable.
Replace the servo amplifier.
Check (3).
Replace the servo motor, and then check the repeatability.
It is not repeatable. It is repeatable.
Replace the servo motor. Check (4).
Check the noise, ambient temperature, vibration, etc.
There is a problem in the surrounding.
Take countermeasures against its cause.
76
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.4 Remedies for alarms
Alarm No.: 66
Name: Encoder initial communication error (safety observation function)
Alarm content
The connected encoder is not compatible with the servo amplifier.
An error has occurred in the communication between an encoder and servo amplifier.
1
Detail Detail name Cause
Check method
Check result
Action
Target
No.
66.2
Encoder initial Check it with the check method for [AL. 66.1].
communication
- Receive data
error 2 (safety
observation
function)
66.3
Encoder initial
communication
- Receive data
error 3 (safety
observation
function)
66.7
Encoder initial
communication
- Transmission
data error 1
(safety
observation
function)
66.9
Encoder initial (1) A servo motor with
Check if a servo motor It is not a servo motor
Connect a servo motor [A]
communication
functional safety is not with functional safety is with functional safety.
with functional safety.
[B]
- Process error
connected.
connected.
It is a servo motor with Check (2).
[GF]
1 (safety
functional safety.
observation
function)
(2) The functional safety
Replace the functional
It is not repeatable.
Replace the functional
unit is malfunctioning. safety unit, and then
safety unit.
check the repeatability. It is repeatable.
Check (3).
(3) The servo amplifier is malfunctioning.
Replace the servo amplifier, and then check the repeatability.
It is not repeatable. It is repeatable.
Replace the servo amplifier.
Check (4).
(4) An encoder is malfunctioning.
Replace the servo motor, and then check the repeatability.
It is not repeatable. It is repeatable.
Replace the servo motor. Check (5).
(5) Something near the device caused it.
Check the noise, ambient There is a problem in the Take countermeasures
temperature, etc.
surrounding.
against its cause.
Alarm No.: 67
Alarm content
Detail Detail name No.
67.1
Encoder normal
communication
- Receive data
error 1 (safety
observation
function)
Name: Encoder normal communication error 1 (safety observation function)
An error has occurred in the communication between an encoder and servo amplifier.
Cause
Check method
Check result
Action
(1) An encoder cable is malfunctioning.
(2) The servo amplifier is malfunctioning.
(3) An encoder is malfunctioning.
(4) 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.
It has a failure.
It has no failure. It is not repeatable.
It is repeatable. It is not repeatable. It is repeatable. There is a problem in the surrounding.
Repair or replace the cable. Check (2). Replace the servo amplifier. Check (3). Replace the servo motor.
Check (4).
Take countermeasures against its cause.
Target
[A] [B] [GF]
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.4 Remedies for alarms
77
Alarm No.: 67
Alarm content
Detail Detail name No.
67.2
Encoder normal
communication
- Receive data
error 2 (safety
observation
function)
67.3
Encoder normal
communication
- Receive data
error 3 (safety
observation
function)
67.4
Encoder normal
communication
- Receive data
error 4 (safety
observation
function)
67.7
Encoder normal
communication
- Transmission
data error 1
(safety
observation
function)
Name: Encoder normal communication error 1 (safety observation function)
An error has occurred in the communication between an encoder and servo amplifier.
Cause
Check method
Check result
Action
Check it with the check method for [AL. 67.1].
Target
Alarm No.: 68
Alarm content
Detail Detail name No.
68.1
Mismatched STO signal error
Name: STO diagnosis error
An error of STO input signal was detected.
Cause
Check method
Check result
Action
(1) STO1 and STO2 are not inputted correctly.
Check if the STO1 and STO2 of CN8 connector are wired correctly.
It is not wired correctly. It is wired correctly.
Wire it correctly. Check (2).
(2) The input states of STO1 and STO2 are different.
Check the on/off states of STO1 and STO2.
The on/off states of STO1 and STO2 are different.
Set STO1 and STO2 to the same input states.
The on/off states of STO1 and STO2 are the same.
Check (3).
(3) The setting of [Pr. PF18 Set a longer time in the
STO diagnosis error
parameter, and then
detection time] ([Pr.
check the repeatability.
PX43] for when the J3
extension function is
used) is incorrect.
It is not repeatable. It is repeatable.
Review the parameter setting.
Check (4).
(4) The STO circuit is malfunctioning.
Replace the servo amplifier, and then check the repeatability.
It is not repeatable. It is repeatable.
Replace the servo amplifier.
Check (5).
(5) Something near the device caused it.
Check the noise, ambient There is a problem in the Take countermeasures
temperature, etc.
surrounding.
against its cause.
Target
[A] [B] [WB] [GF]
78
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.4 Remedies for alarms
Alarm No.: 69 Alarm content
Name: Command error
The command position exceeded 32 bits (-2147483648 to 2147483647) when the software limit is
1
activated.
The command position exceeded 30 bits (-536870912 to 536870911) from the value that was set when
the software limit was activated.
After the detection of LSP (Forward rotation stroke end) or LSN (Reverse rotation stroke end), the
command position exceeded 30 bits (-536870912 to 536870911) from the detected position.
After the detection of FLS (Upper stroke limit) or RLS (Lower stroke limit), the command position
exceeded 30 bits (-536870912 to 536870911) from the detected position.
Detail Detail name Cause No.
Check method
Check result
Action
Target
69.1
Forward
(1) The command position Check if the command The command position Set the command
[GF]
rotation-side
exceeded 32 bits when position is correct.
was set to 32 bits or
position correctly.
software limit
the software limit is
more.
detection Command excess error
activated. (2) The command position Check if the parameter
The command position was set correctly.
It was set within the
Check (2). Set [Pr. PT15] to [Pr.
exceeded 30 bits from settings of the software command position.
PT18] correctly.
the value that was set limit ([Pr. PT15] to [Pr. when the software limit PT18]) to the command
It was set correctly.
Check (3).
was activated.
position are correct.
(3) The controller is malfunctioning.
Replace the controller, and then check the repeatability.
It is not repeatable. It is repeatable.
Replace the controller. Check (4).
(4) Something near the device caused it.
Check the noise, ambient There is a problem in the Take countermeasures
temperature, etc.
surrounding.
against its cause.
69.2
Reverse
Check it with the check method for [AL. 69.1].
rotation-side
software limit
detection -
Command
excess error
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.4 Remedies for alarms
79
Alarm No.: 69 Alarm content
Detail No.
69.3
Detail name
Forward rotation stroke end detection Command excess error
69.4
Reverse
rotation stroke
end detection -
Command
excess error
69.5
Upper stroke
limit detection -
Command
excess error
Name: Command error
The command position exceeded 32 bits (-2147483648 to 2147483647) when the software limit is activated. The command position exceeded 30 bits (-536870912 to 536870911) from the value that was set when the software limit was activated. After the detection of LSP (Forward rotation stroke end) or LSN (Reverse rotation stroke end), the command position exceeded 30 bits (-536870912 to 536870911) from the detected position. After the detection of FLS (Upper stroke limit) or RLS (Lower stroke limit), the command position exceeded 30 bits (-536870912 to 536870911) from the detected position.
Cause
Check method
Check result
Action
Target
(1) The command position Check the command exceeded 30 bits from position. the detected position after the detection of LSP (Forward rotation stroke end).
The command position was set to 30 bits or more.
It was set correctly.
Check operation pattern. [GF] Check (2).
(2) The forward rotation
Check if the limit switch
stroke limit switch is not is connected correctly.
connected to LSP
(Forward rotation stroke
end).
It is not connected. It is connected.
Connect it correctly. Check (3).
(3) The controller is malfunctioning.
Replace the controller, and then check the repeatability.
It is not repeatable. It is repeatable.
Replace the controller. Check (4).
(4) Something near the device caused it.
Check the noise, ambient There is a problem in the Take countermeasures
temperature, etc.
surrounding.
against its cause.
(1) The command position Check the command exceeded 30 bits from position. the detected position after the detection of LSN (Reverse rotation stroke end).
The command position was set to 30 bits or more.
It was set correctly.
Check operation pattern. Check (2).
(2) The reverse rotation
Check if the limit switch
stroke limit switch is not is connected correctly.
connected to LSN
(Reverse rotation stroke
end).
It is not connected. It is connected.
Connect it correctly. Check (3).
(3) The controller is malfunctioning.
Replace the controller, and then check the repeatability.
It is not repeatable. It is repeatable.
Replace the controller. Check (4).
(4) Something near the device caused it.
Check the noise, ambient There is a problem in the Take countermeasures
temperature, etc.
surrounding.
against its cause.
(1) The command position Check the command exceeded 30 bits from position. the detected position after the detection of FLS (Upper stroke limit).
The command position was set to 30 bits or more.
It was set correctly.
Check operation pattern. Check (2).
(2) The upper stroke limit switch is not wired. Or the switch is incorrectly positioned.
Check if the limit switch is wired correctly. Or check if the switch is incorrectly positioned.
It has a failure. It has no failure.
Take countermeasures against its cause.
Check (3).
(3) Something near the device caused it.
Check the noise, ambient There is a problem in the Take countermeasures
temperature, etc.
surrounding.
against its cause.
There is no problem in the surrounding.
Check (4).
(4) The controller is malfunctioning.
Replace the controller, and then check the repeatability.
It is not repeatable.
Replace the controller.
80
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.4 Remedies for alarms
Alarm No.: 69
Name: Command error
Alarm content
The command position exceeded 32 bits (-2147483648 to 2147483647) when the software limit is
activated.
1
The command position exceeded 30 bits (-536870912 to 536870911) from the value that was set when
the software limit was activated.
After the detection of LSP (Forward rotation stroke end) or LSN (Reverse rotation stroke end), the
command position exceeded 30 bits (-536870912 to 536870911) from the detected position.
After the detection of FLS (Upper stroke limit) or RLS (Lower stroke limit), the command position
exceeded 30 bits (-536870912 to 536870911) from the detected position.
Detail Detail name Cause No.
Check method
Check result
Action
Target
69.6
Lower stroke
(1) The command position Check the command
limit detection -
exceeded 30 bits from position.
Command
the detected position
excess error
after the detection of
RLS (Lower stroke
limit).
The command position was set to 30 bits or more.
It was set correctly.
Check operation pattern. [GF] Check (2).
(2) The lower stroke limit switch is not wired. Or the switch is incorrectly positioned.
Check if the limit switch is wired correctly. Or check if the switch is incorrectly positioned.
It has a failure. It has no failure.
Take countermeasures against its cause.
Check (3).
(3) Something near the device caused it.
Check the noise, ambient There is a problem in the Take countermeasures
temperature, etc.
surrounding.
against its cause.
There is no problem in the surrounding.
Check (4).
(4) The controller is malfunctioning.
Replace the controller, and then check the repeatability.
It is not repeatable.
Replace the controller.
Alarm No.: 70
Alarm content
Detail Detail name No.
70.1
Load-side
encoder initial
communication
- Receive data
error 1
70.2
Load-side
encoder initial
communication
- Receive data
error 2
Name: Load-side encoder initial communication error 1
An error occurred in the initial communication between the load-side encoder and servo amplifier.
Cause
Check method
Check result
Action
Target
(1) A load-side encoder
Check if the load-side
It has a failure.
cable is malfunctioning. encoder cable is
disconnected or shorted. It has no failure.
Replace or repair the cable.
Check (2).
(2) When you use an A/B/ Check if the servo
Z-phase differential
amplifier (MR-J4-_-RJ) is
output linear encoder, compatible with the A/B/
the servo amplifier is
Z-phase differential
not compatible with the output linear encoder.
linear encoder.
(3) When you use an A/B/ Check if the wiring of the
Z-phase differential
linear encoder is correct.
output linear encoder, (Check if it is wired to
the connection with the PSEL.)
linear encoder is
incorrect.
(4) The servo amplifier is malfunctioning.
Replace the servo amplifier, and then check the repeatability.
(5) A load-side encoder is Replace the load-side
malfunctioning.
encoder, and then check
the repeatability.
(6) Something near the device caused it.
Check the noise, ambient temperature, vibration, etc.
Check it with the check method for [AL. 70.1].
The servo amplifier is not compatible with it.
The servo amplifier is compatible with it. The wiring is incorrect.
The wiring is correct.
It is not repeatable.
It is repeatable. It is not repeatable.
It is repeatable. There is a problem in the surrounding.
Use a servo amplifier which is compatible with it. Check (3).
Wire it correctly.
Check (4).
Replace the servo amplifier. Check (5). Replace the load-side encoder. Check (6). Take countermeasures against its cause.
[A] [B] [WB] [GF] [A] [B] [GF]
[A] [B] [WB] [GF]
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.4 Remedies for alarms
81
Alarm No.: 70
Alarm content
Detail Detail name No.
70.3
Load-side
encoder initial
communication
- Receive data
error 3
70.4
Load-side
encoder initial
communication
- Encoder
malfunction
Name: Load-side encoder initial communication error 1
An error occurred in the initial communication between the load-side encoder and servo amplifier.
Cause
Check method
Check result
Action
Target
(1) An axis not used is not set as disabled-axis.
(2) The load-side encoder cable was disconnected.
(3) A load-side encoder cable is malfunctioning.
(4) The power voltage has been unstable. (For the load-side encoder with the external power supply input)
(5) The parameter setting of communication method is incorrect. [A]: [Pr. PC44] [B] [GF]: [Pr. PC26]
(6) When you use an A/B/ Z-phase differential output linear encoder, the connection with the linear encoder is incorrect.
(7) When you use a fourwire type linear encoder, the servo amplifier is not compatible with the four-wire type linear encoder.
(8) The servo amplifier is malfunctioning.
(9) A load-side encoder is malfunctioning.
(10) Something near the device caused it.
(1) A load-side encoder is malfunctioning.
(2) Something near the device caused it.
Check the setting of the disabling control axis switches (SW2-2/SW2-3/ SW2-4). Check if the load-side encoder cable is connected correctly. Check if the load-side encoder cable is disconnected or shorted.
Check the power capacity and voltage.
Check the parameter setting.
Check if the wiring of the linear encoder is correct. (Check if it is wired to PSEL.)
Check if the servo amplifier is compatible with the four-wire type linear encoder. (MR-J4_-RJ)
Replace the servo amplifier, and then check the repeatability.
Replace the load-side encoder, and then check the repeatability.
Check the noise, ambient temperature, vibration, etc. Replace the load-side encoder, and then check the repeatability.
Check the noise, ambient temperature, vibration, etc.
It is not set as disabledaxis. It is set as disabled-axis. It is not connected. It is connected. It has a failure. It has no failure. It has a failure. It has no failure.
The setting is incorrect.
The setting is correct.
The wiring is incorrect.
The wiring is correct.
It is not compatible.
It is compatible.
It is not repeatable. It is repeatable. It is not repeatable. It is repeatable. There is a problem in the surrounding. It is not repeatable. It is repeatable. There is a problem in the surrounding.
Set it as disabled-axis.
Check (2).
Connect it correctly. Check (3).
Replace or repair the cable. Check (4). Review the power and related parts. Check (5).
Set it correctly.
Check (6).
Wire it correctly.
Check (7).
Use a servo amplifier which is compatible with it. Check (8).
Replace the servo amplifier. Check (9). Replace the load-side encoder. Check (10). Take countermeasures against its cause.
Replace the load-side encoder. Check (2). Take countermeasures against its cause.
[WB] [A] [B] [WB] [GF]
[A] [B] [GF]
[A] [B] [WB] [GF]
[B] [WB]
82
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.4 Remedies for alarms
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.
Detail Detail name Cause
Check method
Check result
Action
Target
1
No.
70.5
Load-side
(1) When you use an A/B/ Check if the A/B-phase It is disconnected or
Repair the encoder
[A]
encoder initial
Z-phase differential
pulse signals (PA, PAR, shorted.
cable.
[B]
communication
output linear encoder, PB, and PBR) of the
It is not disconnected or Check (2).
[GF]
- Transmission
the wiring of the linear encoder cable are
shorted.
data error 1
encoder is incorrect.
disconnected or shorted.
(2) A load-side encoder
Check it with the check method for [AL. 70.1].
cable is malfunctioning.
(3) The servo amplifier is malfunctioning.
[A] [B] [WB] [GF]
(4) A load-side encoder is malfunctioning.
(5) Something near the device caused it.
70.6
Load-side
(1) When you use an A/B/ Check if the Z-phase
It is disconnected or
Repair the encoder
[A]
encoder initial
Z-phase differential
pulse signals (PZ/PZR) shorted.
cable.
[B]
communication
output linear encoder, of the encoder cable are It is not disconnected or Check (2).
[GF]
- Transmission
the wiring of the linear disconnected or shorted. shorted.
data error 2
encoder is incorrect.
(2) A load-side encoder
Check it with the check method for [AL. 70.1].
cable is malfunctioning.
(3) The servo amplifier is malfunctioning.
[A] [B] [WB] [GF]
(4) A load-side encoder is malfunctioning.
(5) Something near the device caused it.
70.7
Load-side
Check it with the check method for [AL. 70.1].
encoder initial
communication
- Transmission
data error 3
70.8
Load-side
(1) A load-side encoder,
Check the model of the It is not compatible with Use a load-side encoder [B]
encoder initial
which is not compatible load-side encoder.
the servo amplifier.
which is compatible with [WB]
communication
with the servo amplifier,
the servo amplifier.
- Incompatible encoder
was connected.
It is compatible with the servo amplifier.
Check (2).
(2) The software version of Check if the software
the servo amplifier does version of the servo
not support the load-
amplifier supports the
side encoder.
load-side encoder.
It is not compatible.
Replace the servo amplifier to one which software version supports the load-side encoder.
It is compatible.
Check (3).
(3) A load-side encoder is Replace the load-side
It is not repeatable.
malfunctioning.
encoder, and then check
the repeatability.
It is repeatable.
Replace the load-side encoder.
Replace the servo amplifier.
70.A
Load-side
(1)
encoder initial
communication
- Process error
1
(2)
The servo amplifier is malfunctioning.
A load-side encoder is malfunctioning.
Replace the servo amplifier, and then check the repeatability.
Replace the load-side encoder, and then check the repeatability.
It is not repeatable.
It is repeatable. It is not repeatable.
It is repeatable.
Replace the servo amplifier.
Check (2).
Replace the load-side encoder.
Check (3).
[A] [B] [WB] [GF]
(3) Something near the device caused it.
Check the noise, ambient temperature, vibration, etc.
There is a problem in the surrounding.
Take countermeasures against its cause.
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.4 Remedies for alarms
83
Alarm No.: 70
Alarm content
Detail Detail name No.
70.B
Load-side encoder initial communication - Process error 2
70.C
Load-side encoder initial communication - Process error 3
70.D
Load-side encoder initial communication - Process error 4
70.E
Load-side encoder initial communication - Process error 5
70.F
Load-side encoder initial communication - Process error 6
Name: Load-side encoder initial communication error 1
An error occurred in the initial communication between the load-side encoder and servo amplifier.
Cause
Check method
Check result
Action
Target
Check it with the check method for [AL. 70.A].
Alarm No.: 71
Alarm content
Detail Detail name No.
71.1
Load-side
encoder normal
communication
- Receive data
error 1
Name: Load-side encoder normal communication error 1
An error occurred in the communication between the load-side encoder and servo amplifier.
Cause
Check method
Check result
Action
(1) A load-side encoder
Check if the load-side
It has a failure.
cable is malfunctioning. encoder cable is
disconnected or shorted. It has no failure.
Repair or replace the cable.
Check (2).
(2) The external conductor Check if it is connected. It is not connected.
of the encoder cable is
not connected to the ground plate of the
It is connected.
connector.
Connect it correctly. Check (3).
(3) The parameter setting Check the parameter
of communication
setting.
method is incorrect.
[A]: [Pr. PC44]
[B] [GF]: [Pr. PC26]
The setting is incorrect. Set it correctly.
The setting is correct.
Check (4).
(4) The servo amplifier is malfunctioning.
Replace the servo amplifier, and then check the repeatability.
It is not repeatable. It is repeatable.
Replace the servo amplifier.
Check (5).
(5) A load-side encoder is Replace the load-side
It is not repeatable.
malfunctioning.
encoder, and then check
the repeatability.
It is repeatable.
Replace the load-side encoder.
Check (6).
(6) Something near the device caused it.
Check the noise, ambient temperature, vibration, etc.
There is a problem in the surrounding.
Take countermeasures against its cause.
Target
[A] [B] [WB] [GF]
[A] [B] [GF]
[A] [B] [WB] [GF]
84
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.4 Remedies for alarms
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.
Detail Detail name Cause
Check method
Check result
Action
Target
1
No.
71.2
Load-side
Check it with the check method for [AL. 71.1].
encoder normal
communication
- Receive data
error 2
71.3
Load-side
encoder normal
communication
- Receive data
error 3
71.5
Load-side
encoder normal
communication
- Transmission
data error 1
71.6
Load-side
encoder normal
communication
- Transmission
data error 2
71.7
Load-side
encoder normal
communication
- Transmission
data error 3
71.9
Load-side
encoder normal
communication
- Receive data
error 4
71.A
Load-side encoder normal communication - Receive data error 5
Alarm No.: 72
Alarm content
Detail Detail name No.
72.1
Load-side
encoder data
error 1
72.2
Load-side
encoder data
update error
72.3
Load-side
encoder data
waveform error
Name: Load-side encoder normal communication error 2
The load-side encoder detected an error signal.
Cause
Check method
Check result
Action
Target
(1) The encoder detected a Decrease the loop gain,
high speed/acceleration and then check the
rate due to an
repeatability.
oscillation or other
factors.
(2) A load-side encoder is Replace the load-side
malfunctioning.
encoder, and then check
the repeatability.
(3) Something near the device caused it.
Check the noise, ambient temperature, vibration, etc.
(1) A load-side encoder is Replace the load-side
malfunctioning.
encoder, and then check
the repeatability.
(2) Something near the device caused it.
Check the noise, ambient temperature, etc.
Check it with the check method for [AL. 72.2].
It is not repeatable.
It is repeatable.
It is not repeatable.
It is repeatable. There is a problem in the surrounding.
It is not repeatable.
It is repeatable. There is a problem in the surrounding.
Use the encoder with low loop gain. Check (2).
Replace the load-side encoder. Check (3). Take countermeasures against its cause.
Replace the load-side encoder. Check (2). Take countermeasures against its cause.
[A] [B] [WB] [GF]
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.4 Remedies for alarms
85
Alarm No.: 72
Alarm content
Detail Detail name No.
72.4
Load-side
encoder non-
signal error
72.5
Load-side
encoder
hardware error
1
72.6
Load-side
encoder
hardware error
2
72.9
Load-side
encoder data
error 2
Name: Load-side encoder normal communication error 2
The load-side encoder detected an error signal.
Cause
Check method
Check result
Action
(1) A signal of the load-side Check if the load-side
encoder has not been encoder cable is wired
inputted.
correctly.
(2) Something near the device caused it.
Check the noise, ambient temperature, etc.
Check it with the check method for [AL. 72.2].
It has a failure. It has no failure.
There is a problem in the surrounding.
Review the wiring. Check (2).
Take countermeasures against its cause.
Check it with the check method for [AL. 72.1].
Target
[A] [B] [WB] [GF]
Alarm No.: 74 Alarm content
Detail No.
74.1
Detail name
Option card error 1
74.2
Option card
error 2
74.3
Option card
error 3
74.4
Option card
error 4
74.5
Option card
error 5
Name: Option card error 1
MR-J3-T10 came off. MR-J3-T10 is not properly recognized.
Cause
Check method
Check result
(1) The MR-J3-T10 came Check if the MR-J3-T10 off during the CC-Link is mounted correctly. IE communication.
(2) MR-J3-T10 is malfunctioning.
Replace the MR-J3-T10, and then check the repeatability.
(3) The servo amplifier is malfunctioning.
Replace the servo amplifier, and then check the repeatability.
Check it with the check method for [AL. 74.1].
It is not mounted correctly. It is mounted correctly. It is not repeatable. It is repeatable.
It is not repeatable.
Action
Target
Install it correctly.
[RJ010]
Check (2). Replace the MR-J3-T10. Check (3).
Replace the servo amplifier.
86
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.4 Remedies for alarms
Alarm No.: 75
Alarm content
Detail Detail name No.
Name: Option card error 2
MR-J3-T10 came off.
Cause
Check method
Check result
Action
1
Target
75.3
Option card
(1) MR-J3-T10 came off. Check if the MR-J3-T10 It is not mounted
connection error
is mounted correctly.
correctly.
Install it correctly.
[RJ010]
It is mounted correctly. Check (2).
(2) MR-J3-T10 is malfunctioning.
Replace the MR-J3-T10, and then check the repeatability.
It is not repeatable. It is repeatable.
Replace the MR-J3-T10. Check (3).
(3) The servo amplifier is malfunctioning.
Replace the servo amplifier, and then check the repeatability.
It is not repeatable.
Replace the servo amplifier.
75.4
Option card
(1) MR-J3-T10 was not
Check if the MR-J3-T10 It is not mounted
disconnected
connected correctly.
is mounted correctly.
correctly.
Install it correctly.
It is mounted correctly. Check (2).
(2) MR-J3-T10 is malfunctioning.
Replace the MR-J3-T10, and then check the repeatability.
It is not repeatable. It is repeatable.
Replace the MR-J3-T10. Check (3).
(3) The servo amplifier is malfunctioning.
Replace the servo amplifier, and then check the repeatability.
It is not repeatable.
Replace the servo amplifier.
Alarm No.: 79
Alarm content
Detail Detail name No.
79.1
Functional
safety unit
power voltage
error
79.2
Functional
safety unit
internal error
Name: Functional safety unit diagnosis error
A diagnosis of the functional safety unit failed.
Cause
Check method
Check result
Action
(1) The power supply of the Check the installation of It has a failure. functional safety unit is the functional safety unit. It has no failure. failure.
Install it correctly. Check (2).
(2) The functional safety unit is malfunctioning.
Replace the functional safety unit, and then check the repeatability.
It is not repeatable. It is repeatable.
Replace the functional safety unit.
Check (3).
(3) The servo amplifier is malfunctioning.
Replace the servo amplifier, and then check the repeatability.
It is not repeatable. It is repeatable.
Replace the servo amplifier.
Check (4).
(4) Something near the device caused it.
Check the power supply There is a problem in the Take countermeasures
for noise.
surrounding.
against its cause.
(1) The functional safety unit is malfunctioning.
Replace the functional safety unit, and then check the repeatability.
It is not repeatable. It is repeatable.
Replace the functional safety unit.
Check (2).
(2) Something near the device caused it.
Check the power supply There is a problem in the Take countermeasures
for noise.
surrounding.
against its cause.
Target
[A] [B] [GF]
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.4 Remedies for alarms
87
Alarm No.: 79
Alarm content
Detail Detail name No.
79.3
Abnormal
temperature of
functional safety
unit
79.4
Servo amplifier
error
79.5
Input device
error
Name: Functional safety unit diagnosis error
A diagnosis of the functional safety unit failed.
Cause
Check method
(1) Ambient temperature has exceeded 55 .
Check the ambient temperature.
(2) Ambient temperature is Check the ambient
less than 0 .
temperature.
(3) The close mounting is out of specifications.
Check the specifications of close mounting.
(4) An opening is clogged Clean the opening and
up.
check the repeatability.
(5) The functional safety unit is malfunctioning.
Replace the functional safety unit, and then check the repeatability.
(6) Something near the device caused it.
(1) The functional safety unit came off.
Check the power supply for noise.
Check the installation of the functional safety unit.
(2) The functional safety unit is malfunctioning.
Replace the functional safety unit, and then check the repeatability.
(3) The servo amplifier is malfunctioning.
Replace the servo amplifier, and then check the repeatability.
(4) Something near the device caused it.
Check the noise, ambient temperature, etc.
(1) A signal of input device Check if the input device is not inputted correctly. cable is wired correctly.
(2) The input device setting Check if the parameter is
parameter is not set
set correctly.
correctly.
(3) The test pulse time was Check the setting of [Pr.
not set correctly.
PSD26 Input device -
Test pulse off time].
(4) The functional safety unit is malfunctioning.
(5) Something near the device caused it.
Replace the functional safety unit, and then check the repeatability.
Check the noise, ambient temperature, etc.
Check result
It is over 55 .
It is less than 55 . It is less than 0 .
It is 0 or more. It is out of specifications. It is within specifications. It is not repeatable. It is repeatable. It is not repeatable.
It is repeatable. There is a problem in the surrounding. It has a failure. It has no failure. It is not repeatable.
It is repeatable. It is not repeatable.
It is repeatable. There is a problem in the surrounding. It has a failure. It has no failure. It is not set correctly. It is set correctly.
The test pulse width is longer than the set value. The test pulse width is shorter than the set value. It is not repeatable.
It is repeatable. There is a problem in the surrounding.
Action
Lower the ambient temperature. Check (2). Increase the ambient temperature. Check (3). Mount it correctly. Check (4). Clean it periodically. Check (5). Replace the functional safety unit. Check (6). Take countermeasures against its cause. Install it correctly. Check (2). Replace the functional safety unit. Check (3). Replace the servo amplifier. Check (4). Take countermeasures against its cause. Review the wiring. Check (2). Review the parameter. Check (3).
Set the value longer.
Check (4).
Replace the functional safety unit. Check (5). Take countermeasures against its cause.
Target
[A] [B] [GF]
88
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.4 Remedies for alarms
Alarm No.: 79
Name: Functional safety unit diagnosis error
Alarm content
Detail Detail name No.
A diagnosis of the functional safety unit failed.
Cause
Check method
Check result
Action
Target
1
79.6
Output device (1) A signal of an output
Check if the output
It has a failure.
error
device has not been
device cable is wired
outputted correctly.
correctly. Or check if the It has no failure. load of the output device
is within the
specifications.
Review the wiring or
[A]
load.
[B]
Check (2).
[GF]
(2) The test pulse time was Check the setting of [Pr. The test pulse width is Set the value longer.
not set correctly.
PSD30 Output device - longer than the set value.
Test pulse off time].
The test pulse width is Check (3).
shorter than the set
value.
(3) Current of the output device is excessive.
Check if the current is used within prescribed.
Not within prescribed.
Reduce the output current.
Within prescribed.
Check (4).
(4) The functional safety unit is malfunctioning.
Replace the functional safety unit, and then check the repeatability.
It is not repeatable. It is repeatable.
Replace the functional safety unit.
Check (5).
(5) Something near the device caused it.
Check the noise, ambient There is a problem in the Take countermeasures
temperature, etc.
surrounding.
against its cause.
79.7
Mismatched input signal error
(1) A mismatch of input
Check if the input device It has a failure.
signal DI_A and DI_B cable is wired correctly.
continued for a fixed time ([Pr. PSD18] to [Pr.
It has no failure.
PSD23]).
Review the wiring. Check (2).
(2) An input mismatch time Check the settings of [Pr. The mismatched time is Set the value longer.
was not set correctly. PSD18 Mismatch
longer than the set value.
permissible time DI1] to [Pr. PSD23 Mismatch permissible time DI6].
The mismatched time is shorter than the set value.
Check (3).
(3) The functional safety unit is malfunctioning.
Replace the functional safety unit, and then check the repeatability.
It is not repeatable. It is repeatable.
Replace the functional safety unit.
Check (4).
(4) Something near the device caused it.
Check the noise, ambient There is a problem in the Take countermeasures
temperature, etc.
surrounding.
against its cause.
79.8
Position
(1) The position feedback Check the [Pr. PSA22] It is not set correctly.
feedback fixing
data do not change
setting.
error
within the position
feedback fixing error
It is set correctly.
detection time [Pr.
PSA22].
Review the parameter. Check (2).
(2) The position feedback Check the feedback data The position feedback
data do not change.
by rotating the servo
data changes.
motor.
Perform an operation which rotates the servo motor within the position feedback fixing error detection time [Pr. PSA22].
The position feedback data do not change.
Check (3).
(3) The servo motor is malfunctioning.
Replace the servo motor, and then check the repeatability.
It is not repeatable. It is repeatable.
Replace the servo motor. Check (4).
(4) The functional safety unit is malfunctioning.
Replace the functional safety unit, and then check the repeatability.
It is not repeatable.
Replace the functional safety unit.
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.4 Remedies for alarms
89
Alarm No.: 7A
Alarm content
Detail Detail name No.
7A.1
Parameter verification error (safety observation function)
7A.2
Parameter setting range error (safety observation function)
7A.3
Parameter combination error (safety observation function)
7A.4
Functional safety unit combination error (safety observation function)
Name: Parameter setting error (safety observation function)
A parameter of the functional safety unit failed.
Cause
Check method
Check result
(1) A parameter of the
Review the parameter.
functional safety unit is
incorrect.
It is not repeatable. It is repeatable.
(2) The functional safety unit is malfunctioning.
Replace the functional safety unit, and then check the repeatability.
It is not repeatable. It is repeatable.
(3) Something near the device caused it.
Check the noise, ambient There is a problem in the
temperature, etc.
surrounding.
(1) The initial settings for the functional safety unit have not been finished.
Check the [Pr. PSA01] setting.
It is not enabled. It is enabled.
(2) A parameter of the functional safety unit was set out of range.
Check the value of set parameters.
It is out of setting range.
(1) A parameter of the
Check the parameter
It is not set correctly.
functional safety unit or settings of the functional
servo amplifier is
safety unit and servo
incorrect.
amplifier.
Functional safety unit:
[Pr. PSA02], [Pr. PSA18]
to [Pr. PSA21], [Pr.
PSC03], [Pr. PSD01] to
[Pr. PSD17], [Pr. PSD26]
Servo amplifier:
[Pr. PA14]
(1) A combination of functional safety unit and servo amplifier is incorrect.
Check if correct combination of servo amplifier is connected.
A different servo amplifier is connected.
Action
Set the parameter correctly. Check (2). Replace the functional safety unit. Check (3). Take countermeasures against its cause. Enable the setting with checking parameter contents. Check (2). Set it within the range.
Set the parameter correctly.
Return to the servo amplifier which was combined with the functional safety unit and was set the safety observation function, or initialize the setting.
Target
[A] [B] [GF]
Alarm No.: 7B
Alarm content
Detail Detail name No.
7B.1
Encoder diagnosis error 1 (safety observation function)
Name: Encoder diagnosis error (safety observation function)
Error occurred in encoder.
Cause
Check method
Check result
Action
Target
(1) An encoder cable is malfunctioning.
(2) An encoder is malfunctioning.
(3) The functional safety unit is malfunctioning.
(4) The servo amplifier is malfunctioning.
(5) Something near the device caused it.
Check if the encoder cable is disconnected or shorted.
It has a failure. It has no failure.
Repair or replace the
[A]
cable.
[B]
Check (2).
[GF]
Replace the servo motor, and then check the repeatability.
It is not repeatable. It is repeatable.
Replace the servo motor. Check (3).
Replace the functional safety unit, and then check the repeatability.
It is not repeatable. It is repeatable.
Replace the functional safety unit.
Check (4).
Replace the servo amplifier, and then check the repeatability.
It is not repeatable. It is repeatable.
Replace the servo amplifier.
Check (5).
Check the noise, ambient temperature, vibration, etc.
There is a problem in the surrounding.
Take countermeasures against its cause.
90
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.4 Remedies for alarms
Alarm No.: 7B
Name: Encoder diagnosis error (safety observation function)
Alarm content
Detail Detail name No.
Error occurred in encoder.
Cause
Check method
Check result
Action
Target
1
7B.2
Encoder diagnosis error 2 (safety observation function)
Check it with the check method for [AL. 7B.1].
7B.3
Encoder diagnosis error 3 (safety observation function)
7B.4
Encoder
(1) Ambient temperature of Check the ambient
diagnosis error
the encoder has
temperature of the
4 (safety
exceeded 40 .
encoder.
observation function)
(2) Ambient temperature of Check the ambient the encoder is less than temperature of the
0 .
encoder.
It is over 40 .
It is 40 or less. It is 0 or less.
It is 0 or more.
Lower the ambient
[A]
temperature.
[B]
Check (2).
[GF]
Increase the ambient temperature.
Check (3).
(3) Servo motor is overloaded.
Check the effective load ratio.
The effective load ratio is high.
Reduce the load or review the operation pattern.
The effective load ratio is Check (4). small.
(4) The thermal sensor in the encoder is malfunctioning.
Replace the servo motor, and then check the repeatability.
It is not repeatable. It is repeatable.
Replace the servo motor. Check (5).
(5) The functional safety unit is malfunctioning.
Replace the functional safety unit, and then check the repeatability.
It is not repeatable.
Replace the functional safety unit.
Alarm No.: 7C
Alarm content
Detail Detail name No.
7C.1
Functional safety unit communication setting error (safety observation function)
Name: Functional safety unit communication diagnosis error (safety observation function)
The network communication had an error in the functional safety unit.
Cause
Check method
Check result
Action
(1) Communication cycle does not match.
Check the communication cycle setting ([Pr. PSC01]) of the servo system controller and the functional safety unit.
Communication cycle setting is incorrect.
Communication cycle setting is correct.
(2) The time taken for the Refer to "MR-D30
It is not set correctly.
detection of safety
Instruction Manual" and
communication errors is check the setting. not set correctly.
It is set correctly.
Set it correctly. Check (2). Set it correctly. Check (3).
(3) The functional safety unit is malfunctioning.
Replace the functional safety unit, and then check the repeatability.
It is not repeatable. It is repeatable.
Replace the functional safety unit.
Check (4).
(4) Something near the device caused it.
Check the noise, ambient There is a problem in the Take countermeasures
temperature, etc.
surrounding.
against its cause.
Target
[B] [GF]
[GF]
[B] [GF]
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.4 Remedies for alarms
91
Alarm No.: 7C
Alarm content
Detail Detail name No.
7C.2
Functional safety unit communication data error (safety observation function)
Name: Functional safety unit communication diagnosis error (safety observation function)
The network communication had an error in the functional safety unit.
Cause
Check method
Check result
Action
(1) The time taken for the Refer to "MR-D30
It is not set correctly.
detection of safety
Instruction Manual" and
communication errors is check the setting. not set correctly.
It is set correctly.
(2) An error occurred at the Check if an alarm occurs It is occurring.
safety master station
at the safety master
side.
station.
(3) An error occurred at the Check if the settings of
servo system controller the servo system
side.
controller side are
correct.
It did not occur. It has a failure.
It has no failure.
(4) [B]: Check it with the check method for [AL. 34.1]. [GF]: Check it with the check method for [AL. 8D.1].
Set it correctly.
Check (2).
Refer to the troubleshooting for the master station and take countermeasures. Check (3). Set it correctly.
Check (4).
Target
[GF]
[B] [B] [GF]
92
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.4 Remedies for alarms
Alarm No.: 7D
Alarm content
Detail Detail name No.
Name: Safety observation error
The safety observation function detected an error.
Cause
Check method
Check result
Action
1
Target
7D.1
Stop observation error
(1) During activation of
Check that the actual
SOS function, the
servo motor position is
position of the servo
higher than the setting
motor has changed by value of [Pr. PSA05].
more than the SOS
allowance value set by
parameter.
The travel distance of the Review the alarm level. [A]
servo motor is larger than
[B]
the setting value in [Pr.
[GF]
PSA05].
The travel distance of the servo motor is smaller than the alarm detection level.
Check (2).
(2) During activation of
The actual servo motor The servo motor speed is Review the parameter
SOS function, the servo speed is higher than the higher than the setting setting.
motor speed has
setting value of [Pr.
value in [Pr. PSA04].
changed by larger than the SOS allowance value set by parameter, and that state has continued for longer than the set time
PSA04].
The servo motor speed is higher than the setting value in [Pr. PSA15] and equal to or lower than that in [Pr. PSA04].
Check (3).
(specified by [Pr.
PSA15]).
(3) During activation of
Check if the command The command from the Check the operation
SOS function, the
from the controller is over controller is over the
pattern.
speed command has the standstill speed set in setting valued in [Pr.
changed by larger than [Pr. PSA04].
PSA04].
the SOS allowance value set by parameter, and that state has continued for longer than the set time (specified by [Pr. PSA15]).
The command from controller is higher than the setting value in [Pr. PSA15] and equal to or lower than that in [Pr. PSA04].
Check (4).
(4) An encoder is malfunctioning.
Replace the servo motor, and then check the repeatability.
It is not repeatable. It is repeatable.
Replace the servo motor. Check (5).
(5) The functional safety unit is malfunctioning.
Replace the functional safety unit, and then check the repeatability.
It is not repeatable. It is repeatable.
Replace the functional safety unit.
Check (6).
(6) The servo amplifier is malfunctioning.
Replace the servo amplifier, and then check the repeatability.
It is not repeatable. It is repeatable.
Replace the servo motor. Check (7).
(7) Something near the device caused it.
Check the noise, ambient temperature, vibration, etc.
There is a problem in the surrounding.
Take countermeasures against its cause.
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.4 Remedies for alarms
93
Alarm No.: 7D
Alarm content
Detail Detail name No.
7D.2
Speed observation error
Name: Safety observation error
The safety observation function detected an error.
Cause
Check method
Check result
Action
Target
(1) The command pulse frequency is high.
Check the command pulse frequency.
The command pulse frequency is high.
The command pulse frequency is low.
Check operation pattern. [A]
[B]
Check (2).
[GF]
(2) The settings of the electronic gear are incorrect.
Check the setting value of the electronic gear.
The setting value is incorrect.
The setting value is correct.
Review the settings. Check (3).
(3) The command from the Check if the command It is over the permissible Check operation pattern.
controller is excessive. from the controller is the speed.
SLS speed ([Pr. PSA11] to [Pr. PSA14]) or more.
It is less than the permissible speed.
Check (4).
(4) A larger speed
Check that the actual
The servo motor speed is Review the setting value
command than the SLS servo motor speed is
higher than the SLS
of the SLS speed.
speed ([Pr. PSA11] to higher than the setting
speed.
[Pr. PSA14]) was inputted.
value of the SLS speed.
The servo motor speed is Check (5). lower than the SLS
speed.
(5) The servo system is unstable and oscillating.
Check if the servo motor is oscillating.
It is oscillating. It is not oscillating.
Adjust the servo gain. Or reduce the load.
Check (6).
(6) The velocity waveform Check if it is
has overshot.
overshooting because
the acceleration time
constant is too short.
It is overshooting. It is not overshooting.
Increase the acceleration/deceleration time constant.
Check (7).
(7) The connection destination of the encoder cable is incorrect.
Check the connection destination of the encoder.
It is not correct. It is correct.
Wire it correctly. Check (8).
(8) The encoder or linear encoder is malfunctioning.
Replace the servo motor, and then check the repeatability.
It is not repeatable. It is repeatable.
Replace the servo motor. Check (9).
(9) The functional safety unit is malfunctioning.
Replace the functional safety unit, and then check the repeatability.
It is not repeatable. It is repeatable.
Replace the functional safety unit.
Check (10).
(10) The servo amplifier is malfunctioning.
Replace the servo amplifier, and then check the repeatability.
It is not repeatable. It is repeatable.
Replace the servo amplifier.
Check (11).
(11) Something near the device caused it.
Check the noise, ambient There is a problem in the Take countermeasures
temperature, etc.
surrounding.
against its cause.
Alarm No.: 82
Alarm content
Detail Detail name No.
82.1
Master-slave
operation error
1
Name: Master-slave operation error 1
Driver communication error was detected.
Cause
Check method
Check it with the check method for [AL. 34.1].
Check result
Action
Target
[B] (slave)
94
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.4 Remedies for alarms
Alarm No.: 84
Name: Network module initialization error
Alarm content
The network module is not connected.
1
An error occurred at initialization of the network module.
Detail Detail name Cause No.
Check method
Check result
Action
Target
84.1
Network module (1) The network module
Check if the network
undetected
was disconnected.
module is connected
error
correctly.
It is not connected correctly.
It is connected correctly.
Connect it correctly. Check (2).
[Other]
(2) Something near the device caused it.
Check the noise, ambient temperature, etc. Refer to "Noise reduction techniques" section in each servo amplifier instruction manual for the noise reduction techniques.
There is a problem in the surrounding.
There is no problem in the surrounding.
Take countermeasures against its cause.
Check (3).
(3) The network module is Replace the network
It is not repeatable.
malfunctioning.
module, and then check
the repeatability.
It is repeatable.
Replace the network module.
Check (4).
(4) The servo amplifier is malfunctioning.
Replace the servo amplifier, and then check the repeatability.
It is not repeatable.
Replace the servo amplifier.
84.2
Network module (1) The network module
Check if the network
initialization
was disconnected.
module is connected
error 1
correctly.
It is not connected correctly.
It is connected correctly.
Connect it correctly. Check (2).
(2) A network module,
Check if the network
It is not compatible.
which is not compatible module is compatible
with the servo amplifier, with the servo amplifier.
has been connected.
It is compatible.
Replace with a network module compatible with the servo amplifier.
Check (3).
(3) A network cable was disconnected.
Check if the network cable is connected correctly.
It is not connected. It is connected.
Connect it correctly. Check (4).
(4) The wiring of the network cable was incorrect.
Check if the wiring of network cable is correct.
The wiring is incorrect. The wiring is correct.
Wire it correctly. Check (5).
(5) A network cable was disconnected.
Check if the network cable is malfunctioning.
It has a failure.
Replace the network cable.
It has no failure.
Check (6).
(6) Something near the device caused it.
Check the noise, ambient temperature, etc. Refer to "Noise reduction techniques" section in each servo amplifier instruction manual for the noise reduction techniques.
There is a problem in the surrounding.
There is no problem in the surrounding.
Take countermeasures against its cause.
Check (7).
(7) The network module is Replace the network
It is not repeatable.
malfunctioning.
module, and then check
the repeatability.
It is repeatable.
Replace the network module.
Check (8).
(8) The servo amplifier is malfunctioning.
Replace the servo amplifier, and then check the repeatability.
It is not repeatable.
Replace the servo amplifier.
84.3
Network module Check it with the check method for [AL. 84.2].
initialization
error 2
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.4 Remedies for alarms
95
Alarm No.: 85 Alarm content
Detail No.
85.1
Detail name
Network module error 1
85.2
Network module
error 2
85.3
Network module
error 3
Name: Network module error
The network module was disconnected. An error occurred in the network module. (Refer to section 1.7.)
Cause
Check method
Check result
(1) The network module was disconnected.
(2) A network cable was disconnected.
(3) The wiring of the network cable was incorrect.
(4) A network cable was disconnected.
Check if the network module is connected correctly.
Check if the network cable is connected correctly. Check if the wiring of network cable is correct.
Check if the network cable is malfunctioning.
(5) The setting of the controller is incorrect.
Check the controller setting.
(6) Something near the device caused it.
Check the noise, ambient temperature, etc. Refer to "Noise reduction techniques" section in each servo amplifier instruction manual for the noise reduction techniques.
(7) The network module is Replace the network
malfunctioning.
module, and then check
the repeatability.
(8) The servo amplifier is malfunctioning.
Replace the servo amplifier, and then check the repeatability.
(9) The controller is malfunctioning.
Replace the controller, and then check the repeatability.
Check it with the check method for [AL. 85.1].
It is not connected correctly. It is connected correctly. It is not connected. It is connected.
The wiring is incorrect. The wiring is correct.
It has a failure.
It has no failure. It is incorrect. It is correct. There is a problem in the surrounding. There is no problem in the surrounding.
It is not repeatable.
It is repeatable. It is not repeatable.
It is repeatable. It is not repeatable.
Action
Connect it correctly.
Check (2). Connect it correctly. Check (3).
Wire it correctly. Check (4).
Replace the network cable. Check (5). Review the settings. Check (6). Take countermeasures against its cause. Check (7).
Replace the network module. Check (8). Replace the servo amplifier. Check (9). Replace the controller.
Target
[Other]
96
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.4 Remedies for alarms
Alarm No.: 86
Name: Network communication error
Alarm content
An error occurred in the network module.
1
An error occurred in the network communication.
Detail Detail name Cause No.
Check method
Check result
Action
Target
86.1
Network
(1) The network module
Check if the network
communication
was disconnected.
module is connected
error 1
correctly.
It is not connected correctly.
It is connected correctly.
Connect it correctly. Check (2).
[Other]
(2) A network cable was disconnected.
Check if the network cable is connected correctly.
It is not connected.
Turn off the control circuit power supply of the servo amplifier, and then connect the network cable correctly.
[GF] [Other]
It is connected.
Check (3).
(3) The wiring of the network cable was incorrect.
Check if the wiring of network cable is correct.
The wiring is incorrect. The wiring is correct.
Wire it correctly. Check (4).
(4) A network cable was disconnected.
Check if the network cable is malfunctioning.
It has a failure.
Replace the network cable.
It has no failure.
Check (5).
(5) The network was disconnected by a wrong procedure.
Check if the network was disconnected according to the kind of network.
It was not performed. It was performed.
Perform it. Check (6).
(6) Data transmission from Check if data
the controller was
transmission from the
interrupted for a certain controller is not
period of time.
interrupted.
It is interrupted. It is not interrupted.
Review the controller communication setting.
Check (7).
(7) The setting of the controller is incorrect.
Check the controller setting.
It is incorrect. It is correct.
Review the settings. Check (8).
(8) Something near the device caused it.
Check the noise, ambient temperature, etc. Refer to "Noise reduction techniques" section in each servo amplifier instruction manual for the noise reduction techniques.
There is a problem in the surrounding.
There is no problem in the surrounding.
Take Countermeasures against its cause.
Check (9).
(9) The network module is Replace the network
It is not repeatable.
malfunctioning.
module, and then check
the repeatability.
It is repeatable.
Replace the network module.
Check (10).
[Other]
(10) The servo amplifier is malfunctioning.
Replace the servo amplifier, and then check the repeatability.
It is not repeatable. It is repeatable.
Replace the servo amplifier.
Check (11).
[GF] [Other]
(11) The controller is malfunctioning.
Replace the controller, and then check the repeatability.
It is not repeatable.
Replace the controller.
86.2
Network
Check it with the check method for [AL. 86.1].
communication
error 2
86.3
Network
communication
error 3
86.4
Network
communication
error 4
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.4 Remedies for alarms
97
Alarm No.: 8A Alarm content
Detail No.
8A.1
Detail name
USB communication time-out error/ serial communication time-out error
8A.2
Modbus RTU communication time-out error
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, serial communication (Mitsubishi Electric general-purpose AC servo protocol), or Modbus RTU communication.
Cause
Check method
Check result
Action
Target
(1) Communication commands have not been transmitted.
Check if a command was transmitted from the personal computer, etc.
It was not transmitted. It was transmitted.
(2) A communication cable Replace the
was disconnected.
communication cable,
and then check the
repeatability.
It is not repeatable. It is repeatable.
(3) The servo amplifier is malfunctioning.
Replace the servo amplifier, and then check the repeatability.
It is not repeatable.
(1) Communication commands have not been transmitted.
Check if a command was transmitted from the controller, etc.
It was not transmitted. It was transmitted.
(2) A communication cable Replace the
was disconnected.
communication cable,
and then check the
repeatability.
It is not repeatable. It is repeatable.
(3) The servo amplifier is malfunctioning.
Replace the servo amplifier, and then check the repeatability.
It is not repeatable.
Transmit a command. Check (2).
Replace the communication cable. Check (3).
Replace the servo amplifier.
Transmit a command. Check (2).
Replace the communication cable. Check (3).
Replace the servo amplifier.
[A] [B] [WB] [RJ010] [GF]
[A]
98
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.4 Remedies for alarms
Alarm No.: 8D
Name: CC-Link IE communication error
Alarm content
MR-J3-T10 came off.
1
An error occurred in CC-Link IE communication.
Detail Detail name Cause No.
Check method
Check result
Action
Target
8D.1
CC-Link IE
(1) The MR-J3-T10 came
communication
off during the CC-Link
error 1
IE communication.
Check if [AL. 74 Option card error 1] occurred with alarm history.
It is occurring. It did not occur.
Check it with the check method for [AL. 74].
Check (2).
[RJ010]
(2) The Ethernet cable was Check the Ethernet cable It is disconnected.
disconnected.
connection.
Turn off the control circuit power supply of the servo amplifier, and then connect the Ethernet cable.
[RJ010] [GF]
It is connected.
Check (3).
(3) The CC-Link IE
Check if the
communication was
communication was
disconnected by using disconnected by using
a wrong procedure.
the correct procedure.
The communication was disconnected by using a wrong procedure.
Follow the correct procedure for disconnecting the communication.
The communication was disconnected by using the correct procedure.
Check (4).
(4) The wiring of the Ethernet cable was incorrect.
Check if the wiring of
The wiring is incorrect.
Ethernet cable is correct. The wiring is correct.
Wire it correctly. Check (5).
(5) An Ethernet cable was Check if the Ethernet
disconnected.
cable is malfunctioning.
It has a failure.
Replace the Ethernet cable.
It has no failure.
Check (6).
(6) The transmission status Check the noise, ambient It has a failure.
of the CC-Link IE
temperature, etc.
communication is abnormal.
It has no failure.
Take countermeasures against its cause.
Check (7).
(7) MR-J3-T10 is malfunctioning.
Replace the MR-J3-T10, and then check the repeatability.
It is not repeatable. It is repeatable.
Replace the MR-J3-T10. Check (8).
(8) The servo amplifier is malfunctioning.
Replace the servo amplifier, and then check the repeatability.
It is not repeatable. It is repeatable.
Replace the servo amplifier.
Check (9).
[RJ010]
(9) The master station is malfunctioning.
Check if the master
It has a failure.
station is malfunctioning.
Replace the master station.
[RJ010] [GF]
8D.2
CC-Link IE communication error 2
Check it with the check method for [AL. 8D.1].
8D.3
Master station setting error 1
(1) The station No. is set to Check the [Pr. Po02] a value other than 1 to setting. 120 with the master station.
The setting value is incorrect.
The setting value is correct.
Set it correctly. Check (2).
[RJ010]
(2) The network number is Check the [Pr. Po03] set to a value other than setting. 1 to 239 with the master station.
The setting value is incorrect.
The setting value is correct.
Set it correctly. Check (3).
(3) MR-J3-T10 is malfunctioning.
Replace the MR-J3-T10, and then check the repeatability.
It is not repeatable. It is repeatable.
Replace the MR-J3-T10. Check (4).
(4) The servo amplifier is malfunctioning.
Replace the servo amplifier, and then check the repeatability.
It is not repeatable. It is repeatable.
Replace the servo amplifier.
Check (5).
(5) The master station is malfunctioning.
Check if the master
It has a failure.
station is malfunctioning.
Replace the master station.
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.4 Remedies for alarms
99
Alarm No.: 8D
Name: CC-Link IE communication error
Alarm content
MR-J3-T10 came off. An error occurred in CC-Link IE communication.
Detail Detail name Cause No.
Check method
Check result
8D.5
Master station setting error 2
(1) A reserved station has Check if a reserved
been selected by the
station is selected.
master station, and the
cyclic communication
has stopped.
It is selected.
8D.6
CC-Link IE communication error 3
Check it with the check method for [AL. 8D.1].
8D.7
CC-Link IE
(1) The transmission status Check the noise, ambient It has a failure.
communication
of the CC-Link IE
temperature, etc.
error 4
communication is abnormal.
It has no failure.
(2) MR-J3-T10 is malfunctioning.
Replace the MR-J3-T10, and then check the repeatability.
It is not repeatable. It is repeatable.
(3) The servo amplifier is malfunctioning.
Replace the servo amplifier, and then check the repeatability.
It is not repeatable. It is repeatable.
(4) The master station is malfunctioning.
Check if the master
It has a failure.
station is malfunctioning.
8D.8
CC-Link IE communication error 5
Check it with the check method for [AL. 8D.7].
8D.9
Synchronization Check it with the check method for [AL. 8D.1]. error 1
8D.A
Synchronization error 2
Action
Cancel the reserved station.
Target
[RJ010]
Take countermeasures against its cause.
Check (2).
[RJ010] [GF]
Replace the MR-J3-T10. [RJ010] Check (3).
Replace the servo amplifier.
Check (4).
Replace the master station.
[RJ010] [GF]
Alarm No.: 8E
Name: USB communication error/serial communication error/Modbus RTU communication error
Alarm content
A communication error occurred between the servo amplifier and a personal computer/controller. An error occurred in USB communication, serial communication (Mitsubishi Electric general-purpose AC servo protocol), or Modbus RTU communication.
Detail Detail name Cause No.
Check method
Check result
Action
Target
8E.1
USB
(1)
communication
receive error/
serial
(2)
communication
receive error
The setting of the personal computer, etc. is incorrect.
A communication cable is malfunctioning.
Check the setting of the personal computer, etc.
Check the communication cable, and then check the repeatability.
It is incorrect. It is correct. It is not repeatable.
It is repeatable.
Review the settings. Check (2).
Replace the communication cable. Check (3).
[A] [B] [WB] [RJ010] [GF]
(3) The servo amplifier is malfunctioning.
Replace the servo amplifier, and then check the repeatability.
It is not repeatable.
Replace the servo amplifier.
8E.2
USB
(1)
communication
checksum error/
serial
communication
checksum error
The setting of the personal computer, etc. is incorrect.
Check the setting of the personal computer, etc.
It is incorrect.
Review the settings.
100
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.4 Remedies for alarms
Alarm No.: 8E
Name: USB communication error/serial communication error/Modbus RTU communication error
Alarm content
A communication error occurred between the servo amplifier and a personal computer/controller.
An error occurred in USB communication, serial communication (Mitsubishi Electric general-purpose
1
AC servo protocol), or Modbus RTU communication.
Detail Detail name Cause No.
Check method
Check result
Action
Target
8E.3
USB
(1)
communication
character error/
serial
communication
character error
The transmitted character is out of specifications.
Check the character code at the time of transmission.
The transmitted character is out of specifications.
The transmitted character is within specifications.
Correct the transmission data.
Check (2).
[A] [B] [WB] [RJ010]
(2) The communication protocol is failure.
Check if transmission data supports the communication protocol.
It is not conforming.
Modify the transmission data according to the communication protocol.
It is conforming.
Check (3).
(3) The setting of the
Check the setting of the It is incorrect.
personal computer, etc. personal computer, etc.
is incorrect.
Review the settings.
8E.4
USB
(1)
communication
command error/
serial
communication
command error
The transmitted command is out of specifications.
Check the command at the time of transmission.
The transmitted command is out of specifications.
The transmitted command is within specifications.
Correct the transmission data.
Check (2).
(2) The communication protocol is failure.
Check if transmission data supports the communication protocol.
It is not conforming.
Modify the transmission data according to the communication protocol.
It is conforming.
Check (3).
(3) The setting of the
Check the setting of the It is incorrect.
personal computer, etc. personal computer, etc.
is incorrect.
Review the settings.
8E.5
USB
(1) The transmitted data
communication
number is out of
data number
specifications.
error/serial
communication
data number
error
(2) The communication
protocol is failure.
Check the data number at the time of transmission.
Check if transmission data supports the communication protocol.
The transmitted data number is out of specifications.
The transmitted data number is within specifications.
It is not conforming.
Correct the transmission data.
Check (2).
Modify the transmission data according to the communication protocol.
It is conforming.
Check (3).
(3) The setting of the
Check the setting of the It is incorrect.
personal computer, etc. personal computer, etc.
is incorrect.
Review the settings.
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.4 Remedies for alarms
101
Alarm No.: 8E Alarm content
Detail No.
8E.6
Detail name
Modbus RTU communication receive error
8E.7
Modbus RTU communication message frame error
8E.8
Modbus RTU communication CRC error
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 Electric general-purpose AC servo protocol), or Modbus RTU communication.
Cause
Check method
Check result
Action
Target
(1) The setting of the controller, servo amplifier, etc. is incorrect.
Check the setting of the controller, servo amplifier, etc. (such as communication protocol selection, baud rate, parity).
(2) A communication cable Check the
is malfunctioning.
communication cable,
and then check the
repeatability.
(3) The servo amplifier is malfunctioning.
Replace the servo amplifier, and then check the repeatability.
(1) The communication protocol is failure.
Check if transmission data conforms the communication protocol.
(2) The setting of the controller, servo amplifier, etc. is incorrect.
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].
It is incorrect. It is correct.
It is not repeatable. It is repeatable. It is not repeatable.
It is not conforming.
It is conforming. It is incorrect.
Review the settings.
[A]
Check (2).
Replace the communication cable. Check (3).
Replace the servo amplifier.
Modify the transmission data according to the communication protocol. Check (2). Review the settings.
Alarm No.: 88888 Alarm content
Detail No.
88._/ 8888._
Detail name
Watchdog
Name: Watchdog
[RJ010]: MR-J3-T10 came off. A part such as CPU is malfunctioning.
Cause
Check method
Check result
(1) The MR-J3-T10 came off during the CC-Link IE communication.
(2) A part in the servo amplifier is failure.
Check if [AL. 74 Option card error 1] occurred with alarm history.
Replace the servo amplifier, and then check the repeatability.
It is occurring.
It did not occur. It is not repeatable.
Action
Target
Check it with the check method for [AL. 74].
Check (2).
Replace the servo amplifier.
[RJ010]
[A] [B] [WB] [RJ010] [GF]
102
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.4 Remedies for alarms
1.5 Remedies for warnings 1 CAUTION
If [AL. E3 Absolute position counter warning] occurs, remove the cause of the 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 operation. · [AL. 91 Servo amplifier overheat warning] · [AL. E0 Excessive regeneration warning] · [AL. E1 Overload warning 1] · [AL. E2 Servo motor overheat warning] · [AL. EC Overload warning 2] Warnings (except [AL. F0 Tough drive warning]) are not recorded in the alarm history.
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.
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.5 Remedies for warnings
103
Alarm No.: 90 Alarm content
Detail No.
90.1
Detail name
Home position return incomplete
Name: Home position return incomplete warning
Home position return has not been finished. Home position return did not complete properly. Home position return was performed with the Z-phase unpassed.
Cause
Check method
Check result
Action
Target
(1) Home position return has not been performed.
Check if home position return has been performed.
A home position return was not executed.
A home position return was executed.
Execute a home position return.
Check (2).
[A] [GF] [Other]
(2) A positioning operation Use the alarm history to [AL. 25] has occurred.
was executed without check if [AL. 25] has
home position setting occurred in the past.
with absolute position
after [AL. 25 Absolute
position erased]
occurred.
[AL. 25] has not
occurred.
Check the battery voltage and battery cable if they have a failure and execute a home position return after remove the failure.
Check (3).
(3) With the indexer
Check if [AL. 90.1]
[AL. 90.1] did not occur Remove the cause of
method, [AL. E3
occurred simultaneously simultaneously with start [AL. E3], and perform
Absolute position
with start of the
of the positioning
home position return.
counter warning]
positioning operation.
operation but occurred (Check it with the check
occurred
during positioning
method for [AL. E3].)
simultaneously with the
operation.
alarm.
[AL. 90.1] occurred
Check (4).
simultaneously with start
of the positioning
operation.
(4) A software stroke limit/ Check if [AL. 99 Stroke [AL. 98] or [AL. 99] has
stroke limit was
limit warning] has
occurred in the
detected.
occurred in the
positioning mode.
positioning mode while
either of the following
parameters is set to "_ _
_ 0" or "_ _ _ 1".
Check if [AL. 98 Software position limit warning] has occurred in the positioning mode while either of the following parameters is set to "_ 0
[AL. 98] or [AL. 99] has not occurred. Or the servo amplifier has been set to the motion mode.
_ _" or "_ 1_ _".
[A]: [Pr. PD30]
[GF]: [Pr. PD12]
Move the machine to within the limit range, and then make a home position return. If the home position has been determined, turn on the servo-on again.
Check (5).
(5) Home position return Check if the following
completion turned off devices have been
after home position
turned off.
return was performed. [A]: ZP (Home position
return completion)
[GF]: ZP2 (Home
position return
completion 2)
ZP or ZP2 has been turned off.
Remove the causes that turned off ZP or ZP2, then perform home position return again. [A]: Refer to "I/O device" in the following instruction manual. MR-J4-_A_-RJ Servo Amplifier Instruction Manual (Positioning Mode) [GF]: Refer to "Status DO (2D11h to 2D1Ah)" in the following instruction manual. MR-J4-_GF_ Servo Amplifier Instruction Manual (CC-Link IE Field Network Basic)
104
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.5 Remedies for warnings
Alarm No.: 90
Name: Home position return incomplete warning
Alarm content
Home position return has not been finished.
Home position return did not complete properly.
1
Home position return was performed with the Z-phase unpassed.
Detail Detail name Cause No.
Check method
Check result
Action
Target
90.2
Home position (1) The proximity dog is not Check if the proximity
It is not connected.
return abnormal termination
connected to DOG.
dog is connected correctly.
It is connected.
Connect it correctly. Check (2).
[A] [GF] [Other]
(2) The stroke limit was
Check if the stroke limit is The stroke limit is not
detected after the home connected correctly.
connected.
position return start.
Or check if the stroke
Or the stroke limit is
limit is not reached.
reached.
Connect the stroke limit correctly. Review the stroke limit position.
The stroke limit is connected. Or the stroke limit is not reached.
Check (3).
(3) A home position return Check if the proximity
speed did not
dog turned off before a
decelerate to a creep home position return
speed.
completed deceleration
to a creep speed.
The proximity dog turned off before the deceleration to a creep speed.
Review the dog position. Or review the parameter values of the home position return speed, creep speed, and travel distance after proximity dog.
(4) Deceleration from the Check if the home
home position return
position was turned on
speed/creep speed to before the deceleration
the home position failed from the home position
at the indexer method. return speed/creep
speed to the home
position was complete.
It was not turned on before the deceleration was complete.
Review the positional relationship of the stroke limit and home position. Or review the parameter values of the home position return speed, creep speed, deceleration time constant, and home position shift distance.
90.5
Z-phase
unpassed
(1) The Z-phase signal was Check if the Z-phase
The Z-phase signal was Review the Z-phase
not detected normally. signal of the servo motor/ not detected.
signal and wirings.
linear servo motor was detected normally.
The Z-phase signal was Check (2). detected.
(2) A home position return Check if the motor
The Z-phase was not
was executed while the passed the Z-phase
turned on.
servo motor did not
signal until the proximity
pass the Z-phase.
dog turned off after the
home position return
started.
Review the setting position of the home position return start and proximity dog.
Alarm No.: 91
Alarm content
Detail Detail name No.
91.1
Main circuit
device overheat
warning
Name: Servo amplifier overheat warning
The temperature inside of the servo amplifier reached a warning level.
Cause
Check method
Check result
Action
(1) Ambient temperature of Check the ambient the servo amplifier has temperature. exceeded 55 .
It is over 55 . It is less than 55 .
Lower the ambient temperature.
Check (2).
(2) The close mounting is Check the specifications It is out of specifications. Use within the range of
out of specifications.
of close mounting.
specifications.
Target
[A] [B] [WB] [RJ010] [GF]
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.5 Remedies for warnings
105
Alarm No.: 92
Name: Battery cable disconnection warning
Alarm content
Battery voltage for absolute position detection system decreased.
Detail Detail name Cause No.
Check method
Check result
92.1
Encoder battery (1) 1) When an MR-
Check if the battery is
It is not connected.
cable
BAT6V1SET(-A)
connected correctly.
disconnection
battery or MR-
warning
BT6VCASE battery
case was used, the
battery was not
connected to CN4.
2) When an MR-
BAT6V1BJ battery for junction battery
It is connected.
cable was used, the
battery was not
connected to both
CN4 and MR-
BT6VCBL03M
junction battery
cable.
(2) A battery cable was disconnected.
Check if the battery cable It has a failure. is malfunctioning.
It has no failure.
(3) The battery voltage is low. The battery is consumed.
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.
It is less than 3.1 V DC. It is 3.1 V DC or more.
(4) There is a problem with Check if the encoder
the encoder cable.
cable has been
disconnected or has
shorted.
There is a problem. There is no problem.
(5) The servo amplifier has Replace the servo
It is not repeatable.
malfunctioned.
amplifier, then check the
repeatability.
It is repeatable.
(6) The encoder has malfunctioned.
Replace the servo motor, then check the repeatability.
It is not repeatable.
92.3
Battery
degradation
(1) The battery voltage is low. The battery is consumed.
Check the battery voltage with a tester.
It is less than 3.0 V DC. It is 3.0 V DC or more.
(2) The battery has deteriorated.
Replace the battery, then It is not repeatable. check the repeatability.
Action
Connect it correctly.
Target
[A] [B] [WB] [RJ010] [GF]
Check (2).
Replace or repair the cable. Check (3). Replace the battery.
Check (4).
Replace or repair the cable. Check (5). Replace the servo amplifier. Check (6). Replace the servo motor.
Replace the battery. Check (2). Replace the battery.
106
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.5 Remedies for warnings
Alarm No.: 93
Alarm content
Detail Detail name No.
Name: ABS data transfer warning
ABS data were not transferred.
Cause
Check method
Check result
Action
1
Target
93.1
ABS data
(1) The Z-phase was not Check if the position
It is "0". (The Z-phase
Turn on the Z-phase and [A]
transfer
turned on at servo-on. within one-revolution is was not turned on.)
disable the magnetic
requirement
"0".
pole detection. Always
warning during
make home position
magnetic pole
setting again.
detection
It is other than "0". (The Check (2).
Z-phase was turned on.)
(2) The magnetic pole detection was executed.
Check if the ABS data is transferred during the magnetic pole detection.
The ABS data is transferred.
Disable the magnetic pole detection. After that, cycle SON (Servo-on) and transfer the ABS data.
Alarm No.: 95 Alarm content
Detail No.
95.1
Detail name
STO1 off detection
Name: STO warning
STO input signal turns off while the servo motor stops. A diagnosis of input devices was not executed. The safety observation function was enabled in the test mode.
Cause
Check method
Check result
(1) STO1 is not inputted correctly.
Check if the STO1 of CN8 connector is wired correctly.
It is not wired correctly.
It is wired correctly.
(2) STO1 was turned off
Check if STO1 is off
(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
It is off (enabled). It is on (disabled).
(3) The servo amplifier has Replace the servo
It is repeatable.
malfunctioned.
amplifier, then check the
repeatability.
It is not repeatable.
(4) STO is off (enabled)
The safety component
when a safety
has a problem.
component (such as the
safety logic unit MR-J3-
D05) is being used.
It has a problem.
Action
Target
Wire it correctly. (When not using the STO function, attach the shortcircuit connector came with the servo amplifier to CN8.)
[A] [B] [WB] [RJ010] [GF]
Check (2).
Turn on STO1 (disabled).
Check (3).
Replace the servo amplifier.
Check (4).
Take corrective actions according to the troubleshooting for the safety component being used.
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.5 Remedies for warnings
107
Alarm No.: 95 Alarm content
Detail No.
95.2
Detail name
STO2 off detection
95.3
STO warning 1
(safety
observation
function)
Name: STO warning
STO input signal turns off while the servo motor stops. A diagnosis of input devices was not executed. The safety observation function was enabled in the test mode.
Cause
Check method
Check result
Action
Target
(1) STO2 is not inputted correctly.
Check if the STO2 of CN8 connector is wired correctly.
It is not wired correctly.
It is wired correctly.
(2) STO2 was turned off
Check if STO2 is off
(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
It is off (enabled). It is on (disabled).
(3) The servo amplifier has Replace the servo
It is repeatable.
malfunctioned.
amplifier, then check the
repeatability.
It is not repeatable.
(4) STO is off (enabled)
The safety component
when a safety
has a problem.
component (such as the
safety logic unit MR-J3-
D05) is being used.
It has a problem.
(1) "Input device - Fixingdiagnosis execution selection at start-up" was not executed.
Check if "Input device Fixing-diagnosis execution selection at start-up" was executed.
It was not executed. It was executed.
Wire it correctly. (When not using the STO function, attach the shortcircuit connector came with the servo amplifier to CN8.)
[A] [B] [WB] [RJ010] [GF]
Check (2).
Turn on STO2.
Check (3).
Replace the servo amplifier.
Check (4).
Take corrective actions according to the troubleshooting for the safety component being used.
Execute it.
[A]
[B]
Check (2).
[GF]
(2) Set "Input device -
Check if [Pr. PSD27] and It is not set correctly.
Fixing-diagnosis
[Pr. PSD28] are set
execution selection at correctly. start-up" correctly using
It is set correctly.
parameters.
Review the parameter. Check (3).
(3) The wiring is incorrect. Check if the wiring has a It has a failure.
failure.
It has no failure.
Review the wiring. Check (4).
(4) The functional safety unit is malfunctioning.
Replace the functional safety unit, and then check the repeatability.
It is not repeatable. It is repeatable.
Replace the functional safety unit.
Check (5).
(5) Something near the device caused it.
Check the noise, ambient There is a problem in the Take countermeasures
temperature, etc.
surrounding.
against its cause.
108
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.5 Remedies for warnings
Alarm No.: 95
Name: STO warning
Alarm content
STO input signal turns off while the servo motor stops.
A diagnosis of input devices was not executed.
1
The safety observation function was enabled in the test mode.
Detail Detail name Cause No.
Check method
Check result
Action
Target
95.4
STO warning 2 (1) The test operation
(safety
mode was not set
observation
correctly.
function)
Check if the servo amplifier and functional safety unit are set to the test operation mode.
It is not set. It is set.
(2) An error occurred in the Check the description
safety communication. "The display shows
Or the network is
"Ab"." .
disconnected.
Page 127 Trouble
which does not trigger
alarm/warning
It is not repeatable. It is repeatable.
Set it correctly. Check (2).
Take countermeasures against its cause. Check (3).
[A] [B] [WB] [RJ010] [GF]
(3) "Input mode selection" Set [Pr. PSA02] correctly It is not repeatable.
in [Pr. PSA02
and check the
Functional safety unit setting] is not set
repeatability.
It is repeatable.
correctly.
Review the parameter. Check (4).
(4) A functional safety unit Check the software
It is A1 or earlier.
which is not compatible version of the functional
with the safety
safety unit.
communication is
connected.
It is A2 or later.
Replace the functional
[GF]
safety unit with a one
with software version A2
or later.
Check (5).
(5) The setting of [Pr. PSC04 Safety communication Network communication selection] is incorrect.
Correct the setting of [Pr. PSC04] and check the repeatability.
It is not repeatable. It is repeatable.
Review the parameter
[B]
setting.
[GF]
Check (6).
(6) The servo amplifier is malfunctioning.
(7) The functional safety unit is malfunctioning.
Replace the servo amplifier, and then check the repeatability.
Replace the functional safety unit, and then check the repeatability.
It is not repeatable.
It is repeatable. It is not repeatable.
It is repeatable.
Replace the servo amplifier.
Check (7).
Replace the functional safety unit.
Check (8).
[A] [B] [WB] [RJ010] [GF]
(8) Something near the device caused it.
Check the noise, ambient There is a problem in the Take countermeasures
temperature, etc.
surrounding.
against its cause.
95.5
STO warning 3 (1) STO command/SS1
Check if STO command/ It is off (enabled).
(safety
command of the
SS1 command of the
observation
functional safety unit
functional safety unit is
function)
was turned off
off (enabled).
(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
Turn on (disabled) STO command/SS1 command of the functional safety unit.
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.5 Remedies for warnings
109
Alarm No.: 96
Alarm content
Detail Detail name No.
96.1
In-position
warning at
home
positioning
Name: Home position setting warning
Home position setting could not be made.
Cause
Check method
Check result
(1) INP (In-position) did not Check the droop pulses It is In-position range or
turn on within the
during home positioning. more.
specified time during
home positioning.
96.2
Command input (1) A command has
Check if a command is A command is inputted.
warning at
already inputted at the inputted at home
home positioning
time of home positioning.
positioning.
A command is not inputted.
(2) Creep speed is high.
Decrease the creep speed, then check the repeatability.
It is not repeatable.
96.3
Servo off
warning at
home
positioning
(1) A home positioning was Check if the status is
executed during servo- servo-off at home
off.
positioning.
It is servo-off.
96.4
Home
(1) Z-phase was not turned Check if the Z-phase was The Z-phase was not
positioning
on after servo-on.
turned on.
turned on.
warning during
magnetic pole
detection
Action
Target
Adjust gains to set droop pulses within the Inposition range. Remove the cause of droop pulse occurrence, and make home position setting.
Set it after home positioning.
Check (2).
[A] [B] [WB] [RJ010] [GF]
Decelerate the creep speed, and make home position setting.
Turn to servo-on, and
[A]
then execute the home
positioning.
Rotate the direct drive
[A]
motor to turn on the Z- [GF]
phase, and make home
position setting.
Alarm No.: 97
Alarm content
Detail Detail name No.
97.1
Program
operation
disabled
warning
97.2
Next station
position warning
Name: Positioning specification warning
How to specify a positioning is incorrect for the positioning function.
Cause
Check method
Check result
(1) When using the
Check if the power of the The power of the servo
positioning function,
servo amplifier was
amplifier was not cycled.
start a program with the cycled after the program
program operation
was changed.
disabled.
(1) An abnormal value was Check if a number of
The number of stations
specified to a signal
stations per rotation ([Pr. per rotation ([Pr. PT28])
input of the next station PT28]) or more value
or more value was
position specification
was not specified to the specified.
and automatic operation was started.
next station position.
The number of stations per rotation ([Pr. PT28])
or more value was not
specified.
(2) The power of the servo Check if the power of the The power was not
amplifier was not cycled servo amplifier was
cycled.
after the number of
cycled after the number
stations per rotation
of stations per rotation
([Pr. PT28]) was
([Pr. PT28]) was
changed.
changed.
Action
Cycle the power of the servo amplifier.
Review the parameter setting or next station position input signal. Check (2).
Cycle the power of the servo amplifier.
Target
[A]
110
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.5 Remedies for warnings
Alarm No.: 98
Alarm content
Detail Detail name No.
Name: Software limit warning
A software limit set with the parameter was reached for the positioning function.
Cause
Check method
Check result
Action
1
Target
98.1
Forward
(1) A software limit was set Check if the parameter The setting was out of
Set [Pr. PT15] to [Pr.
[A]
rotation-side
within the actual
settings ([Pr. PT15] to
operation range.
PT18] correctly.
[GF]
software stroke limit reached
operation range.
[Pr. PT18]) to the operation range are correct.
The setting was within operation range.
Check (2).
(2) A point table of the position data which exceeds the software limit was executed.
Check if the target position of the point data to the operation range was correct.
The setting was out of operation range.
The setting was within operation range.
Set the point table correctly.
Check (3).
(3) A software limit was
Check if the JOG
It reached to the out of
reached by using the operation or manual
operation range.
JOG operation or
pulse generator
manual pulse generator operation was executed
operation.
properly to the operation
range.
Operate within the software limit. Adjust properly the parameters such as JOG speed and multiplication of the manual pulse as necessary.
98.2
Reverse
Check it with the check method for [AL. 98.1].
rotation-side
software stroke
limit reached
Alarm No.: 99
Alarm content
Detail Detail name No.
99.1
Forward
rotation stroke
end off
99.2
Reverse
rotation stroke
end off
99.4
Upper stroke
limit off
99.5
Lower stroke
limit off
Name: Stroke limit warning
The stroke limit signal is off.
Cause
Check method
Check result
(1) The forward rotation stroke limit switch is connected to LSP.
Check if the limit switch is connected correctly.
It is not connected. It is connected.
(2) The forward rotation stroke end was exceeded during driving.
Check if the forward rotation stroke limit switch turned off.
It turned off.
(1) The reverse rotation stroke limit switch is connected to LSN.
Check if the limit switch is connected correctly.
It is not connected. It is connected.
(2) The reverse rotation stroke end was exceeded during driving.
Check if the reverse rotation stroke limit switch turned off.
It turned off.
(1) The upper stroke limit Check if the limit switch It is not connected.
switch is not connected is connected correctly. to FLS of the controller.
It is connected.
(2) The upper stroke limit was exceeded during driving.
Check if the upper stroke It turned off. limit switch turned off.
(1) The lower stroke limit Check if the limit switch switch is not connected is connected correctly. to RLS of the controller.
It is not connected. It is connected.
(2) The lower stroke limit was exceeded during driving.
Check if the lower stroke It turned off. limit switch turned off.
Action
Target
Connect it correctly.
[A]
Check (2).
[GF]
Check operation pattern.
Connect it correctly. Check (2).
Check operation pattern.
Connect it correctly.
[GF]
Check (2).
Check operation pattern.
Connect it correctly. Check (2).
Check operation pattern.
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.5 Remedies for warnings
111
Alarm No.: 9A
Alarm content
Detail Detail name No.
9A.1
Optional unit input data sign error
9A.2
Optional unit BCD input data error
Name: Optional unit input data error warning
The BCD input data setting is incorrect when MR-D01 extension IO unit is connected.
Cause
Check method
Check result
Action
(1) The MR-D01 extension Check if MR-D01 is
IO unit is not
connected correctly.
connected.
(2) Both of + and - signs are on or off.
Check the sign of the optional unit input data.
(3) The - sign is set at incremental value command.
Check the sign of the optional unit input data.
(4) The MR-D01 extension Replace the MR-D01,
IO unit is
and then check the
malfunctioning.
repeatability.
(1) Other than "0" to "9" is Check the BCD input
set in a digit.
data.
It is not connected. It is connected.
Both are on or both are off. Only one of the signs is on. The - sign is set. The + sign is set.
It is not repeatable.
A value out of range is set.
Connect it correctly. Check (2).
Turn on one of the signs only. Check (3).
Set it to +. Check (4).
Replace the MR-D01.
Set a value from "0" to "9".
Target
[A]
Alarm No.: 9B
Alarm content
Detail Detail name No.
9B.1
Excess droop pulse 1 warning
Name: Error excessive warning
Droop pulses have exceeded the warning occurrence level.
Cause
Check method
Check result
(1) The servo motor power Check the servo motor
cable was
power cable.
disconnected.
It is disconnected. It is not disconnected.
(2) The connection of the Check the wiring of U/V/ It is incorrect.
servo motor is incorrect. W.
It is correct.
(3) The connection of the encoder cable is incorrect.
Check if the encoder cable is connected correctly.
It is incorrect. It is correct.
(4) The torque limit has been enabled.
Check if the limiting torque is in progress.
The limiting torque is in progress.
The limiting torque is not in progress.
(5) A moving part collided Check if it collided. against the machine.
It collided. It did not collide.
(6) The torque is insufficient.
Check the peak load ratio.
The torque is saturated.
(7) Power supply voltage dropped.
Check the bus voltage value.
The torque is not saturated.
The bus voltage is low.
(8) Acceleration/ deceleration time constant is too short.
Set a longer deceleration time constant, and then check the repeatability.
The bus voltage is high. It is not repeatable.
It is repeatable.
Action
Target
Repair or replace the servo motor power cable.
Check (2).
Connect it correctly.
[A] [B] [WB] [GF]
Check (3).
Connect it correctly.
Check (4).
Increase the torque limit value.
Check (5).
Check operation pattern.
Check (6).
Reduce the load or review the operation pattern. Or use a larger capacity motor.
Check (7).
Check the power supply voltage and power supply capacity.
Check (8).
Increase the acceleration/deceleration time constant.
Check (9).
112
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.5 Remedies for warnings
Alarm No.: 9B
Name: Error excessive warning
Alarm content
Detail Detail name No.
Droop pulses have exceeded the warning occurrence level.
Cause
Check method
Check result
Action
Target
1
9B.1
Excess droop (9) pulse 1 warning
The position loop gain is small.
(10) Servo motor shaft was rotated by external force./The moving part of the linear servo motor was moved by external force.
Increase the position control gain, then check the repeatability.
Measure the actual position under the servolock status.
It is not repeatable.
It is repeatable. It is rotated by external force./It was moved by external force. It is not rotated by external force./It was not moved by external force.
Increase the position loop gain ([Pr. PB08]). Check (10). Review the machine.
Check (11).
[A] [B] [WB] [GF]
(11) An encoder is malfunctioning.
Replace the servo motor, and then check the repeatability.
It is not repeatable.
Replace the servo motor.
9B.3
Excess droop Check it with the check method for [AL. 9B.1]. pulse 2 warning
9B.4
Error excessive (1) warning during 0 torque limit
The torque limit has been 0.
Check the torque limit value.
The torque limit has been 0.
Do not input a command while the torque limit value is 0.
[A] [B] [WB] [GF]
Alarm No.: 9C
Alarm content
Detail Detail name No.
9C.1
Converter unit warning
Name: Converter warning
A warning occurred in the converter unit during the servo-on.
Cause
Check method
Check result
Action
(1) A warning occurred in the converter unit during the servo-on.
Check the warning of the converter unit, and take the action following the remedies for warnings of the converter unit.
Target
[A] [B]
Alarm No.: 9D Alarm content
Detail No.
9D.1
Detail name
Station number switch change warning
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.
Cause
Check method
Check result
(1) The station No. switch setting was changed after power-on.
Check if the switch was changed.
It was changed.
(2) The servo amplifier is malfunctioning.
Replace the servo amplifier, and then check the repeatability.
It was not changed. It is not repeatable.
Action
Target
Restore the setting. Do not change the station No. switch after poweron.
Check (2).
Replace the servo amplifier.
[RJ010]
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.5 Remedies for warnings
113
Alarm No.: 9D Alarm content
Detail No.
9D.2
Detail name
Master station setting warning
9D.3 9D.4
Overlapping station number warning
Mismatched station number warning
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.
Cause
Check method
Check result
(1) The station specific mode does not match between the master station and the servo amplifier.
Check the connection of the servo amplifier to MR-D30.
The settings do not match between the master station and the servo amplifier.
The settings match between the master station and the servo amplifier.
(2) The settings of the
Check the settings of the The setting is incorrect.
master station type and master station. the number of cyclic
The setting is correct.
points are incorrect.
(3) The setting of [Pr.
Check if [Pr. PSA02] on The setting is incorrect.
PSA02] on the MR-D30 the MR-D30 has been
is incorrect when in
set to "Safety
The setting is correct.
safety communication observation function
using the MR-D30.
control by network".
(4) The servo amplifier and Check the connection of They have been
the MR-D30 have been the servo amplifier to
connected incorrectly.
connected incorrectly MR-D30.
when in safety
communication using
the MR-D30.
(1) The same station No. as other station was set.
Check devices on the network if station Nos. are overlapped.
They are overlapped.
(1) The station No.
Check the station No. on They are not matched.
controlled on master
master side and slave
side differs from that set side if they are matched
on slave side.
together.
Action
Review the station specific mode on the master station and the setting of [Pr. PN03] on the servo amplifier. Check (2).
Correct the setting. Check (3).
Correct the setting. Check (4).
Connect them correctly.
Review the settings of the station Nos. Review the settings of the station Nos.
Target
[GF]
[RJ010] [GF] [GF]
[RJ010] [GF]
114
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.5 Remedies for warnings
Alarm No.: 9E
Alarm content
Detail Detail name No.
Name: CC-Link IE warning 2
The receive data of the CC-Link IE communication is abnormal.
Cause
Check method
Check result
Action
1
Target
9E.1
CC-Link IE warning
(1) MR-J4-_GF_(-RJ)
Check the combination of The combination of the
servo amplifier set for the slide switches of the slide switches (SW1-1/
CC-Link IE Field
servo amplifier.
SW1-2) are set for CC-
Network is connected to
Link IE Field Network.
the network of CC-Link
SW1-1: OFF (down)
IE Field Network Basic.
SW1-2: OFF (down)
Set the combination of [GF] the slide switches (SW11/SW1-2) for CC-Link IE Field Network Basic. SW1-1: OFF (down) SW1-2: ON (up)
(2) The transmission status Check the noise, ambient It has a failure.
of the CC-Link IE
temperature, etc.
communication is abnormal.
It has no failure.
Take countermeasures against its cause.
Check (3).
[RJ010] [GF]
(3) The Ethernet cable was Check the Ethernet cable It is disconnected.
disconnected.
connection.
Turn off the control circuit power supply of the servo amplifier, and then connect the Ethernet cable.
It is connected.
Check (4).
(4) The wiring of the Ethernet cable was incorrect.
Check if the wiring of
The wiring is incorrect.
Ethernet cable is correct. The wiring is correct.
Wire it correctly. Check (5).
(5) An Ethernet cable was Check if the Ethernet
disconnected.
cable is malfunctioning.
It has a failure.
Replace the Ethernet cable.
It has no failure.
Check (6).
(6) Communication with the master station is abnormal.
Check the setting of [Pr. Po02] and [Pr. Po03].
The setting value is incorrect.
The setting value is correct.
Review the communication settings.
Check (7).
[RJ010]
(7) The master station is malfunctioning.
Check if the master
It has a failure.
station is malfunctioning.
Replace the master station.
[RJ010] [GF]
Alarm No.: 9F
Alarm content
Detail Detail name No.
9F.1
Low battery
9F.2
Battery
degradation
warning
Name: Battery warning
Battery voltage for absolute position detection system decreased.
Cause
Check method
Check result
(1) The battery is not connected to CN4.
Check if the battery is connected correctly.
It is not connected. It is connected.
(2) The battery voltage is low. The battery is consumed.
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.
It is less than 4.9 V DC. It is 4.9 V DC or more.
(3) There is a problem with Check if the encoder
the encoder cable.
cable has been
disconnected or has
shorted.
There is a problem. There is no problem.
(4) The servo amplifier has Replace the servo
It is not repeatable.
malfunctioned.
amplifier, then check the
repeatability.
It is repeatable.
(5) The encoder has malfunctioned.
Replace the servo motor, then check the repeatability.
It is not repeatable.
(1) The absolute position storage unit has not connected.
Check if the absolute position storage unit is connected correctly.
It is not connected.
Action
Connect it correctly. Check (2). Replace the battery. Check (3).
Target
[A] [B] [WB] [RJ010] [GF]
Replace or repair the cable. Check (4).
Replace the servo amplifier. Check (5). Replace the servo motor.
Connect it correctly.
[A] [B] [WB] [GF]
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.5 Remedies for warnings
115
Alarm No.: E0 Alarm content
Detail No.
E0.1
Detail name
Excessive regeneration warning
Name: Excessive regeneration warning
There is a possibility that regenerative power may exceed permissible regenerative power of built-in regenerative resistor or regenerative option.
Cause
Check method
Check result
Action
Target
(1) The regenerative power Check the effective load It is 85% or more. exceeded 85% of the ratio. permissible regenerative power of the built-in regenerative resistor or regenerative option.
Reduce the frequency of positioning. Increase the deceleration time constant. Reduce the load. Use a regenerative option if it is not being used.
[A] [B] [WB] [RJ010] [GF]
Alarm No.: E1
Name: Overload warning 1
Alarm content
[AL. 50 Overload 1] or [AL. 51 Overload 2] can occur.
Detail Detail name Cause No.
Check method
Check result
E1.1
Thermal
(1)
overload
warning 1
during operation
The load was over 85% to the alarm level of [AL. 50.1 Thermal overload error 1 during operation].
Check it with the check method for [AL. 50.1].
E1.2
Thermal
(1)
overload
warning 2
during operation
The load was over 85% to the alarm level of [AL. 50.2 Thermal overload error 2 during operation].
Check it with the check method for [AL. 50.2].
E1.3
Thermal
(1)
overload
warning 3
during operation
The load was over 85% to the alarm level of [AL. 51.1 Thermal overload error 3 during operation].
Check it with the check method for [AL. 51.1].
E1.4
Thermal
(1)
overload
warning 4
during operation
The load was over 85 % of the alarm trigger level of [AL. 50.3 Thermal overload error 4 during operation].
Check it with the check method for [AL. 50.3].
E1.5
Thermal
(1)
overload error 1
during a stop
The load was over 85 % of the alarm trigger level of [AL. 50.4 Thermal overload error 1 during a stop].
Check it with the check method for [AL. 50.4].
E1.6
Thermal
(1)
overload error 2
during a stop
The load was over 85% to the alarm level of [AL. 50.5 Thermal overload error 2 during a stop].
Check it with the check method for [AL. 50.5].
E1.7
Thermal
(1)
overload error 3
during a stop
The load was over 85% to the alarm level of [AL. 51.2 Thermal overload error 3 during operation].
Check it with the check method for [AL. 51.2].
E1.8
Thermal
(1)
overload error 4
during a stop
The load was over 85% to the alarm level of [AL. 50.6 Thermal overload error 4 during a stop].
Check it with the check method for [AL. 50.6].
Action
Target
[A] [B] [WB] [RJ010] [GF]
116
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.5 Remedies for warnings
Alarm No.: E2
Alarm content
Detail Detail name No.
E2.1
Servo motor temperature warning
Name: Servo motor overheat warning
[AL. 46.2 Abnormal temperature of servo motor 2] can occur.
Cause
Check method
Check result
(1) The temperature of the Check it with the check method for [AL. 46.2]. linear servo motor or direct drive motor reached 85% of the occurrence level of [AL. 46.2 Abnormal temperature of servo motor 2].
Action
1
Target
[A] [B] [WB] [GF]
Alarm No.: E3
Name: Absolute position counter warning
Alarm content
The multi-revolution counter value of the absolute position encoder exceeded the maximum range. Absolute position encoder pulses are faulty. An update cycle is short for writing multi-revolution counter value of the absolute position encoder to EEP-ROM.
Detail Detail name Cause No.
Check method
Check result
Action
Target
E3.1
Multi-revolution (1) counter travel distance excess warning
The travel distance from the home position is 32768 rev or more in the absolute position system.
Check the value of the multi-revolution counter.
It is 32768 rev or more.
Review operation range. [A]
Execute the home
[GF]
position return again.
After the power is surely
cycled, perform home
position return again.
E3.2
Absolute
(1)
position counter
warning
Something near the device caused it.
Check the noise, ambient temperature, etc.
There is a problem in the surrounding.
Take countermeasures against its cause. After the power is surely cycled, perform home position return again.
[A] [B] [WB] [RJ010] [GF]
There is no problem in the surrounding.
Check (2).
(2) An encoder is malfunctioning.
Replace the servo motor, and then check the repeatability.
It is not repeatable.
Replace the servo motor.
E3.4
Absolute positioning counter EEPROM writing frequency warning
(1) A home position was
Check if the operation
The operation was out of Set the command speed [A]
renewed (EEP-ROM
was within the following conditions.
within the conditions.
[GF]
write) twice or more in conditions between the
Set the number of gear
10 minutes in the servo number of gear teeth on
teeth on machine side
amplifier due to rotation machine side ([Pr. PA06]
within the conditions.
to the same direction in CMX) and servo motor
After the power is surely
short time in the point speed (N).
cycled, perform home
table method of the
· When CMX 2000, N
position return again.
positioning mode,
< 3076.7 r/min
degree setting with the · When CMX > 2000, N
program method, or the < 3276.7 - (CMX × 0.1)
indexer method.
r/min
· When (CMX/CDV) is
reduced to its lowest
terms, CMX 15900
E3.5
Encoder absolute positioning counter warning
Check it with the check method for [AL. E3.2].
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.5 Remedies for warnings
117
Alarm No.: E4
Alarm content
Detail Detail name No.
E4.1
Parameter setting range error warning
Name: Parameter warning
Out of the setting range was attempted to write during parameter writing.
Cause
Check method
Check result
Action
(1) A parameter was set to Check the parameter
It is out of setting range. Set it within the range.
out of range with the
setting value set with the
servo system controller. servo system controller.
Target
[B] [WB] [RJ010]
Alarm No.: E5 Alarm content
Detail No.
E5.1
Detail name
Time-out during ABS data transfer
E5.2 E5.3
ABSM off during ABS data transfer
SON off during ABS data transfer
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.
Cause
Check method
Check result
Action
Target
(1) The wiring of I/O signals is incorrect.
Check if the I/O signal wire is disconnected or connected loosely.
(2) The sequence program Check the sequence
is incorrect.
program.
Check it with the check method for [AL. E5.1].
It has a failure.
It has no failure. The sequence program is incorrect.
Repair or replace the I/O [A] signal wire.
Check (2).
Modify the sequence program.
Alarm No.: E6 Alarm content
Detail No.
E6.1
Detail name
Forced stop warning
E6.2
SS1 forced stop warning 1 (safety observation function)
E6.3
SS1 forced stop warning 2 (safety observation function)
Name: Servo forced stop warning
EM2/EM1 (Forced stop) turned off. SS1 command was inputted.
Cause
Check method
Check result
(1) EM2/EM1 (Forced stop) Check the status of EM2/ It is off.
turned off.
EM1.
It is on.
(2) The external 24 V DC power supply is off.
Check if the external 24 V DC power supply is inputted.
It is not inputted. It is inputted.
(3) The servo amplifier is malfunctioning.
Replace the servo amplifier, and then check the repeatability.
It is not repeatable.
(1) The SS1 command is off (enabled).
Check if the SS1 command is off (enabled).
The SS1 command is off (enabled).
(2) An external 24 V DC is Check if an external 24 V It is not inputted.
not inputted to the
DC is inputted to the
functional safety unit. functional safety unit.
It is inputted.
(3) The functional safety unit is malfunctioning.
Replace the functional safety unit, and then check the repeatability.
It is not repeatable.
(1) An error occurred in the Check the description safety communication. "The display shows "Ab".". Page 127 Trouble which does not trigger alarm/warning
It is not repeatable.
Action
Ensure safety and turn on EM2/EM1 (Forced stop). Check (2). Input the 24 V DC power supply. Check (3). Replace the servo amplifier.
Turn on the SS1 input (disabled).
Input the 24 V DC power supply. Check (3). Replace the functional safety unit.
Take countermeasures against its cause.
Target
[A] [B] [WB] [RJ010] [GF]
[A] [B] [GF]
118
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.5 Remedies for warnings
Alarm No.: E7
Alarm content
Detail Detail name No.
Name: Controller forced stop warning
The forced stop signal of the servo system controller was enabled.
Cause
Check method
Check result
Action
1
Target
E7.1
Controller forced stop input warning
(1) The forced stop signal Check if the servo
of the servo system
system controller is a
controller was inputted. forced stop status.
It is the forced stop status.
Ensure safety and cancel the forced stop signal of the controller.
[B] [WB] [RJ010]
(2) The forced stop signal Check if the controller is It is the forced stop
of the controller was
in a forced stop status. status.
inputted with Modbus
RTU communication.
Ensure safety and cancel [A] the forced stop signal of the controller.
Alarm No.: E8
Name: Cooling fan speed reduction warning
Alarm content
The cooling fan speed decreased to the warning occurrence level or less.
Detail Detail name Cause No.
Check method
Check result
Action
E8.1
Decreased
(1) Foreign matter was
cooling fan
caught in the cooling
speed warning
fan.
Check if a foreign matter is caught in the cooling fan.
Something has been caught.
Nothing has been caught.
Remove the foreign matter.
Check (2).
(2) Cooling fan life expired. Check the total of power It exceed the cooling fan Replace the servo
on time of the servo
life.
amplifier.
amplifier.
E8.2
Cooling fan stop Check it with the check method for [AL. E8.1].
Target
[A] [B] [WB] [RJ010] [GF]
Alarm No.: E9
Name: Main circuit off warning
Alarm content
Detail Detail name No.
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.
Cause
Check method
Check result
Action
E9.1
Servo-on signal (1) on during main circuit off
(2)
The main circuit power supply is off. For the drive unit, the power supply of the converter unit is off.
The wiring between P3 and P4 was disconnected. For the drive unit, the wiring between P1 and P2 of the converter unit was disconnected.
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.
It is not inputted. It is inputted. It is disconnected.
It is connected.
Turn on the main circuit power. Check (2).
Connect it correctly.
Check (3).
(3) The main circuit power Check the main circuit
supply wiring was
power supply wiring.
disconnected.
Check the main circuit
For the drive unit, the power supply wiring of
main circuit power
the converter unit.
supply wiring of the
converter unit was
disconnected.
It is disconnected. It has no failure.
Connect it correctly. Check (4).
(4) For the drive unit, the Check the magnetic
magnetic contactor
contactor control
control connector of the connector of the
converter unit was
converter unit.
disconnected.
(5) For the drive unit, the Check the bus bar
bus bar between the
between the converter
converter unit and drive unit and drive unit.
unit was disconnected.
It is disconnected. It has no failure. It is disconnected. It has no failure.
Connect it correctly. Check (5). Connect it correctly. Check (6).
Target
[A] [B] [WB] [RJ010] [GF]
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.5 Remedies for warnings
119
Alarm No.: E9
Name: Main circuit off warning
Alarm content
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.
Detail Detail name Cause No.
Check method
Check result
Action
Target
E9.1
Servo-on signal (6) on during main circuit off
The setting value of [Pr. PA02 Magnetic contactor drive output selection] contradicts the wiring constitution.
Check the [Pr. PA02] setting and the wiring constitution.
The setting or wiring is incorrect.
The setting and wiring are correct.
Review the setting of [Pr. PA02].
Check (7).
[A] [B] [WB] [RJ010] [GF]
(7) For the MR-J4-03A6(- Check the parameter
RJ) or MR-J4W2-
setting.
0303B6 servo amplifier, MR-J4-03A6(-RJ): [Pr.
24 V DC input is not
PC27]
selected even though MR-J4W2-0303B6: [Pr.
24 V DC input is used. PC05]
The setting is incorrect. The setting is correct.
Set it correctly. Check (8).
(8) The bus voltage is low. Check if the bus voltage The voltage is lower than Review the wiring. Check
is lower than the
the prescribed value.
the power supply
prescribed value.
capacity.
200 V class: 215 V DC 400 V class: 430 V DC 100 V class: 215 V DC 48 V DC setting: 38 V DC
The voltage is equal to or higher than the prescribed value.
Check (9).
24 V DC setting: 18 V DC
(9) The servo amplifier is malfunctioning.
Replace the servo amplifier, and then check the repeatability.
It is not repeatable.
(10) Replace the servo amplifier.
(10) For the drive unit, the converter unit is malfunctioning.
Replace the converter unit, and then check the repeatability.
It is not repeatable.
Replace the converter unit.
E9.2
Bus voltage
(1)
drop during low
speed operation
The bus voltage dropped during the servo motor driving under 50 r/min.
Check the bus voltage.
It is lower than the prescribed value. 200 V class: 200 V DC 400 V class: 430 V DC 100 V class: 200 V DC 48 V DC setting: 35 V DC 24 V DC setting: 15 V DC
Review the power supply capacity. Increase the acceleration time constant.
E9.3
Ready-on signal on during main circuit off
Check it with the check method for [AL. E9.1].
E9.4
Converter unit forced stop
(1) The forced stop of the converter unit is enabled during the servo-on command.
Check if the forced stop of the converter unit is enabled.
It is enabled. It is not enabled.
Deactivate the forced
[A]
stop of the converter unit. [B]
Check (2).
(2) The protection
Check the protection
coordination cable is
coordination cable.
not correctly connected.
It is not connected.
Connect the protection coordination cable correctly.
Alarm No.: EA
Alarm content
Detail Detail name No.
EA.1
ABS servo-on warning
Name: ABS servo-on warning
The servo-on was not enabled within 1 s after ABSM (ABS transfer mode) was turned on.
Cause
Check method
Check result
Action
Target
(1) The wiring of I/O signals is incorrect.
Check if the I/O signal wire is disconnected or connected loosely.
(2) The sequence program Check the sequence
is incorrect.
program.
It has a failure.
It has no failure. The sequence program is incorrect.
Repair or replace the I/O [A] signal wire.
Check (2).
Modify the sequence program.
120
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.5 Remedies for warnings
Alarm No.: EB Alarm content
Name: The other axis error warning
An alarm, which stops all axes, such as [AL. 24 Main circuit error] or [AL. 32 Overcurrent] occurred in
1
other axis.
"All alarms" of "Target alarm selection of the other axis error warning" is selected in [Pr. PF02].
Detail Detail name Cause No.
Check method
Check result
Action
Target
EB.1
The other axis error warning
(1) [AL. 24] occurred at other axis.
Check if [AL. 24] is occurring at other axis.
It is occurring.
Eliminate the cause of [AL. 24] on the other axis side.
[WB]
It did not occur.
Check (2).
(2) [AL. 32] occurred at other axis.
Check if [AL. 32] is occurring at other axis.
It is occurring.
Eliminate the cause of [AL. 32] on the other axis side.
It did not occur.
Check (3).
(3) "All alarms" of "Target Check the [Pr. PF02] alarm selection of the setting. other axis error warning" is selected in [Pr. PF02].
"All alarms" is selected.
Remove the cause of the occurring alarm at other axis.
Alarm No.: EC
Alarm content
Detail Detail name No.
EC.1
Overload warning 2
Name: Overload warning 2
Operations over rated output were repeated while the servo motor shaft was not rotated.
Cause
Check method
Check result
Action
Target
(1) The load is too large or Check the effective load The effective load ratio is Reduce the load.
[A]
the capacity is not
ratio.
high.
Replace the servo motor [B]
enough.
with the one of larger
[WB]
capacity.
[RJ010]
[GF]
Alarm No.: ED Alarm content
Detail No.
ED.1
Detail name
Output watt excess warning
Name: Output watt excess warning
The status, in which the output wattage (speed × torque) of the servo motor exceeded the rated output, continued steadily.
Cause
Check method
Check result
Action
Target
(1) The status, in which the Check the servo motor
output wattage (speed speed and torque, or
× torque or thrust) of
check the motor speed
the servo motor
and thrust.
exceeded 120% of the
rated output
(continuous thrust),
continued steadily.
The output wattage is 120% of rating.
Reduce the servo motor speed. Reduce the load.
[A] [B] [WB] [RJ010] [GF]
Alarm No.: F0
Alarm content
Detail Detail name No.
F0.1
Instantaneous power failure tough drive warning
F0.3
Vibration tough drive warning
Name: Tough drive warning
Tough drive function was activated.
Cause
Check method
Check result
(1) The voltage of the control circuit power supply has dropped.
Check it with the check method for [AL. 10.1].
(1) The setting value of the Check if it was changed It was changed
machine resonance
frequently.
frequently.
suppression filter was
changed due to a
machine resonance.
Action
Target
Set the machine resonance suppression filter. Check the machine status if screws are loose or the like.
[A] [B] [WB] [RJ010] [GF]
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.5 Remedies for warnings
121
Alarm No.: F2
Alarm content
Detail Detail name No.
F2.1
Drive recorder Area writing time-out warning
F2.2
Drive recorder Data miswriting warning
Name: Drive recorder - Miswriting warning
A waveform measured by the drive recorder function was not recorded.
Cause
Check method
Check result
Action
(1) The Flash-ROM is malfunctioning.
Disconnect the cables except for the control circuit power supply, and then check the repeatability.
It is repeatable.
(1) Data were not written to Check if clearing alarm the drive recorder area. history disables this alarm with MR Configurator2.
It is not canceled.
Replace the servo amplifier.
Replace the servo amplifier.
Target
[A] [B] [WB] [RJ010] [GF]
Alarm No.: F3
Alarm content
Detail Detail name No.
F3.1
Oscillation detection warning
Name: Oscillation detection warning
[AL. 54 Oscillation detection] can occur.
Cause
Check method
Check it with the check method for [AL. 54.1].
Check result
Action
Target
Alarm No.: F4
Alarm content
Detail Detail name No.
F4.4
Target position setting range error warning
F4.6
Acceleration time constant setting range error warning
F4.7 F4.9
Deceleration time constant setting range error warning
Home position return type error warning
Name: Positioning warning
Target position or acceleration time constant/deceleration time constant was set out of setting range.
Cause
Check method
Check result
Action
Target
(1) A target position was
Check the setting value
set out of setting range. of the target position.
It is out of setting range.
Set the target position correctly, and cancel the warning (turn on C_ORST).
[Others]
(1) The acceleration time Check the setting value It is out of setting range. Set the acceleration time [GF]
constant or the
of the acceleration time
constant and the
deceleration time
constant ([Pr. PT49]) and
deceleration time
constant was set out of the deceleration time
constant correctly, and
setting range.
constant ([Pr. PT50]).
cancel the warning (turn
on ORST).
(1) Check it with the check method for [AL. F4.6].
(1) A home position return Check the setting value It is not corresponding to Set the home position
[GF]
type was set out of
([Pr. PT45]) of the home a value for the home
return type correctly, and
setting range.
position return type.
position return type.
cancel the warning (turn
on ORST).
122
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.5 Remedies for warnings
Alarm No.: F5
Alarm content
Detail Detail name No.
Name: Simple cam function - Cam data miswriting warning
The cam data written by MR Configurator2 is not written to a Flash-ROM.
Cause
Check method
Check result
Action
1
Target
F5.1
Cam data Area writing time-out warning
(1) The Flash-ROM is malfunctioning.
Disconnect the cables except for the control circuit power supply, and then check the repeatability.
It is repeatable.
Replace the servo
[A]
amplifier.
[GF]
F5.2
Cam data Miswriting warning
(1) The cam data was not Cycle the power, then
It is repeatable.
written.
check the repeatability by
writing the data again.
Initialize the CAM data,
then check the
repeatability by writing
the data again.
· Section 7.2.9 [Pr.
PT34] of "MR-J4-_A_-
RJ Servo Amplifier
Instruction Manual
(Positioning Mode)"
MR-J4-_GF_(-RJ)
Servo Amplifier
Instruction Manual (I/O
Mode)
· Section 7.2.4 [Pr.
PT34] of "MR-J4-
_GF_(-RJ) SERVO
AMPLIFIER
INSTRUCTION
MANUAL (CC-Link IE
Field Network Basic)"
Replace the servo amplifier.
F5.3
Cam data
(1)
checksum error
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.)
Check if an error occurred (such as entered noise, power-off) at cam data write.
It has a failure. It has no failure.
After writing the cam data again, cycle the power.
Check (2).
(2) When the cam control Check if an error
command is turned on occurred (such as
after the temporal
entered noise) at
writing of cam data, a temporal writing of cam
checksum of the cam data.
data does not match.
(Error occurred in cam
data.)
It has a failure. It has no failure.
After performing the temporal writing of cam data again, turn on the cam control command.
Check (3).
(3) The Flash-ROM is malfunctioning.
Replace the servo amplifier, and then check the repeatability.
It is not repeatable.
Replace the servo amplifier.
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.5 Remedies for warnings
123
Alarm No.: F6 Alarm content
Detail No.
F6.1
Detail name
Cam axis one cycle current value restoration failed
F6.2
Cam axis feed current value restoration failed
F6.3
Cam unregistered error
F6.4 F6.5
Cam control data setting range error
Cam No. external error
Name: Simple cam function - Cam control warning
The cam axis position restoration at a time of cam control start was a failure. The cam control is not normal.
Cause
Check method
Check result
Action
Target
(1) The cam axis one cycle Check if the feed current The feed current value is Move the feed current
[A]
current value
value is within the stroke the outside of the stroke. value to within the stroke [GF]
corresponding to the
in a reciprocating motion
in a reciprocating motion
feed current value at
pattern of the cam.
pattern of the cam.
cam control start cannot
Or set the cam standard
be restored.
position within the stroke
(It occurs in a
in a reciprocating motion
reciprocating motion
pattern of the cam.
pattern of the cam.)
(1) The difference
Check if the difference The difference of the
Calculate the cam axis
(command unit)
(command unit) between command position
feed current value to be
between the restored the restored cam axis
(command unit) is not
restored, move the
cam axis feed current feed current value and within "in-position range". command position to the
value and the command the command position at
position, and then start
position at cam control cam control start is in the
the cam control.
start is bigger than "in- "in-position range".
(For the calculation
position range".
method, refer to the
following.
· Section 12.1.7 (2) of
"MR-J4-_A_-RJ Servo
Amplifier Instruction
Manual (Positioning
Mode)"
MR-J4-_GF_(-RJ)
Servo Amplifier
Instruction Manual (I/O
Mode)
· Section 9.5.7 (2) of
"MR-J4-_GF_(-RJ)
SERVO AMPLIFIER
INSTRUCTION
MANUAL (CC-Link IE
Field Network Basic)"
Or set a larger setting
value to "in-position
range" when the setting
value is extremely small,
such as 0.
(1) Cam data has never been written.
Check if the cam data was written.
It was not written. It was written.
Write the cam data. Check (2).
(2) The cam data of the
Check if the cam data of It was not written.
specified cam No. was the specified cam No.
not written.
was written.
It was written.
Write the cam data of the specified cam No.
Check (3).
(3) Cam data has changed Replace the servo
It is not repeatable.
due to a servo amplifier amplifier, and then check
malfunction.
the repeatability.
Replace the servo amplifier.
(1) An out of range value is Check the setting of the set to the cam control cam control data. data.
The setting is incorrect.
Set it correctly.
(1) An out of range value is Check the setting of the
set to the cam No.
cam No.
The setting is incorrect.
Set it correctly.
124
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.5 Remedies for warnings
Alarm No.: F6
Name: Simple cam function - Cam control warning
Alarm content
Detail Detail name No.
The cam axis position restoration at a time of cam control start was a failure. The cam control is not normal.
Cause
Check method
Check result
Action
1
Target
F6.6
Cam control
(1) After cam data was
Check if the power was The power was not
Cycle the power.
[A]
inactive
written, the cam control cycled after the cam data cycled.
[GF]
command was turned on without cycling the
was written.
The power was cycled. Check (2).
power.
(2) After the cam control command was turned on, the servo-on was turned on.
Check if the cam control command was turned on during servo-on.
The cam control command was not turned on during servo-on.
The cam control command was turned on during servo-on.
Turn on the cam control command during servoon.
Check (3).
(3) The cam control
Check if the cam control The cam control
Turn on the cam control
command was turned command was turned on command was not turned command while the
on during servo motor while the travel
on while the travel
travel completion was on.
driving, and the servo completion was on.
completion was on.
motor stopped.
The cam control
Check (4).
command was turned on
while the travel
completion was on.
(4) The cam control command was turned on at the time of incompletion of home position return.
Check if the home position return completion is on.
The home position return completion is off.
The home position return completion is on.
Make a home position return, and turn on the cam control command.
Check (5).
(5) It became servo-off during cam control.
Check if it is servo-off.
It is servo-off.
After servo-on, turn on the cam control command again.
It is servo-on.
Check (6).
(6) A home position is erased during cam control.
Check if the home position return completion is off.
The home position return completion is off.
After the home position return completion, turn on the cam control command again.
The home position return Check (7). completion is on.
(7) It is stopped at a software limit during cam control.
Check if a software limit is reached.
A software limit is reached.
After it is retracted from the position of a software limit, turn on the cam control command again.
A software limit is not reached.
Check (8).
(8) It is stopped at a stroke Check if a stroke limit is A stroke limit is reached. After it is retracted from
limit during cam control. reached.
the position of a stroke
limit, turn on the cam
control command again.
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.5 Remedies for warnings
125
Alarm No.: F7
Alarm content
Detail Detail name No.
F7.1
Vibration failure prediction warning
F7.2
Friction failure prediction warning
F7.3
Total travel distance failure prediction warning
Name: Machine diagnosis warning
There is a possibility that the equipment connected with the servo motor is malfunctioning.
Cause
Check method
Check result
Action
(1) The servo system is unstable and oscillating.
Check if the gain is changed after the vibration failure prediction function is enabled.
The gain was changed.
The gain was not changed.
Adjust the servo gain with the auto tuning. Set the machine resonance suppression filter.
Check (2).
(2) The vibration during
Check that the vibration The vibration level during Set a larger threshold
servo motor operation level during servo motor servo motor operation
multiplication for vibration
increased because of operation increased from increased by 5% or lower failure prediction ([Pr.
deterioration of
that during the initial
from that during the initial PF40] "_ _ x _") and
equipment parts.
operation.
operation.
restart the equipment.
The vibration level during servo motor operation increased by 5% or higher from that during the initial operation.
Check and maintain the equipment and replace parts as necessary.
(1) Changes in environment affected equipment friction.
Check that environment conditions such as ambient temperature has been changed from that of the initial operation.
The usage environment has been changed.
The usage environment is not changed.
Reset the threshold to set a new one.
Check (2).
(2) Deterioration of equipment parts affected equipment friction.
Check that the friction torque at rated speed has been changed from that of the initial operation.
The friction torque at rated speed is not changed from that of the initial operation.
Set a larger threshold multiplication for friction failure prediction ([Pr. PF40] "_ _ _ x") and restart the equipment.
The friction torque at rated speed has been changed from that of the initial operation.
Check and maintain the equipment and replace parts as necessary.
(1) The servo motor total Check if the threshold is The threshold is not set Set the parameters so
travel distance exceeds set correctly.
correctly.
that the value of "[Pr.
the threshold.
PF34] × [Pr. PF41]" is
approximately the same
as the rated life and
restart the equipment.
The threshold is set correctly.
Check the equipment. After replacing the equipment, reset the servo motor total travel distance.
Target
[GF]
126
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.5 Remedies for warnings
1.6 Trouble which does not trigger alarm/warning 1
When the servo amplifier, servo motor, or encoder malfunctions, the following status may occur. If the servo motor does not rotate, check "NO MOTOR ROTATION" on MR Configurator2 as well.
The following example shows causes which do not trigger alarm or warning. Remove each cause referring to this section.
Description
The display shows "AA".
The display shows "Ab".
Cause
The power of the servo system controller was turned off. A SSCNET 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. An Ethernet cable was disconnected.
A controller, which is not compatible with the servo amplifier, has been connected. The axis is disabled.
The setting of the axis No. is incorrect.
Axis No. does not match with the axis No. set to the servo system controller. Information about the servo series has not set in the simple motion module. Communication cycle does not match.
Checkpoint
Check the power of the servo 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 enabled.
Check if "AA" is displayed in the corresponding axis and following axes.
Check if the connectors (CN10A/ CN10B or CN1A/CN1B) are unplugged.
Check if a controller, which is not compatible with the servo amplifier, is connected.
Check if the disabling control axis switch is on. [B]: SW2-2 [WB]: SW2-2 to 2-4
Check that the other servo amplifier is not assigned to the same axis No.
Check the setting and axis No. of the servo system controller.
Check the value set in Servo series [Pr.100] in the simple motion module.
Check the communication cycle at the 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
Action
Switch on the power of the servo system controller. Replace the SSCNET cable of the corresponding axis. Connect it correctly. Check the power of the servo amplifier. Disable the amplifier-less operation function. Replace the Ethernet cable of the corresponding axis. Connect it correctly.
Connect a compatible controller.
Turn off the disabling control axis switch.
Set it correctly.
Set it correctly.
Set it correctly.
Set it correctly.
Target
[B] [WB]
[RJ010] [GF]
[B] [WB]
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.6 Trouble which does not trigger alarm/warning
127
Description
The display shows "Ab".
The display shows "b##".*1 The display shows "dEF". The display shows "off".
Cause
Connection to MR-J4W3-_B with software version A2 or earlier was attempted in 0.222 ms communication cycle. MR-J4W3-_B was attempted to use in fully closed loop system.
A SSCNET cable was disconnected.
The control circuit power supply of the previous axis servo amplifier is off. The amplifier-less operation function of servo system controller is enabled. The servo amplifier is malfunctioning.
An Ethernet cable was disconnected.
The servo amplifier power was switched on when the master station was off. Communication cycle does not match.
MR-J3-T10 is malfunctioning.
The servo amplifier is malfunctioning. The master station is malfunctioning. Test operation mode has been enabled. The system has been in the ready-off state.
Initializing point table/program is in progress.
Operation mode for manufacturer setting is enabled.
Checkpoint
Check if the communication cycle on servo system controller side is 0.222 ms.
Check if it was attempted to use in fully closed loop system.
Check if "Ab" is displayed in the corresponding axis and following axes.
Check if the connectors (CNIA, CNIB) are unplugged.
Check if "Ab" is displayed in the corresponding axis and following axes.
Check if the amplifier-less operation function of servo system controller is enabled.
Check if "Ab" is displayed in the corresponding axis and following axes.
Check if "Ab" is displayed in the corresponding axis and following axes.
Check the power of the master station.
Check the communication cycle on the master station side. When using 8 axes or less: 0.888 ms When using 16 axes or less: 1.777 ms
Check the communication cycle by referring to the controller instruction manual.
Replace the MR-J3-T10, and then check the repeatability.
Replace the servo amplifier, and then check the repeatability.
Replace the master station, and then check the repeatability.
Test operation setting switch is turned on.
Check if the servo ready state is off with the servo system controller.
Initializing of point table/ program was set in the parameter ([Pr. PT34] = 5001) and the power was cycled.
Check if all of the control axis setting switches (SW2) are on.
Action
Use them with 0.444 ms or more communication cycle.
MR-J4W3-_B does not support the fully closed loop control system. Use MR-J4-_B_ or MRJ4W2-_B. Replace the SSCNET cable of the corresponding axis.
Connect it correctly.
Check the power of the servo amplifier.
Disable the amplifier-less operation function.
Replace the servo amplifier of the corresponding axis.
Replace the Ethernet cable of the corresponding axis.
Turn on the power of the master station.
Set it correctly.
Refer to the controller instruction manual.
Replace the MR-J3-T10.
Replace the servo amplifier.
Replace the master station.
Turn off the test operation setting switch. Turn on the servo-on signals for all axes.
It takes about 20 s for startup the servo amplifier at initializing. Please wait until the display changes. Set the control axis setting switches (SW2) correctly.
Target
[WB]
[B] [WB]
[RJ010] [GF]
[RJ010]
[GF] [RJ010] [RJ010] [GF] [B] [WB] [RJ010] [GF] [A]
[B] [WB] [RJ010] [GF]
128
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.6 Trouble which does not trigger alarm/warning
Description
Cause
Checkpoint
Action
Target
The display turned off.
The external I/O terminal was
When the display is on by
Review the wiring of I/O signals. [A]
shorted.
disconnecting the following connectors, check if the
[B] [WB]
1
disconnected cable wire is
[RJ010]
shorted.
[GF]
[A]: CN1, CN2, CN3
[B] [WB] [RJ010] [GF]: CN2, CN3
The control circuit power supply is Check if the control circuit power Turn on the control circuit power.
not applied.
supply of the servo amplifier is off.
The voltage of the control circuit power supply has dropped.
Check if the voltage of the control Increase the voltage of the control
circuit power supply dropped.
circuit power supply.
The servo motor does not operate.
The connection of the servo motor is incorrect.
The servo motor power supply cable was connected to a servo amplifier of other axis.
Check the wiring of U/V/W.
Check if the encoder cable and servo motor power supply cable are connected to the same servo amplifier.
Connect it correctly.
Connect the encoder cable and servo motor power supply cable correctly.
[A] [B] [WB] [RJ010] [GF]
An alarm or warning is occurring. Check if an alarm or warning is occurring.
Check the content of the alarm/ warning and remove its cause.
The system has been in the test operation mode.
[A]: Check if the lower right point is blinking. [B] [WB] [RJ010] [GF]: Check if the test operation setting switch is on (up).
Cancel the test operation mode.
The motor-less operation has been enabled.
[A]: Check the [Pr. PC60] setting. [B] [WB] [RJ010] [GF]: Check the [Pr. PC05] setting.
Disable the motor-less operation.
The torque is insufficient due to large load.
Check instantaneous torque using status display (only [A]) or MR Configurator2 if the load exceeds the maximum torque or torque limit value.
Reduce the load or use a larger capacity servo motor.
An unintended torque limit has been enabled.
Check if the torque limit is enabled.
Cancel the torque limit.
The setting of the torque limit is incorrect.
Check if the torque limit is "0". [A]: [Pr. PA11] and [Pr. PA12], or analog input [B] [WB] [RJ010]: Setting on controller side [GF]: [Pr. PA11], [Pr. PA12], or setting on controller side
Set it correctly.
Machine is interfering with the motor.
Check if machine is interfering.
Remove the interference.
For a servo motor with an electromagnetic brake, the brake has not released.
Check the power supply of the electromagnetic brake.
Turn on the electromagnetic brake power.
LSP (Forward rotation stroke end) Check if [AL. 99] is occurring.
Turn on LSP and LSN.
[A]
and LSN (Reverse rotation stroke
[GF]
end) are not on.
SON (Servo-on) is not on.
Check the SON (Servo-on) state. Turn on SON (Servo-on).
RES (Reset) is on.
Check the RES (Reset) state.
Turn off RES (Reset).
[A]
The setting of the control mode is Check the [Pr. PA01] setting. incorrect.
Set it correctly.
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.6 Trouble which does not trigger alarm/warning
129
Description
The servo motor does not operate.
Cause
The command pulse is not inputted in the position control mode. The wiring of the command pulse train signal is incorrect in the position control mode.
The setting of the command pulse input form is incorrect in the position control mode.
Both of ST1 (Forward rotation start) and ST2 (Reverse rotation start) are on or off in the speed control mode or the positioning mode. Both of RS1 (Forward rotation selection) and RS2 (Reverse rotation selection) are on or off in the torque control mode. The value selected in the speed control mode or the torque control mode is low.
The value selected in the positioning mode (point table method) with BCD input is low.
An analog signal is not inputted correctly.
The ABS transfer mode is selected when the absolute position detection system is used. The settings of the electronic gear are incorrect. The setting of point tables is incorrect.
Checkpoint
Check if the pulse train is outputted on the controller side.
Check the cumulative command pulses using the status display or MR Configurator2. Input the pulse train command and check if the display changes. Check that the pulse train form outputted with the controller and the setting of [Pr. PA13] are matched. Check the status of ST1 (Forward rotation start) and ST2 (Reverse rotation start).
Check the status of RS1 (Forward rotation selection) and RS2 (Reverse rotation selection).
Check SP1 (Speed selection 1), SP2 (Speed selection 2), and SP3 (Speed selection 3), and then check if the selected internal speed is correct. Check SPD1 (Speed selection 1), SPD2 (Speed selection 2), SPD3 (Speed selection 3) and SPD4 (Speed selection 4), and then check if the selected internal speed is correct.
Check the values of analog speed command and analog torque command using status display or MR Configurator2. Check if ABSM is on.
Check the setting value of the electronic gear. Check the point table setting.
Action
Review the setting on the controller side.
Review the wiring. When the signal is used in open-collector type, input 24 V DC to OPC.
Review the [Pr. PA13] setting.
Turn on ST1 (Forward rotation start) or ST2 (Reverse rotation start).
Turn on RS1 (Forward rotation selection) or RS2 (Reverse rotation selection).
Review the selections of SP1 (Speed selection 1), SP2 (Speed selection 2), SP3 (Speed selection 3), and setting of internal speed. Review the wiring. Review the selections of SPD1 (Speed selection 1), SPD2 (Speed selection 2), SPD3 (Speed selection 3), SPD4 (Speed selection 4), and setting of internal speed. Input the analog signals correctly.
Turn off ABSM.
Set a proper value of the electronic gear. Review the point table setting.
Target
[A]
[A] [GF]
130
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.6 Trouble which does not trigger alarm/warning
Description
Cause
Checkpoint
Action
Target
The servo motor does not
The setting of the point table No. Check the setting of the point
Review the setting of the point
[GF]
operate.
selection is incorrect.
table No. selection (CC-Link IE
table No. selection.
Field Network: RWwn06, CC-Link
1
IE Field Network Basic: RWwn05)
.
The setting of the next station No. selection is incorrect.
Check the setting of the next station No. selection (CC-Link IE Field Network: RWwn06, CC-Link IE Field Network Basic: RWwn05).
Review the setting of the next station No. selection.
RX (n + 3) F (cyclic communication ready) is off (00h).
Check if the controller does not set RY (n + 3) F (cyclic communication ready) to off (00h).
Set RY (n + 3) F (cyclic communication ready) to on (01h).
The control mode was not set with Modes of operation (6060h).
Check if the control mode was not set with Modes of operation (6060h).
Set the control mode with Modes of Operation (6060h).
The controller was stopped (STOP status). (CC-Link IE Field Network Basic-compatible controller and protocol version 1 or earlier)
Check if the controller is stopped (STOP status).
Run the controller (RUN status). For the protocol version compatible with the controller, contact the controller manufacturer.
An error occurred in the controller. (CC-Link IE Field Network Basiccompatible controller only)
Check if an error occurs in the controller.
Remove the error in accordance with the controller instruction manual.
The analog override selection has been set to enabled or disabled incorrectly in the positioning mode (with the point table method or the indexer method).
Check if the analog override selection has been set to enabled or disabled correctly. In the I/O mode: RY (n + 1) B (Analog override selection) In CC-Link IE Field Network Basic: C_OVR (Analog override selection)
Review the enabled/disabled setting of the analog override selection.
The analog override selection has been set incorrectly in the positioning mode (with the point table method or the indexer method).
Check if the analog override value is correct. In the I/O mode: RWwnF (analog override) In CC-Link IE Field Network Basic: Override (2DB0h)
Review the setting of RWwnF (analog override) or Override (2DB0h).
Any of the digital override selection 1 to 4 has been selected incorrectly in the positioning mode (with the point table method or the indexer method).
Check if the selected override level ([%]) is correct. In the I/O mode: RY (n + 1) C (Digital override selection 1) to RY (n + 1) F (Digital override selection 4) In CC-Link IE Field Network Basic: (C_OV0 (Digital override selection 1) to C_OV3 (Digital override selection 4))
Review the settings of the digital override selection 1 to 4.
Wiring or the command pulse
When using an MR-HDP01
Review the wiring and the
[A]
multiplication setting is incorrect. manual pulse generator, check
command pulse multiplication
the wiring and the command pulse setting.
multiplication setting (assignment
of TP0, TP1 and [Pr. PT03]
setting).
Power is not supplied to the MRHDP01 manual pulse generator.
A power supply is not connected between +5 V to 12 V and 0 V of MR-HDP01.
Connect a power supply between +5 V to 12 V and 0 V of MRHDP01.
Power is not supplied to OPC (power input for open-collector sink interface).
Between DICOM and OPC of the CN1 connector of the servo amplifier is not connected.
Connect between DICOM and OPC.
Power is not supplied to OPC (power input for open-collector sink interface).
Between DICOM and OPC of the CN1 connector of the servo amplifier is not connected.
Connect between DICOM and OPC.
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.6 Trouble which does not trigger alarm/warning
131
Description
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.
Cause
The axis is disabled.
An error is occurring on the servo system controller side. The setting of a parameter is incorrect on the servo system controller side. The position command is not inputted correctly.
The connection destination of the encoder cable is incorrect.
The setting of the speed command, speed limit, or electronic gear is not correct. The connection of the servo motor is incorrect. The voltage of the main circuit power supply has dropped. For a servo motor with an electromagnetic brake, the brake has not released. The selection of SP1 (Speed selection 1), SP2 (Speed selection 2), or SP3 (Speed selection 3) is incorrect in the speed control mode or the torque control mode. An analog signal is not input correctly in the speed control mode or the torque control mode.
The selection of SPD1 (Speed selection 1), SPD2 (Speed selection 2), SPD3 (Speed selection 3), or SPD4 (Speed selection 4) is incorrect in the positioning mode (point table method) with BCD input. An analog signal is not input correctly in the positioning mode (point table method and program method). The selection of OV0 (Digital override selection 1), OV1 (Digital override selection 2), OV2 (Digital override selection 3), or OV3 (Digital override selection 4) is incorrect in the positioning mode (indexer method).
Checkpoint
Check if the disabling control axis switch is on. [B]: SW2-2 [WB]: SW2-2 to 4
Check if an error is occurring on the servo system controller side.
Check the settings of parameters on the servo system controller side.
Check cumulative command pulses using MR Configurator2 and check if numerical values are changed by inputting the command.
Check if the connection destinations of CN2A, CN2B, and CN2C are the same as CNP3A, CNP3B, and CNP3C.
Check the settings of the speed command, speed limit, and electronic gear.
Check the wiring of U/V/W.
Check if the voltage of the main circuit power supply dropped.
Check the power supply of the electromagnetic brake.
Check SP1 (Speed selection 1), SP2 (Speed selection 2), and SP3 (Speed selection 3), and then check if the selected internal speed is correct.
Check the values of the analog speed command and the analog torque command using the status display or MR Configurator2.
Check SPD1 (Speed selection 1), SPD2 (Speed selection 2), SPD3 (Speed selection 3) and SPD4 (Speed selection 4), and then check if the selected internal speed is correct.
Check the value of VC (Analog override) using the status display or MR Configurator2.
Check OV0 (Digital override selection 1), OV1 (Digital override selection 2), OV2 (Digital override selection 3) and OV3 (Digital override selection 4), and then check if the selected override level ([%]) is correct.
Action
Turn off the disabling control axis switch.
Cancel the error of the servo system controller. Review the setting of the parameter on the servo system controller side. Review the setting of the servo system controller and the servo program.
Connect encoder cables correctly.
Review the settings of the speed command, speed limit, and electronic gear. Connect it correctly.
Increase the voltage of the main circuit power supply. Turn on the electromagnetic brake power.
Review the settings of SP1 (Speed selection 1), SP2 (Speed selection 2), SP3 (Speed selection 3), and setting of internal speed.
Input the analog signal correctly.
Review the wiring. Review the settings of SPD1 (Speed selection 1), SPD2 (Speed selection 2), SPD3 (Speed selection 3), SPD4 (Speed selection 4), and setting of internal speed. Set the VC (Analog override) and input the analog signal correctly.
Review the wiring. Review the settings of OV0 (Digital override selection 1), OV1 (Digital override selection 2), OV2 (Digital override selection 3), and OV3 (Digital override selection 4).
Target
[B] [WB]
[WB]
[A] [B] [WB] [RJ010] [GF]
[A]
132
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.6 Trouble which does not trigger alarm/warning
Description
Cause
Checkpoint
Action
Target
The servo motor vibrates with low The estimated value of the load to If the servo motor may be driven Execute auto tuning and one-
[A]
frequency.
motor inertia ratio by auto tuning is incorrect. When the load to
with safety, repeat acceleration
touch tuning to reset the load to [B]
and deceleration several times to motor inertia ratio. Set the load to [WB]
1
motor inertia ratio is set by
complete auto tuning. Check if the motor inertia ratio correctly for
[RJ010]
manual, the setting value is
load to motor inertia ratio is proper manual setting.
[GF]
incorrect.
compared with the actual ratio for
manual setting.
The command from the controller Check the command from the
is unstable.
controller.
Review the command from the controller. Check the cable for command if there is failure such as disconnection.
Torque or thrust during acceleration/deceleration is overshooting exceeding the limit of the servo motor when the motor stops.
Check the effective load ratio during acceleration/deceleration if torque/thrust exceeds the maximum torque/thrust.
Reduce the effective load ratio by increasing acceleration/ deceleration time and reducing load.
The servo gain is low. Or the response of auto tuning is low.
Check if the trouble is solved by increasing auto tuning response ([Pr. PA09]).
Adjust gains.
An unusual noise is occurring at the servo motor.
The servo gain is low. Or the response of auto tuning is low.
Bearing life expired.
Check if the trouble is solved by increasing auto tuning response ([Pr. PA09]).
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.
Adjust gains.
Noising means that the bearing life expired. Replace the servo motor. When not noising, maintain the machine.
[A] [B] [WB] [RJ010] [GF]
For a servo motor with an electromagnetic brake, the brake has not released.
Check the power supply of the electromagnetic brake.
Turn on the electromagnetic brake power.
For a servo motor with an electromagnetic brake, the brake release timing is not correct.
Check the brake release timing.
Review the brake release timing. Please consider that the electromagnetic brake has release delay time.
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.6 Trouble which does not trigger alarm/warning
133
Description
The servo motor vibrates.
The rotation accuracy is low. (The speed is unstable.)
Cause
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 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 connection of the servo motor is incorrect. An unbalanced torque of the machine is large. 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. The servo gain is low. Or the response of auto tuning is low.
The torque is insufficient due to large load.
An unintended torque limit has been enabled.
The setting of the torque limit is incorrect.
For a servo motor with an electromagnetic brake, the brake has not released. The command from the controller is unstable.
Checkpoint
Check if the trouble is solved 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 driven with safety, check if the trouble is solved by advanced vibration suppression control . Check the cumulative feedback pulses using status display (only [A]) or MR Configurator2 if its numerical value is skipped. Check if there is a backlash on the machine.
Check the mounting part of the servo motor.
Check the wiring of U/V/W.
Check if the vibration varies depending on the speed. Check the mounting accuracy of the servo motor and machine. Check the load for the shaft of the servo motor.
Check the vibration from outside.
Check if the trouble is solved by increasing auto tuning response ([Pr. PA09]). Check instantaneous torque using status display (only [A]) or MR Configurator2 if the load exceeds the maximum torque or torque limit value. Check if TLC (Limiting torque) is on using status display or MR Configurator2. Check if the limiting torque is too low. [A]: [Pr. PA11] and [Pr. PA12], or analog input [B] [WB] [RJ010]: Setting on controller side [GF]: [Pr. PA11], [Pr. PA12], or setting on controller side Check the power supply of the electromagnetic brake.
Check the ripple of the command frequency with MR Configurator2.
Action
Adjust gains.
Adjust the machine resonance suppression filter.
Execute the advanced vibration suppression control .
Please take countermeasures against noise by laying the encoder cable apart from power cables, etc. Adjust the backlash on the coupling and machine.
Increase the rigidity of the mounting part by such as increasing the board thickness and by reinforcing the part with ribs. Connect it correctly.
Adjust balance of the machine.
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. Adjust gains.
Reduce the load or use a larger capacity servo motor.
Cancel the torque limit.
Set it correctly.
Turn on the electromagnetic brake power.
Review the command from the controller. Check the cable for command if there is failure such as disconnection.
Target
[A] [B] [WB] [RJ010] [GF]
[A] [B] [WB] [RJ010] [GF]
134
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.6 Trouble which does not trigger alarm/warning
Description
Cause
Checkpoint
Action
Target
The machine vibrates unsteadily when it stops.
The servo gain is low. Or the response of auto tuning is low.
Check if the trouble is solved by increasing auto tuning response ([Pr. PA09]).
Adjust gains.
[A]
[B] [WB]
1
[RJ010]
[GF]
The servo motor starts to drive
SON (Servo-on) is on at power
Check if SON (Servo-on) and RD Review the sequence of SON
[A]
immediately after power on of the on.
(Ready) are on using status
(Servo-on).
servo amplifier.
display or MR Configurator2.
The servo motor starts to drive immediately after servo-on.
An analog signal is inputted from Check the status of analog speed Review the timing of inputting
the beginning.
command and analog torque
analog signals.
command using status display or
MR Configurator2.
Zero point of an analog signal deviates.
Check if the servo motor drives while 0 V is inputted to the analog signal.
Execute the VC automatic offset or adjust offset of the analog signal with [Pr. PC37] or [Pr. PC38].
For a servo motor with an electromagnetic brake, the brake release timing is not correct.
The connection of the servo motor is incorrect.
Check the brake release timing. Check the wiring of U/V/W.
Review the brake release timing. Connect it correctly.
[A] [B] [WB] [RJ010] [GF]
Home position deviates at home position return.
For the dog type home position return, the point which the dog turns off and the point which Zphase pulse is detected (CR input position) are too close.
Check if a fixed amount (in one revolution) deviates.
Adjust the dog position.
[A] [B] [WB] [RJ010] [GF]
The in-position range is too large. Check the setting of the inposition range in [Pr. PA10].
Set a narrower in-position range.
The proximity dog switch is failure. Or mounting proximity dog switch is incomplete.
Check if the proximity dog signal is inputted correctly.
Repair or replace the proximity dog switch. Adjust the mounting of the proximity dog switch.
The program on the controller side is incorrect.
Check the program on the controller side such as home position address settings or sequence programs.
Review the programs on the controller side.
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.6 Trouble which does not trigger alarm/warning
135
Description
The position deviates during operation after home position return.
Cause
The position command and actual machine position are different.
The position command and actual machine position are different.
An alarm or warning is occurring. The servo gain is low. Or the response of auto tuning is low. The reduction ratio is not calculated correctly for the geared servo motor.
The in-position range is too large.
Checkpoint
Check that "cumulative feedback pulses × travel distance per pulse" matches the actual machine position. Check if "cumulative feedback pulses × feed length multiplication" matches the actual machine position.
Check that "cumulative feedback pulses × travel distance per pulse" matches the actual machine position. Check if "cumulative feedback pulses × feed length multiplication" matches the actual machine position.
Check if an alarm or warning is occurring.
Check if the trouble is solved by increasing auto tuning response ([Pr. PA09]).
Check the following settings. [A]: 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) [GF]: Electronic gear ([Pr. PA06], [Pr. PA07])
Check the setting of the inposition range in [Pr. PA10].
Action
Review the position command and electronic gear setting.
Review the position command and electronic gear setting.
Check the content of the alarm/ warning and remove its cause. Adjust gains. Review the calculation of the reduction ratio.
Set a narrower in-position range.
Target
[A] [B] [WB] [RJ010] [GF]
136
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.6 Trouble which does not trigger alarm/warning
Description
Cause
Checkpoint
Action
Target
The position deviates during
The command pulses were
Check that the command value of Please take countermeasures
[A]
operation after home position return.
miscounted due to noise.
the controller and the number of cumulative command pulses are
against noise for the command cable.
1
matched.
Review the shield procedure of
the command cable.
The cable for a command is connected loosely or disconnected.
Check that the command value of the controller and the number of cumulative command pulses are matched.
Repair the cable for a command.
Frequency of the pulse train command is too high.
Check the pulse train command frequency is within the range of specifications. 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.
Review the pulse train command frequency. Select a filter according to the pulse train command frequency from "Command input pulse train filter selection" in [Pr. PA13].
A cable for command is too long.
Check the ripple of the command frequency with oscilloscope.
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.
SON (Servo-on) turned off during operation.
Check if SON (Servo-on) is off during operation using status display or MR Configurator2.
Review the wiring and sequence not to turn off SON (Servo-on) during operation.
CR (Clear) or RES (Reset) turned on during operation.
Check if CR (Clear) or RES (Reset) is on during operation using status display or MR Configurator2.
Review the wiring and sequence not to turn on CR (Clear) or RES (Reset) during operation.
The setting of point tables and start timing is incorrect.
Check if a time period from after switching timing of point table setting value and point table No. until a start timing is 3 ms or more.
Review the point table setting. Review the start timing.
An input signal to the MR-D01 extension IO unit is incorrect.
Check the selection of the point table No. selection 1 to point table No. selection 8 and check the wiring.
Check the input signal switch to the MR-D01 extension IO unit and check the wiring.
The program, start timing, etc. are incorrect.
Check if a time period from after switching timing of BCD input program and point table No. until a start timing is 3 ms or more, etc.
Review the controller programs.
The setting of MR-DS60 digital switch is incorrect.
Check the [Pr. Po10] setting.
Review the [Pr. Po10] setting.
The wiring between MR-DS60 digital switch and MR-D01 extension IO unit is incorrect.
Check the wiring between MRDS60 digital switch and MR-D01 extension IO unit.
Review the wiring between MRDS60 digital switch and MR-D01 extension IO unit.
Wiring of the MR-HDP01 manual pulse generator or setting of "manual pulse generator multiplication" ([Pr. PT03], TP0 (manual pulse generator multiplication 1), TP1 (manual pulse generator multiplication 2)) is incorrect.
The input value from the MRHDP01 manual pulse generator and the command position do not match.
Review the wiring. Set the multiplication setting correctly.
A mechanical slip occurred. Or the backlash of the machine part is large.
Check if there is a slip or backlash Adjust the machine part. on the machine part.
[A] [B] [WB] [RJ010] [GF]
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.6 Trouble which does not trigger alarm/warning
137
Description
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.)
For a servo motor with an electromagnetic brake, the brake went out. The coasting distance of the servo motor became longer.
Cause
The motor was rotated exceeding the maximum permissible speed at power failure (6000 r/min) by an external force during servo amplifier power off. (Note: The acceleration time is 0.2 s or less.) The servo amplifier power turned on while the servo motor was rotated exceeding 3000 r/min by an external force. Transfer data to the controller is incorrect. The servo gain is low or too high. The response of auto tuning is low or too high.
The setting of [Pr. PB06 Load to motor inertia ratio/ load to motor mass ratio] is incorrect.
Capacity shortage or shortage of the maximum torque (thrust) due to too large load.
The setting of the torque limit is incorrect.
Backlash of the machine part is large. The communication setting is incorrect. A model is being connected other than the model set in model selection. The driver was not set correctly.
They are off-line status. A communication cable is malfunctioning. The electromagnetic brake is failure due to its life. For the life of electromagnetic brake, refer to "Servo Motor Instruction Manual (Vol. 3)".
The load was increased and permissible load to motor inertia ratio was exceeded. An external relay is malfunctioning. Or the wiring of MBR (Electromagnetic brake interlock) is incorrect. The electromagnetic brake is failure due to its life. For the life of electromagnetic brake, refer to "Servo Motor Instruction Manual (Vol. 3)".
Checkpoint
Check if the motor was accelerated suddenly to 6000 r/ min by an external force.
Check if the servo amplifier power turned on while the servo motor was rotated exceeding 3000 r/min by an external force.
Check the ABS data with MR Configurator2.
Check the velocity waveform with a graph using MR Configurator2 if overshoot/ undershoot is occurring.
Check that the setting value of [Pr. PB06 Load to motor inertia ratio/ load to motor mass ratio] and the actual load moment of inertia or load mass are matched.
Check the instantaneous torque using status display if the maximum torque (maximum thrust) exceeds the torque limit value (thrust limit value).
Check the instantaneous torque using status display if the maximum torque (maximum thrust) exceeds the torque limit value (thrust limit value).
Check if there is a backlash on the machine part.
Check the communication setting such as baud rate and ports.
Check if the model selection is set correctly.
Check the bottom of the USB (Universal Serial Bus) controller with the device manager of the personal computer if "MITSUBISHI MELSERVO USB Controller" is being displayed.
Check if they are off-line.
Check if the communication cable is malfunctioning.
Remove the servo motor and all wirings from the machine and check if the servo motor shaft can be rotated by hands. (If it is rotated by hands, the brake is failure.)
Check if the load was increased.
Check the external relay and wirings connected to MBR (Electromagnetic brake interlock) if they are malfunctioning.
Remove the servo motor and all wirings from the machine and check if the servo motor shaft can be rotated by hands. (If it is rotated by hands, the brake is failure.)
Action
Extend the acceleration time.
Review the power-on timing.
Review the controller programs. Adjust the response of auto tuning and execute the gain adjustment again. Set it correctly.
Reduce the effective load ratio by increasing acceleration/ deceleration time and reducing load. Review the torque limit setting.
Adjust the backlash on the coupling and machine part. Set the communication setting correctly. Set the mode selection correctly.
Delete an unknown device or other devices, cycle the power of the servo amplifier, and reset according to Found New Hardware Wizard. Set them to on-line. Replace the communication cable. Replace the servo motor.
Reduce the load.
Replace the external relay. Or review the wiring.
Replace the servo motor.
Target
[A] [B] [WB] [RJ010] [GF]
[A] [A] [B] [WB] [RJ010] [GF]
[A] [B] [WB] [RJ010] [GF]
[A] [B] [WB] [RJ010] [GF] [A] [B] [WB] [RJ010] [GF]
138
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.6 Trouble which does not trigger alarm/warning
Description
Cause
Checkpoint
Action
Target
The program operation is not in The command speed of the
An abnormal value such as 0 [r/ Review the program.
[A]
progress.
positioning operation is low.
min] was set for specifying the servo motor speed.
1
The program stops at the state of waiting for external signal on.
A program input number set with SYNC command does not match with the actual inputted signal.
Review the program or signal to use.
A point table was executed but
A positioning to the same position Multiple operation starts which
Review the setting of the point
[A]
the operation did not start.
is repeated.
have the same specified number table or procedures of the
[GF]
of point table are in progress.
operation.
Positioning to a same point was endlessly repeated with automatic continuous operation "8, 9, 10, 11" was selected in sub functions of the point table operation.
Review the setting of the point table or procedures of the operation.
The electromagnetic brake cannot The wiring is incorrect.
Check the SBC output signal.
Review the output signals.
[B]
be canceled.
A signal of output device is not
Check if the output device cable is Review the wiring or load.
outputted correctly.
wired correctly. Or check if a load
of output device is over
specifications.
The functional safety unit is malfunctioning.
Replace the functional safety unit, Replace the functional safety unit. and then check the repeatability.
A vertical axis falls while the SBC The STO function is used during Check if the SS1 function is
Enable the SS1 function.
[B]
output is used.
servo-on.
enabled.
A signal of output device is not outputted correctly.
Check if the output device cable is wired correctly. Or check if a load of output device is over specifications.
Review the wiring or load.
The functional safety unit is malfunctioning.
Replace the functional safety unit, Replace the functional safety unit. and then check the repeatability.
The setting of a waiting time of the electromagnetic brake sequence output is incorrect.
Check if [Pr. PC02 Electromagnetic brake sequence output] and [Pr. PSA03 SS1 monitoring deceleration time] are set correctly.
Set it correctly.
Modbus RTU communication is The servo amplifier is not set to Check if "communication protocol Select Modbus RTU protocol.
[A]
not established.
Modbus RTU communication
selection" in [Pr. PC71] is
protocol.
correctly set.
The communication setting is not set correctly.
Check if [Pr. PC70 Modbus RTU communication station number setting] is set correctly.
Check [Pr. PC70 Modbus RTU communication station number setting] and the station No. specified in a Query message from the controller if they are matched together.
Check if "Modbus RTU communication baud rate selection" in [Pr. PC71] is set correctly.
Check "Modbus RTU communication baud rate selection" and the communication baud rate setting of the controller if they are matched together.
Check if "Modbus RTU communication parity selection" in [Pr. PF45] is set correctly.
Check "Modbus RTU communication parity selection" and the parity setting of the controller if they are matched together.
The servo amplifier is not compatible with Modbus RTU communication.
For MR-J4-_A_-RJ 100 W or more servo amplifier, check that the servo amplifier was manufactured in January 2015 or later. Check if MR-J4-_A_ servo amplifier or MR-J4-03A6(-RJ) servo amplifier is being used.
For MR-J4-_A_-RJ 100 W or more servo amplifier, use the one manufactured in January 2015 or later. (MR-J4-_A_ servo amplifier or MR-J4-03A6(-RJ) servo amplifier is not compatible with Modbus RTU communication.)
A communication cable is malfunctioning.
Check if the communication cable Replace the communication has any failure such as damage. cable.
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.6 Trouble which does not trigger alarm/warning
139
Description
RS-422 communication (Mitsubishi Electric generalpurpose AC servo protocol) is not established.
CC-Link IE Field Network Basic communication or SLMP is not established.
When CC-Link IE Field Network Basic is used, the servo motor stopped while the control command is on.
*1 ## indicates axis No.
Cause
The servo amplifier is not set to RS-422 communication protocol.
The communication setting is not set correctly.
A communication cable is malfunctioning. The IP address is not set correctly.
The IP address filter is not set correctly.
The designated operation IP address is not set correctly.
TCP is selected. An Ethernet cable is malfunctioning. An alarm or warning is occurring. The link device (cyclic communication ready) is off. An Ethernet cable was disconnected. An Ethernet cable is malfunctioning.
Checkpoint
Check if "communication protocol selection" in [Pr. PC71] is correctly set.
Check if [Pr. PC20 Station number setting] is set correctly.
Check if "RS-422 communication baud rate selection" in [Pr. PC21] is set correctly.
Check if the communication cable has any failure such as damage. Check if [Pr. PN11 IP address setting A] and [Pr. PN12 IP address setting B] are set correctly. Check if [Pr. PN13 Subnet mask setting A] and [Pr. PN14 Subnet mask setting B] are set correctly. Check if [Pr. PN18 IP address filter A] and [Pr. PN19 IP address filter B] are set correctly. Check if [Pr. PN20 IP address filter A range specification] and [Pr. PN21 IP address filter B range specification] are set correctly. Check if [Pr. PN22 Operation specification IP address A] and [Pr. PN23 Operation specification IP address B] are set correctly. Check if [Pr. PN24 Operation specification IP address range specification] is set correctly. Check if TCP is selected with the communication setting. Check if the Ethernet cable has any failure such as damage. Check if an alarm or warning is occurring. Check if the controller does not turn off the cyclic communication ready command. Check if the cable is disconnected from the connector (CN1). Check if the Ethernet cable has any failure such as damage.
Action
Select RS-422/RS-485 communication (Mitsubishi Electric general-purpose AC servo protocol). Check [Pr. PC20 Station number setting] and the station No. specified by the controller if they are matched together. Check "RS-422 communication baud rate selection" and the communication baud rate setting of the controller if they are matched together. Replace the communication cable. Check if the parameter setting values match the designated IP address of the controller.
Check if the parameter setting values are set correctly.
Check if the parameter setting values match the address of external devices. Check if the parameter setting values are set correctly.
Check if the parameter setting values match the IP address of the controller that transmits commands. Check if the parameter setting values are set correctly.
Select UDP.
Replace the Ethernet cable.
Check the contents of the alarm/ warning, and remove its cause. Turn on the cyclic communication ready command.
Connect it correctly.
Replace the Ethernet cable.
Target
[A]
[GF]
140
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.6 Trouble which does not trigger alarm/warning
1.7 Network module error codes 1
If an error occurs in the network module, a network module error code will be displayed in "Alarm Display" of MR Configurator2. For details of the network module error codes, refer to "Exception Codes" of "Anybus CompactCom 40 Software Design Guide (Doc.Id. HMSI-216-125)".
1 TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1.7 Network module error codes
141
2 TROUBLESHOOTING FOR MR-CV_POWER
REGENERATION CONVERTER UNIT
When an error occurs during operation, the corresponding alarm or warning is displayed. When an alarm occurs, ALM (Malfunction) will turn off. Refer to the following and take the appropriate action. Page 144 Remedies for alarms When a warning occurs, refer to the following and take the appropriate action. Page 148 Remedies for warnings
2.1 Explanations of the lists
No./Name
Indicates each No./Name of alarms or warnings.
Alarm deactivation
After the cause of the alarm has been removed, the alarm can be deactivated by any of the methods marked in the alarm deactivation column. Warnings are automatically canceled after the cause of occurrence is removed. Alarms are deactivated by alarm reset, CPU reset, or power cycling.
Alarm deactivation
Alarm reset
CPU reset Cycling the power
Explanation
1. Turn on RES (Reset) with an input device. *1 2. Input the servo-on command for the drive unit connected with the protection coordination cable. Resetting the controller itself.*2
Turning the power off and then turning it on again.
*1 Deactivate an alarm in the servo-off status. Alarm deactivation in the servo-on status will trigger [AL. 1B Converter error]. *2 When it is not connected by a protection coordination cable, alarms cannot be deactivated by CPU reset.
142
2 TROUBLESHOOTING FOR MR-CV_POWER REGENERATION CONVERTER UNIT 2.1 Explanations of the lists
2.2 Alarm list
No.
61 62 66 67 68 69 6A 6B 6C 6E_ *1 70 71 72 73 75 76 77 7E 7F
Name
Overcurrent Frequency error Process error Open phase Watchdog Ground fault MC drive circuit error Inrush current suppression circuit error Main circuit error Board error Converter forced stop error Undervoltage Cooling fan error Regenerative error Overvoltage Switch setting error Main circuit device overheat Overload 1 Overload 2
Alarm deactivation Alarm reset
*2 *2 *2
CPU reset
*2 *2 *2 *2
*1 The digit in "_" is displayed in some cases. The remedy for this alarm is same as that of [AL. 6E]. *2 After resolving the source of trouble, cool the equipment for approximately 30 minutes.
2.3 Warning list
No.
Name
E9
Instantaneous power failure warning
EA
External forced stop warning
EB
Excessive regeneration warning
EC
Overload warning
EE
Cooling fan speed reduction warning
Cycling the power
2
*2
*2
*2
*2
2 TROUBLESHOOTING FOR MR-CV_POWER REGENERATION CONVERTER UNIT 2.2 Alarm list
143
2.4 Remedies for alarms
No.
Name/Description
Cause
Check method
Check result
Action
61
Overcurrent
(1) The combination of AC Check if the correct AC It is incorrect.
Connect the correct AC
· A current higher than the
reactor and power
reactor is connected.
reactor.
permissible current was applied to the power
regeneration converter unit is incorrect.
It is correct.
Check (2).
regeneration converter unit.
(2) The current exceeds the Check if the maximum instantaneous maximum value of total output
It is larger than the
Check operation pattern.
instantaneous maximum Or increase the capacity
rating of the power
current of the servo
rating of the power
of the power
regeneration converter motor connected to the regeneration converter regeneration converter
unit.
power regeneration
unit.
unit.
converter unit does not exceed the instantaneous maximum rating of the power regeneration converter unit.
It is lower than or equal to the instantaneous maximum rating of the power regeneration converter unit.
Check (3).
(3) The power supply capacity is insufficient.
Check the power supply It is insufficient. capacity.
Check the power supply capacity.
It is sufficient.
Check (4).
(4) The phases of the input Check if the potential
It is equal to or larger
power supply voltage are difference of the input
than the prescribed
unbalanced.
power supply voltage is value.
less than the prescribed value. 200 V class: 10 V
It is less than the prescribed value.
400 V class: 20 V
Improve the balance of power supply phases.
Check (5).
(5) Something near the device caused it.
Check the noise, grounding, etc.
There is a problem in the Take countermeasures
surrounding.
against its cause.
There is no problem in the surrounding.
Check (6).
(6) The power regeneration Replace the power
It is not repeatable.
converter unit is
regeneration converter
malfunctioning.
unit, and then check the
repeatability.
Replace the power regeneration converter unit.
62
Frequency error
(1) The main circuit power Check the main circuit The main circuit power Turn on the main circuit
· The frequency of the input
supply is turned off.
power supply.
supply is turned off.
power supply.
power supply exceeds the permissible range.
The main circuit power supply is turned on.
Check (2).
(2) The frequency of the
Check if the normal
It is out of range.
input power supply is out power supply voltage
of the specifications.
waveform is within 50 Hz It is within range.
± 3% or 60 Hz ± 3%.
Check the power supply. Check (3).
(3) The power supply voltage is unstable during operation.
Measure the power supply voltage at motor acceleration/ deceleration.
The frequency fluctuation at acceleration/ deceleration is large.
Check the power supply.
It has no failure.
Check (4).
(4) Something near the device caused it.
Check the noise, grounding, etc.
There is a problem in the Take countermeasures
surrounding.
against its cause.
There is no problem in the surrounding.
Check (5).
(5) The power regeneration Replace the power
It is not repeatable.
converter unit is
regeneration converter
malfunctioning.
unit, and then check the
repeatability.
Replace the power regeneration converter unit.
144
2 TROUBLESHOOTING FOR MR-CV_POWER REGENERATION CONVERTER UNIT 2.4 Remedies for alarms
No.
Name/Description
Cause
Check method
Check result
Action
66
Process error
· The process did not
complete within the
specified time.
(1) Something near the device caused it.
Check the power supply for noise. Check if the connector is shorted.
There is a problem in the surrounding.
There is no problem in the surrounding.
Take countermeasures against its cause.
Check (2).
(2) The power regeneration Replace the power
It is not repeatable.
converter unit is
regeneration converter
Replace the power regeneration converter
2
malfunctioning.
unit, and then check the
unit.
repeatability.
67
Open phase
(1) Any of the wirings L1,
Check if the wirings of It has a failure.
· The wirings of L1, L2, and
L2, and L3 is not
L1, L2, and L3 are
L3 are incorrect.
connected. Or, it is
incorrect.
It has no failure.
disconnected.
Review the wiring. Check (2).
(2) A part in the power
Replace the power
It is not repeatable.
regeneration converter regeneration converter
unit is malfunctioning.
unit, and then check the
repeatability.
Replace the power regeneration converter unit.
68
Watchdog
(1) A part in the power
Replace the power
It is not repeatable.
Replace the power
· A part such as CPU is
regeneration converter regeneration converter
regeneration converter
malfunctioning.
unit is malfunctioning.
unit, and then check the
unit.
repeatability.
69
Ground fault
(1) A ground fault occurred Check if only the servo A ground fault is
Replace the servo motor
· A ground fault occurred on
at the servo motor power motor power cable is
occurring.
power cable.
the servo motor power lines.
cable.
shorted.
A ground fault is not occurring.
Check (2).
(2) A ground fault occurred Check if the servo motor A ground fault is
at the servo motor.
power cables on motor occurring.
side (U/V/W) and
A ground fault is not
grounding are insulated. occurring.
Replace the servo motor.
Check (3).
(3) The servo amplifier is malfunctioning.
Replace the servo amplifier, and then check the repeatability.
It is not repeatable. It is repeatable.
Replace the servo amplifier.
Check (4).
(4) The power regeneration Replace the power
It is not repeatable.
converter unit is
regeneration converter
malfunctioning.
unit, and then check the
repeatability.
Replace the power regeneration converter unit.
6A
MC drive circuit error
(1) The setting value of the Check the setting of the The setting or wiring
Check the setting of the
· Failure of the magnetic
rotary switch for
rotary switch and the
constitution is incorrect. rotary switch or wiring
contactor drive circuit The
magnetic contactor drive wiring constitution.
constitution.
main circuit power supply
is still on even when the
magnetic contactor output
was turned off.
(2)
output contradicts the wiring constitution.
The magnetic contactor Replace the magnetic
failed.
contactor, and then
The setting and wiring constitution are correct.
It is not repeatable.
Check (2).
Replace the magnetic contactor.
check the repeatability. It is repeatable.
Check (3).
(3) A part in the power
Replace the power
It is not repeatable.
regeneration converter regeneration converter
unit is malfunctioning.
unit, and then check the
repeatability.
Replace the power regeneration converter unit.
6B
Inrush current suppression (1) The inrush relay was
Check if the inrush relay It is turned off and on.
Check operation pattern.
circuit error · The inrush current
suppression circuit error was detected.
turned on and off very frequently.
(2) Inrush current suppressor circuit is
is turned on and off very frequently.
Replace the power regeneration converter
It is not turned off and on.
It is not repeatable.
Check (2).
Replace the power regeneration converter
malfunctioning.
unit, and then check the
unit.
repeatability.
2 TROUBLESHOOTING FOR MR-CV_POWER REGENERATION CONVERTER UNIT 2.4 Remedies for alarms
145
No.
Name/Description
Cause
Check method
Check result
Action
6C
Main circuit error
(1) The total capacity of
Check if the total
It exceeds the total
Review the capacity.
· An error was detected
connected servo
capacity of connected
capacity of servo
when the main circuit
amplifiers other than
servo amplifiers other
amplifiers connectable to
capacitor was being
multiple drive units
than multiple drive units the power regeneration
charged.
exceeds the permissible is within that of servo
converter unit.
capacity of servo amplifiers connected to the power regeneration converter unit.
amplifiers connectable to the power regeneration converter unit.
It is less than or equal to the total capacity of servo amplifiers connectable to the
Check (2).
power regeneration
converter unit.
(2) A part in the power
Replace the power
It is not repeatable.
regeneration converter regeneration converter
unit is malfunctioning.
unit, and then check the
repeatability.
It is repeatable.
Replace the power regeneration converter unit.
Check (3).
(3) The servo amplifier is malfunctioning.
Replace the servo amplifier, and then check the repeatability.
It is not repeatable.
Replace the servo amplifier.
6E
Board error
(1) A part in the power
Disconnect the cables It is repeatable.
Replace the power
· A part in the power
regeneration converter except for the control
regeneration converter
regeneration converter unit
unit is malfunctioning.
circuit power supply, and
unit.
is malfunctioning.
then check the repeatability.
It is not repeatable.
Check (2).
(2) Something near the device caused it.
Check the power supply There is a problem in the Take countermeasures
for noise.
surrounding.
against its cause.
70
Converter forced stop error (1) EM1 (Forced stop) of the Check the status of EM1 It is off.
· EM1 (Forced stop) of the
power regeneration
(Forced stop) of the
power regeneration converter unit was turned
converter unit was turned off.
power regeneration converter unit.
It is on.
off.
(2) The external 24 V DC
Check if the external 24 It is not inputted.
power supply is off.
V DC power supply is
inputted.
It is inputted.
Ensure safety and turn on EM1 (Forced stop). Check (2).
Input the 24 V DC power supply. Check (3).
(3) The power regeneration Replace the power
It is not repeatable.
converter unit is
regeneration converter
malfunctioning.
unit, and then check the
repeatability.
Replace the power regeneration converter unit.
71
Undervoltage
(1) The power supply wiring Check the power supply It has a failure.
Wire it correctly.
· The power supply voltage dropped. (2)
is incorrect.
wiring.
Power supply voltage is Check if the power
It has no failure. The voltage is the
Check (2). Review the power
low.
supply voltage is at the prescribed value or
supply voltage.
prescribed value or
lower.
lower. 200 V class: 190 V DC 400 V class: 380 V DC
The voltage is higher than the prescribed value.
Check (3).
(3) An instantaneous power Check if the power has a It has a problem.
failure has occurred for 60 ms or longer.
problem.
It has no problem.
Review the power. Check (4).
(4) A part in the power
Disconnect the cables It is repeatable.
regeneration converter except for the power
unit is malfunctioning.
supply, and then check
the repeatability.
Replace the power regeneration converter unit.
72
Cooling fan error
(1) Foreign matter was
Check if a foreign matter Something has been
Remove the foreign
· The speed of the cooling
caught in the cooling fan. is caught in the cooling caught.
matter.
fan on the power regeneration converter unit has decreased.
(2)
Cooling fan life expired.
fan. Check if the cooling fan
Nothing has been caught.
It is stopping.
Check (2). Replace the power
is stopping.
regeneration converter
unit.
73
Regenerative error
(1) The regenerative load Check "Converter
It is 100% or more.
· The load ratio exceeded
ratio exceeded 100%.
regenerative load ratio"
the excessive regeneration
with MR Configurator2.
protection characteristic of
the power regeneration
converter unit.
· Reduce the frequency of positioning.
· Reduce the load.
146
2 TROUBLESHOOTING FOR MR-CV_POWER REGENERATION CONVERTER UNIT 2.4 Remedies for alarms
No.
Name/Description
Cause
Check method
Check result
Action
75
Overvoltage
(1) The regeneration
Set a longer
It is not repeatable.
Check operation pattern.
· The value of the bus
capacity is insufficient. deceleration time
Or use a larger converter
voltage exceeded the
constant, and then check
unit.
prescribed value.
the repeatability.
It is repeatable.
Check (2).
200 V class: 420 V DC
400 V class: 840 V DC
(2) Power supply voltage high.
Check if the voltage of It is higher than the the input power supply is prescribed value.
Reduce the power supply voltage.
2
over the prescribed value. 200 V class: 297 V AC
It is at the prescribed value or lower.
Check (3).
400 V class: 594 V AC
(3) A ground fault or short occurred at the servo motor power cable.
Check if only the servo motor power cable is shorted.
It is shorted. It is not shorted.
Replace the servo motor power cable.
Check (4).
(4) A ground fault occurred Disconnect the servo
It is shorted.
at the servo motor.
motor power cables on
motor side, and check
It is not shorted.
insulation among phases
(U/V/W).
Replace the servo motor.
Check (5).
(5) Something near the device caused it.
Check the noise, ambient temperature, etc.
There is a problem in the Take countermeasures
surrounding.
against its cause.
76
Switch setting error
(1) The setting of the rotary Check the setting of the The setting is incorrect. Set it correctly.
· The setting of the rotary switch is incorrect.
switch is incorrect. (2) Forced stop is input
rotary switch. Check the wiring for the
The setting is correct.
Check (2).
The wiring for the forced Check the wiring and the
when the forced stop is forced stop and the
stop and the setting of setting of the rotary
disabled with the rotary setting of the rotary
the rotary switch are
switch.
switch.
switch.
incorrect.
The setting is correct.
Check (3).
(3) The power regeneration Replace the power
It is not repeatable.
converter unit is
regeneration converter
malfunctioning.
unit, and then check the
repeatability.
Replace the power regeneration converter unit.
77
Main circuit device overheat (1) Ambient temperature
Check the ambient
It is over 55 .
Lower the ambient
· The inside of the power
has exceeded 55 .
temperature.
temperature.
regeneration converter unit overheated.
(2)
Turning on and off were Check if the overload
It is 55 or lower. It occurred.
Check (2). Check operation pattern.
repeated under the overload status.
status occurred many times.
It did not occur.
Check (3).
(3) A cooling fan, heat sink, Clean the cooling fan,
It is not repeatable.
or openings is clogged with foreign matter.
heat sink, or openings, and then check the
It is repeatable.
repeatability.
Clean it periodically. Check (4).
(4) The power regeneration Replace the power
It is not repeatable.
converter unit is
regeneration converter
malfunctioning.
unit, and then check the
repeatability.
Replace the power regeneration converter unit.
7E
Overload 1
(1) A current exceeding the Check "Converter
The effective load ratio Reduce the load. Check
· The load ratio exceeded
continuous output
effective load ratio" with of the power
operation pattern.
the overload protection
current was applied to MR Configurator2.
regeneration converter
characteristic of the power
the power regeneration
unit is high.
regeneration converter
converter unit.
unit.
7F
Overload 2
(1) A current exceeding the Check "Converter
The effective load ratio Check operation pattern.
· The load ratio exceeded
short-term output current effective load ratio" with of the power
the overload protection
was applied to the power MR Configurator2.
regeneration converter
characteristic of the power
regeneration converter
unit is high.
regeneration converter
unit.
unit.
2 TROUBLESHOOTING FOR MR-CV_POWER REGENERATION CONVERTER UNIT 2.4 Remedies for alarms
147
2.5 Remedies for warnings
No.
Name/Description
Cause
Check method
Check result
E9
Instantaneous power failure (1) An instantaneous power Check if the power has a It has a problem.
warning
failure has occurred for problem.
· [AL. 71] may occur.
30 ms or longer.
EA
External forced stop warning (1) EM1 of the power
Check the status of EM1 It is off.
· EM1 (forced stop) of the
regeneration converter of the power
power regeneration
unit was turned off.
regeneration converter
converter unit was turned
unit.
off.
It is on.
(2) The external 24 V DC power supply is off.
Check if the external 24 V DC power supply is inputted.
It is not inputted. It is inputted.
(3) The power regeneration Replace the power
It is not repeatable.
converter unit is
regeneration converter
malfunctioning.
unit, and then check the
repeatability.
EB
Excessive regeneration
warning
· [AL. 73] may occur.
(1) The regenerative load Check the regenerative It is 80% or more.
ratio of the power
load ratio of the power
regeneration converter regeneration converter
unit has been over 80%. unit.
EC
Overload warning
· [AL. 7E] may occur.
Check it with the check method for [AL. 7E] and [AL. 7F].
EE
Cooling fan speed reduction Check it with the check method for [AL. 72].
warning
· The cooling fan speed
decreased to the warning
occurrence level or less.
Action
Review the power.
Ensure safety and turn on EM1 of the power regeneration converter unit. Check (2). Input the 24 V DC power supply. Check (3). Replace the power regeneration converter unit.
· Reduce the frequency of positioning.
· Reduce the load.
148
2 TROUBLESHOOTING FOR MR-CV_POWER REGENERATION CONVERTER UNIT 2.5 Remedies for warnings
3 TROUBLESHOOTING FOR MR-CR55K(4)
RESISTANCE REGENERATION CONVERTER UNIT
[AL. 37 Parameter error] and warnings are not recorded in the alarm history.
3
When an error occurs during operation, the corresponding alarm or warning is displayed. When an alarm occurs, ALM (Malfunction) will turn off. Refer to the following and take the appropriate action. Page 150 Remedies for alarms
When a warning occurs, refer to the following and take the appropriate action. Page 155 Remedies for warnings
3.1 Explanation for the lists
No./Name
Indicates each No./Name of alarms or warnings.
Alarm deactivation
After its cause has been removed, the alarm can be deactivated in any of the methods marked 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.
Alarm deactivation
Alarm reset Cycling the power
Explanation
Push the "SET" button on the current alarm screen of the display. Turning the power off and then turning it on again.
3.2 Alarm/warning list
Alarm
Display Name
Alarm deactivation
Alarm reset
A.10 A.12 A.15 A.17 A.19 A.30 A.33 A.37 A.38 A.39 A.3A A.45 A.47 A.50 A.51 888
Undervoltage Memory error 1 (RAM) Memory error 2 (EEP-ROM) Board error Memory error 3 (Flash-ROM) Regenerative error Overvoltage Parameter error MC drive circuit error Open phase Inrush current suppression circuit error Main circuit device overheat Cooling fan error Overload 1 Overload 2 Watchdog
*1 *1 *1 *1
*1 After resolving the source of trouble, cool the equipment for approximately 30 minutes.
Cycling the power
*1 *1 *1 *1
3 TROUBLESHOOTING FOR MR-CR55K(4) RESISTANCE REGENERATION CONVERTER UNIT 3.1 Explanation for the lists
149
Warning
Display
A.91 A.E0 A.E1 A.E6 A.E8
3.3
Name
Converter overheat warning Excessive regeneration warning Overload warning 1 Converter forced stop warning Cooling fan speed reduction warning
Remedies for alarms
CAUTION
When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before restarting operation. Otherwise, it may cause injury.
When any of the following alarms has occurred, do not deactivate the alarm repeatedly to restart. Otherwise, the resistance regeneration 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] [AL. 37 Parameter error] is not recorded in the alarm history.
Remove the cause of the alarm in accordance with this section.
No.
Name/Description
Cause
Check method
Check result
Action
10
Undervoltage
(1) The control circuit
Check the control circuit It has a failure.
Wire it correctly.
· The voltage of the control circuit power supply has
power supply wiring is incorrect.
power supply wiring.
It has no failure.
Check (2).
dropped.
(2) The voltage of the
Check if the voltage of
The voltage is the
Review the voltage of the
control circuit power
the control circuit power prescribed value or
control circuit power
supply is low.
supply is lower than
lower.
supply.
prescribed value. 200 V class: 160 V AC 400 V class: 280 V AC
The voltage is higher than the prescribed value.
Check (3).
(3) An instantaneous
Check if the power has a It has a problem.
power failure has occurred for more than 60 ms.
problem.
It does not have a problem.
Review the power. Check (4).
(4) Failure of the part in the Disconnect the cables
It is repeatable.
resistance regeneration except for the control
converter unit.
circuit power supply, and
then check the
repeatability.
Replace the resistance regeneration converter unit.
12
Memory error 1 (RAM)
(1) Failure of the part in the Disconnect the cables
It is repeatable.
Replace the resistance
· Failure of the part (RAM) in
resistance regeneration except for the control
regeneration converter
the resistance regeneration
converter unit.
circuit power supply, and
unit.
converter unit.
then check the repeatability.
It is not repeatable.
Check (2).
(2) Something near the device caused it.
Check the power supply There is a problem in the Take countermeasures
for noise.
surrounding.
against its cause.
150
3 TROUBLESHOOTING FOR MR-CR55K(4) RESISTANCE REGENERATION CONVERTER UNIT 3.3 Remedies for alarms
No.
Name/Description
Cause
Check method
Check result
Action
15
Memory error 2 (EEP-ROM) (1) EEP-ROM is
Disconnect the cables
It is repeatable.
Replace the resistance
· Failure of the part (EEP-
malfunctioning at power except for the control
regeneration converter
ROM) in the resistance
on.
circuit power supply, and
unit.
regeneration converter unit.
then check the repeatability.
It is not repeatable.
Check (2).
(2) The number of write times to EEP-ROM exceeded 100,000.
Check if parameters have been used very frequently.
It was changed.
Replace the resistance
regeneration converter
unit. Change the process
to use parameters less
frequently after replacement.
3
It was not changed.
Check (3).
(3) EEP-ROM is malfunctioning during normal operation.
Check if the error occurs when you change parameters during normal operation.
It occurs. It does not occur.
Replace the resistance regeneration converter unit.
Check (4).
(4) Something near the device caused it.
Check the power supply for noise. Check if the connector is shorted.
There is a problem in the Take countermeasures
surrounding.
against its cause.
17
Board error
(1) The resistance
Disconnect the cables
It is repeatable.
Replace the resistance
· A part in the resistance
regeneration converter except for the control
regeneration converter
regeneration converter unit
unit recognition signal circuit power supply, and
unit.
is malfunctioning.
was not read properly.
then check the repeatability.
It is not repeatable.
Check (2).
(2) Something near the device caused it.
Check the noise, ambient There is a problem in the Take countermeasures
temperature, etc.
surrounding.
against its cause.
19
Memory error 3 (Flash-ROM) (1) The Flash-ROM is
Disconnect the cables
It is repeatable.
Replace the resistance
· A part (Flash-ROM) in the
malfunctioning.
except for the control
regeneration converter
resistance regeneration
circuit power supply, and
unit.
converter unit is failure.
then check the repeatability.
It is not repeatable.
Check (2).
(2) Something near the device caused it.
Check the noise, ambient There is a problem in the Take countermeasures
temperature, etc.
surrounding.
against its cause.
3 TROUBLESHOOTING FOR MR-CR55K(4) RESISTANCE REGENERATION CONVERTER UNIT 3.3 Remedies for alarms
151
No.
Name/Description
Cause
Check method
Check result
Action
30
Regenerative error
(1) The setting of the
Check the regenerative The setting value is
Set it correctly.
· Permissible regenerative
regenerative resistor
resistor (regenerative
incorrect.
power of the regenerative resistor (regenerative
(regenerative option) is option) and [Pr. PA01]
incorrect.
setting value.
It is set correctly.
Check (2).
option) is exceeded.
(2)
· The regenerative resistor is
malfunctioning.
· A regenerative transistor in
the resistance regeneration
converter unit is
(3)
malfunctioning.
The regenerative resistor (regenerative option) is not connected.
The combination of the regenerative resistor (regenerative option)
Check if the regenerative resistor (regenerative option) is connected correctly.
Check if the regenerative resistor (regenerative option) and the
It is not connected correctly. It is connected correctly.
The combination is incorrect.
Connect it correctly.
Check (3). Use them in the correct combination.
and resistance regeneration converter unit is incorrect.
resistance regeneration converter unit are connected in the
The combination is correct.
Check (4).
specified combination.
(4) Power supply voltage high.
Check if the voltage of the input power supply is over the prescribed value. 200 V class: 260 V AC 400 V class: 520 V AC
It is higher than the prescribed value.
It is at the prescribed value or lower.
Reduce the power supply voltage.
Check (5).
(5) The regenerative load ratio exceeded 100%.
Check the regenerative load ratio when alarm occurs.
It is 100% or more.
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.
It is less than 100%.
Check (6).
(6) Wire breakage of the regenerative resistor (regenerative option)
Measure the resistance of the regenerative resistor (regenerative option).
The resistance is abnormal.
Replace the regenerative resistor (regenerative option).
The resistance is normal. Check (7).
(7) Failure of the detection Check if the regenerative It is overheating
circuit in the resistance resistor (regenerative
abnormally.
regeneration converter option) is overheating.
unit.
It is not overheating
abnormally.
Replace the resistance regeneration converter unit.
Check (8).
(8) A regenerative
Remove the regenerative The alarm occurs.
transistor in the
resistor (regenerative
resistance regeneration option) and then check if
converter unit is malfunctioning.
the alarm occurs at power on.
The alarm does not occur.
Replace the resistance regeneration converter unit.
Check (9).
(9) Something near the device caused it.
Check the noise, ground fault, ambient temperature, etc.
There is a problem in the surrounding.
Take countermeasures against its cause.
152
3 TROUBLESHOOTING FOR MR-CR55K(4) RESISTANCE REGENERATION CONVERTER UNIT 3.3 Remedies for alarms
No.
Name/Description
Cause
Check method
Check result
Action
33
Overvoltage
(1) The regenerative
Check if the regenerative It is not used.
Use the regenerative
· The value of the bus
resistor (regenerative resistor (regenerative
resistor (regenerative
voltage exceeded the
option) is not used.
option) is used.
option).
prescribed value. 200 V class: 400 V DC or more 400 V class: 800 V DC or more
(2) The setting of the
Check the regenerative
regenerative resistor
resistor (regenerative
(regenerative option) is option) and [Pr. PA01]
incorrect.
setting value.
It is used.
The setting value is incorrect.
It is set correctly.
Check (2). Set it correctly.
Check (3).
(3) The regenerative resistor (regenerative
Check if the regenerative It is not connected
resistor (regenerative
correctly.
Connect it correctly.
3
option) is not connected.
option) is connected correctly.
It is connected correctly. Check (4).
(4) Wire breakage of the regenerative resistor (regenerative option)
Measure the resistance of the regenerative resistor (regenerative option).
The resistance is abnormal.
Replace the regenerative resistor (regenerative option).
The resistance is normal. Check (5).
(5) The regeneration
Set a longer deceleration It is not repeatable.
capacity is insufficient. time constant, and then
check the repeatability.
Use the regenerative resistor (regenerative option) with larger capacity.
It is repeatable.
Check (6).
(6) Power supply voltage high.
Check if the voltage of the input power supply is over the prescribed value. 200 V class: 264 V AC 400 V class: 528 V AC
It is higher than the prescribed value.
It is at the prescribed value or lower.
Reduce the power supply voltage.
Check (7).
(7) A ground fault or short Check if only the servo
occurred at the servo motor power cable is
motor power cable.
shorted.
It is shorted. It is not shorted.
Replace the servo motor power cable.
Check (8).
(8) Something near the device caused it.
Check the noise, ambient There is a problem in the Take countermeasures
temperature, etc.
surrounding.
against its cause.
(9) Impedance at wirings of Check the impedance at Impedance at wirings of Use the regenerative
L1/L2/L3 is high, and wirings of L1/L2/L3 and L1/L2/L3 is high, and
resistor (regenerative
leak current from servo leak current from servo leak current from servo option).
motor power cable is
motor power cable.
motor power cable is
large.
large.
37
Parameter error
(1) A parameter was set
Check the parameter
It is out of setting range. Set it within the range.
· Parameter setting value is incorrect.
out of setting range.
setting.
It is within the setting range.
Check (2).
(2) Regenerative resistor Check the regenerative
(regenerative option)
resistor (regenerative
not used with
option) and [Pr. PA01]
resistance regeneration setting value.
converter unit was set
in [Pr. PA01].
The setting value is incorrect.
It is set correctly.
Set it correctly. Check (3).
(3) The number of write
Check if parameters
times to EEP-ROM
have been used very
exceeded 100,000 due frequently.
to parameter write, etc.
It was changed.
Replace the resistance regeneration converter unit. Change the process to use parameters less frequently after replacement.
It was not changed.
Check (4).
(4) The parameter setting Replace the resistance It is not repeatable.
value has changed due regeneration converter
to a resistance
unit, and then check the
regeneration converter repeatability.
unit malfunction.
Replace the resistance regeneration converter unit.
3 TROUBLESHOOTING FOR MR-CR55K(4) RESISTANCE REGENERATION CONVERTER UNIT 3.3 Remedies for alarms
153
No.
Name/Description
Cause
Check method
Check result
Action
38
MC drive circuit error
(1) The connection to the Check the output of
It is not correct.
Connect it correctly.
· Magnetic contactor drive
magnetic contactor
magnetic contactor
circuit is malfunctioning.
connector (CNP1) is
control connector
The main circuit power
incorrect.
(CNP1).
supply is not supplied even if the magnetic contactor
(Power supply voltage is applied to this connector.
It is correct.
Check (2).
output is turned on.
Take care to avoid an
The main circuit power
electric shock at
supply is supplied even if
connecting.)
the magnetic contactor output is turned off.
(2) The setting value of [Pr. Check the [Pr. PA02]
PA02 Magnetic
setting and the wiring
The setting or wiring is incorrect.
Review the [Pr. PA02] setting.
contactor drive output selection] contradicts the wiring constitution.
constitution.
The setting and wiring are correct.
Check (3).
(3) The voltage of the main Check if the bus voltage The bus voltage is lower Increase the voltage of
circuit power supply is is lower than the
than the prescribed
the main circuit power
low.
prescribed value.
value.
supply.
200 V class: 215 V DC 400 V class: 430 V DC
The bus voltage is the prescribed value or
Check (4).
higher.
(4) The magnetic contactor Replace the magnetic
failed.
contactor, and then
check the repeatability.
It is not repeatable. It is repeatable.
Replace the magnetic contactor.
Check (5).
(5) Magnetic contactor drive circuit is malfunctioning.
Replace the resistance regeneration converter unit, and then check the repeatability.
It is not repeatable.
Replace the resistance regeneration converter unit.
(6) A part in the resistance Replace the resistance It is not repeatable.
regeneration converter regeneration converter
unit is failure.
unit, and then check the
repeatability.
Replace the resistance regeneration converter unit.
39
Open phase
(1) Any of the wirings L1/ Check if the wirings of
It has a failure.
· The wirings of L1/L2/L3 are
L2/L3 is disconnected. L1/L2/L3 are incorrect.
incorrect.
Or, disconnected.
It has no failure.
Review the wiring. Check (2).
(2) A part in the resistance Replace the resistance It is not repeatable.
regeneration converter regeneration converter
unit is failure.
unit, and then check the
repeatability.
Replace the resistance regeneration converter unit.
3A
Inrush current suppression
(1) Turning on and off of
Check if the inrush relay It is turned on and off.
Check operation pattern.
circuit error
the inrush relay were is turned on and off very
· The inrush current suppression circuit error
repeated very frequently.
frequently.
It is not turned on and off. Check (2).
was detected.
(2) Inrush current
Replace the resistance It is not repeatable.
Replace the resistance
suppressor circuit is
regeneration converter
regeneration converter
malfunctioning.
unit, and then check the
unit.
repeatability.
45
Main circuit device overheat (1) Ambient temperature Check the ambient
It is over 55 .
Lower the ambient
· The inside of the resistance
has exceeded 55 .
temperature.
temperature.
regeneration converter unit overheated.
(2)
Turning on and off were Check if the overload
It is less than 55 . It occurred.
Check (2). Check operation pattern.
repeated under the overload status.
status occurred many times.
It did not occur.
Check (3).
(3) A cooling fan, heat sink, Clean the cooling fan,
or openings is clogged heat sink, or openings,
with foreign matter.
and then check the
repeatability.
It is not repeatable. It is repeatable.
Clean it periodically. Check (4).
(4) The resistance
Replace the resistance It is not repeatable.
regeneration converter regeneration converter
unit is malfunctioning. unit, and then check the
repeatability.
Replace the resistance regeneration converter unit.
154
3 TROUBLESHOOTING FOR MR-CR55K(4) RESISTANCE REGENERATION CONVERTER UNIT 3.3 Remedies for alarms
No.
Name/Description
Cause
Check method
Check result
Action
47
Cooling fan error
(1) Foreign matter was
Check if a foreign matter Something has been
Remove the foreign
· The speed of the
caught in the cooling
is caught in the cooling caught.
matter.
resistance regeneration converter unit cooling fan decreased. Or the fan speed decreased to the alarm occurrence level or less.
fan.
fan.
(2) Cooling fan life expired. Check the cooling fan speed.
Nothing has been caught.
The fan speed is less than the alarm occurrence level.
Check (2).
Replace the cooling fan of the resistance regeneration converter unit.
The fan speed is above the alarm occurrence
Check (3).
3
level.
(3) The power supply of the Check if the cooling fan
cooling fan is
is stopping.
malfunctioning.
It is stopping.
Replace the resistance regeneration converter unit.
50
Overload 1
(1) A current was applied Check the effective load The effective load ratio is Reduce the load. Check
· Load exceeded overload
to the resistance
ratio.
high.
operation pattern.
protection characteristic of
regeneration converter
resistance regeneration
unit in excess of its
converter unit.
continuous output
current.
51
Overload 2
(1) A current was applied Check the effective load The effective load ratio is Check operation pattern.
· Load exceeded overload
to the resistance
ratio or peak load ratio. high.
protection characteristic of
regeneration converter
resistance regeneration
unit in excess of its
converter unit.
output current for a
short time.
888
Watchdog
· A part such as CPU is
malfunctioning.
(1) Failure of the part in the Replace the resistance It is not repeatable.
resistance regeneration regeneration converter
converter unit.
unit, and then check the
repeatability.
Replace the resistance regeneration converter unit.
3.4 Remedies for warnings
When any of the following warnings has occurred, do not cycle the power of the resistance regeneration converter unit repeatedly to restart. Doing so will cause a malfunction of the resistance regeneration converter unit, drive unit and servo motor. If the power of the resistance regeneration 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. E0 Excessive regeneration warning] · [AL. E1 Overload warning 1] The warnings 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.
3 TROUBLESHOOTING FOR MR-CR55K(4) RESISTANCE REGENERATION CONVERTER UNIT 3.4 Remedies for warnings
155
No.
Name/Description
Cause
Check method
Check result
Action
91
Converter overheat warning (1) Operated in the
Check the effective load The effective load ratio is Check operation pattern.
· The temperature of the
overloaded status.
ratio.
high.
resistance regeneration converter unit heat sink reached a warning level.
(2) Ambient temperature of Check the ambient
The effective load ratio is small.
It is over 55 .
Check (2). Lower the ambient
resistance regeneration temperature.
temperature.
converter unit is over 55 .
It is less than 55 .
Check (3).
(3) The resistance
Replace the resistance It is not repeatable.
regeneration converter regeneration converter
unit is malfunctioning. unit, and then check the
repeatability.
Replace the resistance regeneration converter unit.
E0
Excessive regeneration
(1) The regenerative power Check the effective load It is 85% or more.
warning
exceeded 85% of the ratio.
· There is a possibility that
permissible
regenerative power may
regenerative power of
exceed permissible
the regenerative
regenerative power of
resistor (regenerative
regenerative resistor
option).
(regenerative option).
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.
E1
Overload warning 1
(1) Load increased to 85% Check it with the check method for [A.50] and [A.51].
· [A. 50 Overload 1] or [A. 51
or more alarm level of
Overload 2] can occur.
[A. 50 Overload 1] or [A.
51 Overload 2].
E6
Converter forced stop
(1) The EM1 (forced stop) Check the status of the It is off.
warning
of the resistance
EM1 (forced stop) of the
· The EM1 (forced stop) of
regeneration converter resistance regeneration
the resistance regeneration
unit was turned off.
converter unit.
converter unit was turned
off.
It is on.
Ensure safety and turn on the EM1 (forced stop) of the resistance regeneration converter unit.
Check (2).
(2) The external 24 V DC power supply is off.
Check if the external 24 V DC power supply is inputted.
It is not inputted. It is inputted.
Input the 24 V DC power supply.
Check (3).
(3) The resistance
Replace the resistance It is not repeatable.
regeneration converter regeneration converter
unit is malfunctioning. unit, and then check the
repeatability.
Replace the resistance regeneration converter unit.
E8
Cooling fan speed reduction (1) Foreign matter was
Check if a foreign matter Something has been
Remove the foreign
warning
caught in the cooling
is caught in the cooling caught.
matter.
· The cooling fan speed decreased to the warning level or less.
fan.
fan.
Nothing has been caught.
(2) Cooling fan life expired. Check the total of power It exceeds the cooling
Check (2). Replace the resistance
on time of the resistance fan life.
regeneration converter
regeneration converter
unit.
unit.
156
3 TROUBLESHOOTING FOR MR-CR55K(4) RESISTANCE REGENERATION CONVERTER UNIT 3.4 Remedies for warnings
4 DRIVE RECORDER
4.1 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.
4
· 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. 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]
· [AL. 8D.1 CC-Link IE communication error 1] (For MR-J4-_GF_(-RJ), the drive recorder operates by setting
[Pr. PN06] to "_ _ _ 1".)
· [AL. 8D.2 CC-Link IE communication error 2] (For MR-J4-_GF_(-RJ), the drive recorder operates by setting
[Pr. PN06] to "_ _ _ 1".)
While the graph is displayed on MR Configurator2, the drive recorder function is temporarily disabled. To use
the drive recorder function, wait until the time set in [Pr. PF21] passes or cycle the power of the servo amplifier
after using the graph function. Whether the drive recorder function is enabled or disabled can be checked on
the display (Diagnosis mode) for the MR-J4-_A_(-RJ).
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 the data of the past 16 alarm occurrences. The oldest data will be deleted when a new alarm occurs. On the MR-J4W_-_B, the drive recorder records the data of the past 16 alarm occurrences in total for the A, B, and Caxes. Therefore, less than 16 data will be displayed on the history display window of each axis.
Trigger setting of drive recorder
When [Pr. PA23 Drive recorder arbitrary alarm trigger setting] is set to "0 0 0 0" (initial value), the drive recorder activates at occurrence of the specified alarms, which are the alarms excluding the ones that will not be activated as shown in "Point" in this section. When specifying an alarm that activates the drive recorder, set the desired alarm No. in [Pr. PA23]. For the setting method of [Pr. PA23], refer to Servo Amplifier Instruction Manual.
157 4 DRIVE RECORDER
4.1 How to use drive recorder
Recordable data by drive recorder
When [Pr. PA23] is set to "0 0 0 0" (initial value), the data described in "Standard" in the table of this section will be recorded. When the drive recorder is to be activated at occurrence of the specified alarm, the data corresponding to the alarm No. in the table of this section will be recorded. If [Pr. PA23] is set to an alarm that is not in the table of this section, the data of "Standard" in the table of this section will be recorded. Page 158 MR-J4-_B_(-RJ), MR-J4-_B_-RJ010, or MR-J4W_-_B Page 159 MR-J4-_A_(-RJ) Page 161 MR-J4-_GF_(-RJ) Refer to the following for the device abbreviations. Page 162 Signal explanations (Analog) Page 163 Signal explanations (Digital)
MR-J4-_B_(-RJ), MR-J4-_B_-RJ010, or MR-J4W_-_B
Standard Analog
AL. 10
Digital Analog
AL. 20
Digital Analog
AL. 21
Digital Analog
AL. 24
Digital Analog
AL. 30
Digital Analog
AL. 31
Digital Analog
AL. 32
Digital Analog
AL. 33
Digital Analog
Digital
Data 1
Motor speed
CSON Motor speed
CSON Motor speed
CSON Motor speed
CSON Motor speed
CSON Motor speed
CSON Motor speed
CSON Motor speed
CSON Motor speed
CSON
Data 2
Torque
EMG Torque
EMG Torque
EMG Torque
EMG Torque
EMG Torque
EMG Torque
EMG Torque
EMG Torque
EMG
Data 3 Data 4 Data 5 Data 6 Data 7 Data 8
Current command
Droop pulses (1 pulse)
Speed
Bus
command voltage
Effective load ratio
ALM2
INP
MBR
RD
STO
IPF
Current command
Droop pulses (1 pulse)
Speed
Bus
command voltage
Effective load ratio
ALM2
INP
MBR
RD
STO
IPF
ABS counter
Within
Current
Encoder Encoder
one-
command error
error
revolution
counter 1 counter 2
position
ALM2
INP
MBR
RD
STO
IPF
ABS counter
Within
Current
Encoder Encoder
one-
command error
error
revolution
counter 1 counter 2
position
ALM2
INP
MBR
RD
STO
IPF
Current command
Within onerevolution position
Bus voltage
U-phase V-phase
current
current
feedback feedback
ALM2
INP
MBR
RD
STO
IPF
Current command
Droop pulses (1 pulse)
Bus voltage
Regenerat Effective ive load load ratio ratio
ALM2
INP
MBR
RD
STO
IPF
Current
Command Within
Speed
Bus
command pulse
one-
command voltage
frequency revolution
position
ALM2
INP
MBR
RD
STO
IPF
Current
Bus
command voltage
Effective U-phase V-phase
load ratio current
current
feedback feedback
ALM2
INP
MBR
RD
STO
IPF
Current
Speed
Bus
command command voltage
Regenerat Effective ive load load ratio ratio
ALM2
INP
MBR
RD
STO
IPF
Sampling Measure time [ms] ment
time [ms]
0.888
227
0.888
227
0.888
227
0.888
227
0.888
227
56.8
14563
0.888
227
0.444
113
3.5
910
158 4 DRIVE RECORDER 4.1 How to use drive recorder
Data 1
Data 2
Data 3
Data 4
Data 5
Data 6
Data 7
Data 8
Sampling Measure time [ms] ment
time [ms]
AL. 35
Analog
Motor speed
Torque
Current
Command Droop
Speed
Bus
command pulse
pulses
command voltage
frequency (1 pulse)
0.888
227
Digital
CSON
EMG
ALM2
INP
MBR
RD
STO
IPF
AL. 42 *1 Analog
Motor
Torque
Motor-
Motor-
Command Droop
Load-side
0.888
227
speed
side/ load- side/ load- pulse
pulses
droop
side
side
frequency (100
pulses
position speed
(speed
pulses)
(100
deviation deviation unit)
pulses)
(100
pulses)
Digital
CSON
EMG
ALM2
INP
MBR
RD
STO
IPF
4
AL. 46
Analog
Motor speed
Torque
Current command
Internal temperatu re of encoder
Temperatu re of motor thermistor
Bus voltage
Effective load ratio
56.8
14563
Digital
CSON
EMG
ALM2
INP
MBR
RD
STO
IPF
AL. 50
Analog
Motor speed
Torque
Current command
Droop pulses (100 pulses)
Overload alarm margin
Bus voltage
Effective load ratio
56.8
14563
Digital
CSON
EMG
ALM2
INP
MBR
RD
STO
IPF
AL. 51
Analog
Motor speed
Torque
Current command
Droop pulses (100 pulses)
Overload alarm margin
Bus voltage
Effective load ratio
56.8
14563
Digital
CSON
EMG
ALM2
INP
MBR
RD
STO
IPF
AL. 52
Analog Motor
Torque
Current
Droop
Speed
Bus
Error
3.5
910
speed
command pulses
command voltage
excessive
(100
alarm
pulses)
margin
AL. 71 *1
Digital Analog
CSON
Motor speed
EMG Torque
ALM2
INP
MBR
RD
STO
TLC
Load-side Load-side Current
Load-side Load-side
encoder encoder command encoder encoder
informatio informatio
error
error
n 2
n 1
counter 1 counter 2
0.888
227
AL. 72 *1
Digital Analog
CSON
Motor speed
EMG Torque
ALM2
INP
MBR
RD
STO
IPF
Load-side Load-side Current
Load-side Load-side
encoder encoder command encoder encoder
informatio informatio
error
error
n 2
n 1
counter 1 counter 2
0.888
227
Digital
CSON
EMG
ALM2
INP
MBR
RD
STO
IPF
*1 MR-J4-_B_-RJ010 is not supported.
MR-J4-_A_(-RJ)
Standard Analog
AL. 10
Digital Analog
Digital
Data 1
Motor speed
SON Motor speed
SON
Data 2 Data 3 Data 4 Data 5 Data 6
Torque
EM2/EM1 Torque
EM2/EM1
Current command
ALM2 Current command
ALM2
Droop pulses (1 pulse)
INP
Droop pulses (1 pulse)
INP
Speed
Bus
command voltage
MBR
Speed command
RD
Bus voltage
MBR
RD
Data 7 Data 8
Effective load ratio
STO
IPF
Effective load ratio
STO
IPF
Sampling Measure time [ms] ment
time [ms]
0.888
227
0.888
227
159 4 DRIVE RECORDER
4.1 How to use drive recorder
AL. 20 AL. 21 AL. 24 AL. 30 AL. 31 AL. 32 AL. 33 AL. 35 AL. 42
AL. 46 AL. 50 AL. 51
Data 1
Analog
Motor speed
Digital Analog
SON
Motor speed
Digital Analog
SON
Motor speed
Digital Analog
SON
Motor speed
Digital Analog
SON
Motor speed
Digital Analog
SON
Motor speed
Digital Analog
SON
Motor speed
Digital Analog
SON
Motor speed
Digital Analog
SON
Motor speed
Digital Analog
SON
Motor speed
Digital Analog
SON
Motor speed
Digital Analog
SON
Motor speed
Digital
SON
Data 2 Data 3 Data 4 Data 5 Data 6 Data 7 Data 8
Torque
ABS counter
Within
Current
Encoder Encoder
one-
command error
error
revolution
counter 1 counter 2
position
EM2/EM1 ALM2
INP
MBR
RD
STO
IPF
Torque
ABS counter
Within
Current
Encoder Encoder
one-
command error
error
revolution
counter 1 counter 2
position
EM2/EM1 ALM2
INP
MBR
RD
STO
IPF
Torque
Current command
Within onerevolution position
Bus voltage
U-phase V-phase
current
current
feedback feedback
EM2/EM1 ALM2
INP
MBR
RD
STO
IPF
Torque
Current command
Droop pulses (1 pulse)
Bus voltage
Regenerat Effective ive load load ratio ratio
EM2/EM1 ALM2
INP
MBR
RD
STO
IPF
Torque
Current
Command Within
Speed
Bus
command pulse
one-
command voltage
frequency revolution
position
EM2/EM1 ALM2
INP
MBR
RD
STO
IPF
Torque
Current
Bus
command voltage
Effective U-phase V-phase
load ratio current
current
feedback feedback
EM2/EM1 ALM2
INP
MBR
RD
STO
IPF
Torque
Current
Speed
Bus
command command voltage
Regenerat Effective ive load load ratio ratio
EM2/EM1 ALM2
INP
MBR
RD
STO
IPF
Torque
Current
Command Droop
Speed
Bus
command pulse
pulses
command voltage
frequency (1 pulse)
EM2/EM1 ALM2
INP
MBR
RD
STO
IPF
Torque
Motorside/ loadside position deviation (100 pulses)
Motorside/ loadside speed deviation
Command pulse frequency (speed unit)
Droop pulses (100 pulses)
Load-side droop pulses (100 pulses)
EM2/EM1 ALM2
INP
MBR
RD
STO
IPF
Torque
Current command
Internal temperatu re of encoder
Temperatu re of motor thermistor
Bus voltage
Effective load ratio
EM2/EM1 ALM2
INP
MBR
RD
STO
IPF
Torque
Current command
Droop pulses (100 pulses)
Overload alarm margin
Bus voltage
Effective load ratio
EM2/EM1 ALM2
INP
MBR
RD
STO
IPF
Torque
Current command
Droop pulses (100 pulses)
Overload alarm margin
Bus voltage
Effective load ratio
EM2/EM1 ALM2
INP
MBR
RD
STO
IPF
Sampling Measure time [ms] ment
time [ms]
0.888
227
0.888
227
0.888
227
56.8
14563
0.888
227
0.444
113
3.5
910
0.888
227
0.888
227
56.8
14563
56.8
14563
56.8
14563
160 4 DRIVE RECORDER 4.1 How to use drive recorder
Data 1
Data 2
Data 3
Data 4
Data 5
Data 6
Data 7
Data 8
Sampling Measure time [ms] ment
time [ms]
AL. 52
Analog Motor
Torque
Current
Droop
Speed
Bus
Error
3.5
910
speed
command pulses
command voltage
excessive
(100
alarm
pulses)
margin
Digital
SON
EM2/EM1 ALM2
INP
MBR
RD
STO
TLC
AL. 71
Analog
Motor speed
Torque
Load-side Load-side Current
Load-side Load-side
encoder encoder command encoder encoder
informatio informatio
error
error
n 2
n 1
counter 1 counter 2
0.888
227
Digital
SON
EM2/EM1 ALM2
INP
MBR
RD
STO
IPF
AL. 72
Analog
Motor speed
Torque
Load-side Load-side Current
Load-side Load-side
encoder encoder command encoder encoder
0.888
227
4
informatio informatio
error
error
n 2
n 1
counter 1 counter 2
Digital
SON
EM2/EM1 ALM2
INP
MBR
RD
STO
IPF
MR-J4-_GF_(-RJ)
Standard Analog
AL. 10
Digital Analog
AL. 20
Digital Analog
AL. 21
Digital Analog
AL. 24
Digital Analog
AL. 30
Digital Analog
AL. 31
Digital Analog
AL. 32
Digital Analog
AL. 33
Digital Analog
Digital
Data 1
Motor speed
CSON Motor speed
CSON Motor speed
CSON Motor speed
CSON Motor speed
CSON Motor speed
CSON Motor speed
CSON Motor speed
CSON Motor speed
CSON
Data 2 Data 3 Data 4 Data 5 Data 6 Data 7 Data 8
Torque
Current command
Droop pulses (1 pulse)
Speed
Bus
command voltage
Effective load ratio
EM2/EM1 ALM2
INP
MBR
RD
STO
IPF
Torque
Current command
Droop pulses (1 pulse)
Speed
Bus
command voltage
Effective load ratio
EM2/EM1 ALM2
INP
MBR
RD
STO
IPF
Torque
ABS counter
Within
Current
Encoder Encoder
one-
command error
error
revolution
counter 1 counter 2
position
EM2/EM1 ALM2
INP
MBR
RD
STO
IPF
Torque
ABS counter
Within
Current
Encoder Encoder
one-
command error
error
revolution
counter 1 counter 2
position
EM2/EM1 ALM2
INP
MBR
RD
STO
IPF
Torque
Current command
Within onerevolution position
Bus voltage
U-phase V-phase
current
current
feedback feedback
EM2/EM1 ALM2
INP
MBR
RD
STO
IPF
Torque
Current command
Droop pulses (1 pulse)
Bus voltage
Regenerat Effective ive load load ratio ratio
EM2/EM1 ALM2
INP
MBR
RD
STO
IPF
Torque
Current
Command Within
Speed
Bus
command pulse
one-
command voltage
frequency revolution
position
EM2/EM1 ALM2
INP
MBR
RD
STO
IPF
Torque
Current
Bus
command voltage
Effective U-phase V-phase
load ratio current
current
feedback feedback
EM2/EM1 ALM2
INP
MBR
RD
STO
IPF
Torque
Current
Speed
Bus
command command voltage
Regenerat Effective ive load load ratio ratio
EM2/EM1 ALM2
INP
MBR
RD
STO
IPF
Sampling Measure time [ms] ment
time [ms]
0.888
227
0.888
227
0.888
227
0.888
227
0.888
227
56.8
14563
0.888
227
0.444
113
3.5
910
161 4 DRIVE RECORDER
4.1 How to use drive recorder
Data 1 Data 2 Data 3 Data 4 Data 5 Data 6 Data 7 Data 8
AL. 35
Analog
Motor speed
Torque
Current
Command Droop
Speed
Bus
command pulse
pulses
command voltage
frequency (1 pulse)
Digital
CSON
EM2/EM1 ALM2
INP
MBR
RD
STO
IPF
AL. 42
Analog
Motor speed
Torque
Motorside/ loadside position deviation (100 pulses)
Motorside/ loadside speed deviation
Command pulse frequency (speed unit)
Droop pulses (100 pulses)
Load-side droop pulses (100 pulses)
Digital
CSON
EM2/EM1 ALM2
INP
MBR
RD
STO
IPF
AL. 46
Analog
Motor speed
Torque
Current command
Internal temperatu re of encoder
Temperatu re of motor thermistor
Bus voltage
Effective load ratio
Digital
CSON
EM2/EM1 ALM2
INP
MBR
RD
STO
IPF
AL. 50
Analog
Motor speed
Torque
Current command
Droop pulses (100 pulses)
Overload alarm margin
Bus voltage
Effective load ratio
Digital
CSON
EM2/EM1 ALM2
INP
MBR
RD
STO
IPF
AL. 51
Analog
Motor speed
Torque
Current command
Droop pulses (100 pulses)
Overload alarm margin
Bus voltage
Effective load ratio
Digital
CSON
EM2/EM1 ALM2
INP
MBR
RD
STO
IPF
AL. 52
Analog
Motor speed
Torque
Current command
Droop pulses (100 pulses)
Speed
Bus
command voltage
Error
excessive
alarm
margin
Digital
CSON
EM2/EM1 ALM2
INP
MBR
RD
STO
TLC
AL. 71
Analog
Motor speed
Torque
Load-side Load-side Current
Load-side Load-side
encoder encoder command encoder encoder
informatio informatio
error
error
n 2
n 1
counter 1 counter 2
Digital
CSON
EM2/EM1 ALM2
INP
MBR
RD
STO
IPF
AL. 72
Analog
Motor speed
Torque
Load-side Load-side Current
Load-side Load-side
encoder encoder command encoder encoder
informatio informatio
error
error
n 2
n 1
counter 1 counter 2
Digital
CSON
EM2/EM1 ALM2
INP
MBR
RD
STO
IPF
Signal explanations (Analog)
Sampling Measure time [ms] ment
time [ms]
0.888
227
0.888
227
56.8
14563
56.8
14563
56.8
14563
3.5
910
0.888
227
0.888
227
Signal name
Motor speed Torque
Current command Droop pulses (1 pulse) Droop pulses (100 pulses) Speed command Bus voltage Effective load ratio
ABS counter
Within one-revolution position Encoder error counter 1
Description
The servo motor speed is displayed. The servo motor torque is displayed with current value. 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. This indicates the number of droop pulses in the deviation counter per pulse. This indicates the number of droop pulses in the deviation counter per 100 pulses. This indicates speed command applying to the servo motor. This indicates bus voltage at the converter of the servo amplifier. The continuous effective load torque is displayed. This indicates effective value for past 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. Position within one revolution is displayed in encoder pulses. This indicates the number of cumulative errors during a communication with the encoder.
Unit
[r/min] [0.1%]
[0.1%] [pulse] [100 pulses] [r/min] [V] [0.1%]
[rev]
[16 pulses] [times]
162 4 DRIVE RECORDER 4.1 How to use drive recorder
Signal name
Description
Unit
Encoder error counter 2
The same as encoder error counter 1.
[times]
U-phase current feedback
This indicates U-phase current value applying to the servo motor per internal unit.
V-phase current feedback
This indicates V-phase current value applying to the servo motor per internal unit.
Regenerative load ratio
The ratio of regenerative power to permissible regenerative power is displayed in %.
[0.1%]
Command pulse frequency
This indicates the command pulse frequency.
[1.125 kpps]
Command pulse frequency (speed unit)
This converts and indicates command pulse frequency per servo motor speed.
[r/min]
Motor-side/load-side position deviation (100 pulses)
This indicates a deviation between motor-side position and load-side position during fully closed loop control. The number of pulses displayed is in the load-side encoder pulse unit.
[100 pulses]
Motor-side/load-side speed deviation This indicates a deviation between motor speed and load-side speed during fully closed loop
[r/min]
Load-side droop pulses (100 pulses)
control. Droop pulses of the deviation counter between a load-side position and a command are displayed. [100 pulses]
4
Internal temperature of encoder
Inside temperature of encoder detected by the encoder is displayed.
[]
Temperature of motor thermistor
The thermistor temperature is displayed for the rotary servo motor with thermistor, linear 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 Overload 2] in percent. When the value becomes 0%, the overload alarm will occur.
[0.1%]
Error excessive alarm margin
This indicates a margin to the level which trigger the error excessive alarm in encoder pulse unit. When the value becomes 0 pulse, the error excessive alarm will occur.
[pulse]
Load-side encoder information 1
The position in load-side encoder 1-revolution is displayed. This indicates a Z-phase 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.
[pulse]
Load-side encoder information 2
Multi-revolution counter of the load-side encoder is displayed.
[pulse]
Load-side encoder error counter 1
This indicates the number of cumulative errors during a communication with the load-side encoder. [times]
Load-side encoder error counter 2
The same as load-side encoder error counter 1.
[times]
Signal explanations (Digital)
Signal name
CSON SON EMG EM2/EM1 ALM2
INP MBR RD STO IPF
Description
This indicates status of the servo-on signal from the controller. This Indicates the SON status of the external input signal. This indicates status of the emergency stop input. This Indicates the EM2/EM1 status of the external input signal. 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 INP status 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.
Unit
When the data at alarm occurrence cannot be recorded normally
When the power of the servo amplifier is turned off during data storage (immediately after alarm occurrence), the data at alarm occurrence cannot be recorded normally. When the following alarms occur, the data at alarm occurrence cannot 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] · [AL. 8D CC-Link IE communication error]
163 4 DRIVE RECORDER
4.1 How to use drive recorder
4.2 How to display drive recorder information
Select "Diagnosis" and "Drive Recorder" from the menu bar of MR Configurator2. The window shown in the following image will be displayed.
(a)
(b)
(c)
Click "Waveform" - "Display" ((a)) 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.
Click "Display" of "Alarm onset data" ((b)) to display each data at alarm occurrence.
Click "History Clear" ((c)) to delete all data at alarm occurrence recorded in the servo amplifier. After clicking "History Clear", 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.
164
4 DRIVE RECORDER 4.2 How to display drive recorder information
APPENDIX
Appendix 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
Battery
[AL. 9F] Detection point
CN4
Step-down circuit
(6 V 3.4 V)
CN2/ CN2A/ CN2B/ CN2C
*1
[AL. 25], [AL. 92] Detection point
Position/speed detection circuit
*1 CN2A, CN2B, and CN2C are for the MR-J4W_-_B.
A
APPX Appendix 1 Detection points of [AL. 25], [AL. 92], and [AL. 9F]
165
MEMO
166
APPX Appendix 1 Detection points of [AL. 25], [AL. 92], and [AL. 9F]
REVISIONS
*The manual number is given on the bottom left of the back cover.
Revision date
March 2012 June 2012
February 2013
August 2013
*Manual number
SH(NA)-030109ENG-A SH(NA)-030109ENG-B
SH(NA)-030109ENG-C
SH(NA)-030109ENG-D
Description
First edition
Section 1.1 [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. [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 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.
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
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.
167
Revision date
August 2013 October 2013 March 2014
April 2014
*Manual number
SH(NA)-030109ENG-D SH(NA)-030109ENG-E SH(NA)-030109ENG-F
SH(NA)-030109ENG-G
Description
Section 1.4 The part of table is changed. Section 2.1 The part of table is changed.
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.
100 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.
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 added. [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.
168
Revision date
September 2014
April 2015
*Manual number
SH(NA)-030109ENG-H
SH(NA)-030109ENG-J
Description
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. [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. Chapter 2 Added. Section 3.1 POINT is added.
Contents of MR-D30, MR-J4-03A6(-RJ), MR-J4W2-0303B6, Modbus, and simple cam are added. 4. Additional instructions Model names are added. Section 1.1 (4), (5) Added. Section 1.2 Partially added. Section 1.3 Partially added. Section 1.4 [AL. 10] is partially changed. [AL. 16.3] is partially changed. [AL. 1A.2] is partially changed. [AL. 20.1] is partially 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], [AL. 8E.7], and [AL. 8E.8] are added.
169
Revision date
April 2015 September 2015 February 2016
December 2016
*Manual number
SH(NA)-030109ENG-J SH(NA)-030109ENG-K SH(NA)-030109ENG-L
SH(NA)-030109ENG-M
Description
Section 1.4 [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. Section 1.6 Partially changed.
The alarm is added. Section 1.2 [AL. 3E.1] is partially changed, and [AL. 68] is added. Section 1.4 [AL. 68] is added. [AL. F6] is partially changed. Section 1.5 [AL. 90.1] is partially changed. [AL.E3] is partially changed. Section 1.6 Partially added.
The descriptions on MR-J4-GF (Motion mode/I/O mode) are added. About the manual Partially added. Chapter 1 POINT is added. Section 1.1 Model names are added. Section 1.2 Partially changed. Section 1.3 Partially changed. Section 1.4 [GF] is added to the target column. [AL. 11.1] is partially changed. [AL. 12.6] is added. [AL. 14.B] is added. [AL. 17.9] is added. [AL. 19.3] is added. [AL. 69] is added. [AL. 84] is added. [AL. 85] is added. [AL. 86] is added. [AL. 8D.1] is partially changed. [AL. 90.1] is partially changed. [AL. F4] is added. Section 1.5 [GF] is added to the target column. [AL. 99.4] and [AL. 99.5] are added. [AL. 9E.1] is partially changed. [AL. F5.2] is partially changed. Section 1.6 Partially changed. Section 1.7 Added. Section 3.1 Partially added.
MR-CV_ is added. MR-J4-GF is partially added. TM-RG2M series/TM-RU2M series direct drive motor is added. 4. Additional instructions Partially added. Section 1.2 [AL. 7C] is partially changed. Section 1.3 Partially changed.
170
Revision date
December 2016
October 2017
December 2017
*Manual number
SH(NA)-030109ENG-M
SH(NA)-030109ENG-N
SH(NA)-030109ENG-P
Description
Section 1.4 [AL. 1A] is partially added. [AL. 30] is partially added. [AL. 35] is partially added. [AL. 37] is partially changed. [AL. 7C] is partially changed. Section 1.5 [AL. 90] is partially added. [AL. 95] is partially added. [AL. F4] is partially added. [AL. F7] is added. Chapter 2 Added. Chapter 3 Changed from Chapter 2. Partially changed. Section 3.3 [AL. 30] is partially added. Chapter 4 Changed from Chapter 3. Section 4.1 Partially changed.
Alarms of J3 compatibility mode are added. 4. Additional instructions Partially added. Section 1.2 [AL. 16.4] is added. [AL. 16.8] is added. [AL. 70.4] is added. [AL. 70.8] is added. Section 1.3 Partially changed. Section 1.4 [AL. 16.4] is added. [AL. 16.8] is added. [AL. 70.4] is added. [AL. 70.8] is added. Section 1.5 [AL. E7.1] is partially changed. [AL. F4.6] is partially changed. [AL. F4.7] is partially changed. Section 2.1 Partially changed.
Available on e-Manual. Section 4.1 Partially changed.
171
Revision date
April 2018
November 2018 December 2020
*Manual number
SH(NA)-030109ENG-Q
SH(NA)-030109ENG-R SH(NA)-030109ENG-S
Description
MR-J4-_GF_(-RJ) CC-Link IE Field Network Basic is supported. MR-J4-DU_B4-RJ100 is added. MR-J4-_GF1(-RJ) is added. About the manual Partially added. Section 1.2 [AL. 13.3] is added. [AL. 14.C] is added. [AL. 14.D] is added. [AL. 3E.8] is added. [AL. 56.4] is added. [AL. 86.4] is added. Section 1.4 [AL. 13.3] is added. [AL. 14.C] is added. [AL. 14.D] is added. [AL. 16.3] is partially changed. [AL. 20.1] is partially changed. [AL. 3E.8] is added. [AL. 46.3] is partially changed. [AL. 56.4] is added. [AL. 86.1] is partially changed. [AL. 86.4] is added. [AL. 9D.1] is partially changed. [AL. 9D.2] is partially changed. [AL. 9E.1] is partially changed. [AL. F5.2] is partially changed. [AL. F6.2] is partially changed. Section 1.6 Partially changed. Section 2.4 [AL. 62] is partially changed. Section 4.2 Partially changed.
The alarm is added. Section 1.2 [AL. 52.6] is added. Section 1.4 [AL. 52.1] is partially added. [AL. 52.6] is added.
Section 1.4 The following alarms and warnings are partially changed. [AL. 24.1], [AL. 25.1], [AL. 27.1], [AL. 27.2], [AL. 27.3], [AL. 27.4], [AL. 27.5], [AL. 27.6], [AL. 27.7], [AL. 30.1], [AL. 31.1], [AL. 32.1], [AL. 35.1], [AL. 42.1], [AL. 42.2], [AL. 42.3], [AL. 46.2], [AL. 52.1], [AL. 52.6], [AL. 64.3], [AL. 90.1], [AL. 90], [AL. 92.1], [AL. 95.1], [AL. 95.2], [AL. 9D.2], [AL. 9F.1] Section 1.6 "The servo motor does not operate." is partially changed. Section 4.1 Partially changed.
Japanese manual number: SH-030108-X
This manual confers no industrial property rights of any other kind, nor does it confer any patent licenses. 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
172
WARRANTY
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 your request and the actual cost will be charged. However, it will not be charged if we are responsible for the cause of the failure. (2) 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. (3) Even during the term of warranty, the repair cost will be charged on you in the following cases; 1. a failure caused by your improper storing or handling, carelessness or negligence, etc., and a failure caused by your hardware
or software problem 2. a failure caused by any alteration, etc. to the Product made on your side without our approval 3. 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 4. a failure which may be regarded as avoidable if consumable parts designated in the instruction manual, etc. are duly maintained and replaced 5. any replacement of consumable parts (battery, fan, smoothing capacitor, etc.) 6. 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 disasters 7. 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 8. any other failures which we are not responsible for or which you acknowledge we are not responsible for
2. 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.
3. 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.
4. Exclusion of loss in opportunity and secondary loss from warranty liability
Regardless of the gratis warranty term, Mitsubishi shall not be liable for compensation to: (1) Damages caused by any cause found not to be the responsibility of Mitsubishi. (2) Loss in opportunity, lost profits incurred to the user by Failures of Mitsubishi products. (3) Special damages and secondary damages whether foreseeable or not, compensation for accidents, and compensation for
damages to products other than Mitsubishi products. (4) Replacement by the user, maintenance of on-site equipment, start-up test run and other tasks.
5. 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 responsibility 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.
173
TRADEMARKS
MELSERVO and CC-Link IE are trademarks or registered trademarks of Mitsubishi Electric Corporation in Japan and/or other countries. Modbus is registered trademark of SCHNEIDER ELECTRIC USA, INC. Ethernet is a registered trademark of Fuji Xerox Co., Ltd. in Japan. All other product names and company names are trademarks or registered trademarks of their respective companies.
174
SH(NA)-030109ENG-S
SH(NA)-030109ENG-S(2012)MEE
MODEL:
MR-J4 INSTRUCTIONMANUAL (TROUBLESHOOTING)
MODEL CODE: 1CW808
HEAD OFFICE : TOKYO BUILDING, 2-7-3 MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN NAGOYA WORKS : 1-14 , YADA-MINAMI 5-CHOME , HIGASHI-KU, NAGOYA , JAPAN
When exported from Japan, this manual does not require application to the Ministry of Economy, Trade and Industry for service transaction permission.
Specifications are subject to change without notice.
Acrobat Distiller 20.0 (Windows)