Mitsubishi MELSERVO-J4 User Manual

General-Purpose AC Servo

MELSERVO-J4 Servo amplifier

INSTRUCTION MANUAL TROUBLE SHOOTING

Safety Instructions

Please read the instructions carefully before using the equipment.

To use the equipment correctly, do not attempt to install, operate, maintain, or inspect the equipment until you have read through this Instruction Manual, Installation guide, and appended documents carefully. Do not use the equipment until you have a full knowledge of the equipment, safety information and instructions. In this Instruction Manual, the safety instruction levels are classified into "WARNING" and "CAUTION".

WARNING

CAUTION

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 that incorrect handling may cause hazardous conditions,

resulting in death or severe injury.

Indicates that incorrect handling may cause hazardous conditions, resulting in medium or slight injury to personnel or may cause physical damage.

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.

A - 1

1. To prevent electric shock, note the following

WARNING

Before wiring or inspection, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P+ and N- is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, when confirming whether the charge la mp is off or not, always confirm it from the front of the servo amplifier. Do not operate switches with wet hands. Otherwise, it may cause an electric shock.

2. To prevent fire, note the following

CAUTION

When you use a MR-J4 multi-axis servo amplifier, connecting an encoder for different axis to the CN2A, CN2B, or CN2C connector may cause a fire.

3. To prevent injury, note the following

CAUTION

The servo amplifier heat sink, regenerative resistor, servo motor, etc. may be hot while power is on or for some time after power-off. Take safety measures, e.g. provide covers, to prevent accidental contact of hands and parts (cables, etc.) with them.

4. Additional instructions

The following instructions should also be fully noted. Incorrect handling may cause a malfunction, injury, electric shock, etc.

(1) Wiring

CAUTION

Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly. To avoid a malfunction, connect the wires to the correct phase terminals (U, V, and W) of the servo amplifier and servo motor. Connect the servo amplifier power output (U, V, and W) to the servo motor power input (U, V, and W) directly. Do not let a magnetic contactor, etc. intervene. Otherwise, it may cause a malfunction.

Servo amplifier

U V

W

Servo motor

U V

W

Servo motorServo amplifier

U

M

V

W

U V

M

W

A - 2

(2) Usage

CAUTION

Before resetting an alarm, make sure that the run signal of the servo amplifier is off in order to prevent a sudden restart. Otherwise, it may cause an accident. Use the servo amplifier with the specified servo motor.

(3) Corrective actions

CAUTION

When it is assumed that a hazardous condition may occur due to a power failure or product malfunction, use a servo motor with an electromagnetic brake or external brake to prevent the condition. Configure an electromagnetic brake circuit so that it is activated also by an external EMG stop switch.

Contacts must be opened when CALM (Common malfunction) or MBR (Electromagnetic brake interlock) turns off.

Contacts must be opened with the EMG stop switch.

Servo motor

B

Electromagnetic brake

When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before restarting operation. Provide an adequate protection to prevent unexpected restart after an instantaneous power failure.

<<About the manual>>

This Instruction Manual covers the following models.

MR-J4-_A MR-J4-_B MR-J4W_-_B

The symbols in the target column mean as follows. MR-J4-_A: [A] MR-J4-_B: [B] MR-J4W_-_B: [WB]

RA

24 V DC

A - 3

MEMO

A - 4

1. TROUBLESHOOTING

1.1 Alarm and warning list When an error occurs during operation, the corresponding alarm or warning is displayed. If any alarm or

warning has occurred, refer to section 1.2 and take the appropriate action. When an alarm occurs, ALM (Malfunction) will turn off.

No. Name

Alarm

10 Undervoltage 10.1 Voltage drop in the control power

10.2 Voltage drop in the main circuit power

11 Switch setting error 11.1 Axis number setting error

11.2 Disabling control axis setting error

12 Memory error 1 (RAM) 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 13 Clock error 13.1 Clock error 1

13.2 Clock error 2 14 Control process error 14.1 Control process error 1

14.2 Control process error 2

14.3 Control process error 3

14.4 Control process error 4

14.5 Control process error 5

14.6 Control process error 6

14.7 Control process error 7

14.8 Control process error 8

14.9 Control process error 9

14.A Control process error 10 15 Memory error 2 (EEP-ROM) 15.1 EEP-ROM error at power on

15.2 EEP-ROM error during operation 16 16.1 Encoder initial communication - Receive data error 1

16.3 Encoder initial communication - Receive data error 3

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

16.A Encoder initial communication - Process error 1

16.B Encoder initial communication - Process error 2

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 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 19 Memory error 3 (Flash-ROM) 19.1 Flash-ROM error 1

19.2 Flash-ROM error 2 1A Servo motor combination error 1A.1 Servo motor combination error 1A.2 Servo motor control mode combination error 1E Encoder initial communication

1F Encoder initial communication

Encoder initial communication error 1

error 2

error 3

Detail

display

16.2 Encoder initial communication - Receive data error 2

1E.1 Encoder malfunction

1F.1 Incompatible encoder

Detail name

1 - 1

1. TROUBLESHOOTING

No. Name

Alarm

20 20.1 Encoder normal communication - Receive data error 1

Encoder normal communication error 1

20.3 Encoder normal communication - Receive data error 3

20.5 Encoder normal communication - Transmission data error 1

20.6 Encoder normal communication - Transmission data error 2

20.7 Encoder normal communication - Transmission data error 3

20.9 Encoder normal communication - Receive data error 4

20.A Encoder normal communication - Receive data error 5 21 21.1 Encoder data error 1

21.3 Encoder data waveform error

21.4 Encoder non-signal error

21.5 Encoder hardware error 1

21.6 Encoder hardware error 2

21.9 Encoder data error 2 24 Main circuit error 24.1 Ground fault detected by hardware detection circuit

24.2 Ground fault detected by software detection function 25 Absolute position erased 25.1 Servo motor encoder - Absolute position erased 27 27.1 Magnetic pole detection - Abnormal termination

27.3 Magnetic pole detection - Limit switch error

27.4 Magnetic pole detection - Estimated error

27.5 Magnetic pole detection - Position deviation error

27.6 Magnetic pole detection - Speed deviation error

27.7 Magnetic pole detection - Current error 28 Linear encoder error 2 28.1 Linear encoder - Environment error 2A Linear encoder error 1 2A.1 Linear encoder 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 30 Regenerative error 30.1 Regeneration heat error

30.2 Regeneration signal error

30.3 Regeneration feedback signal error 31 Overspeed 31.1 Abnormal motor speed 32 Overcurrent 32.1 Overcurrent detected at hardware detection circuit (during operation)

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) 33 Overvoltage 33.1 Main circuit voltage error 34 SSCNET receive error 1 34.1 SSCNET receive data error

34.2 SSCNET connector connection error

34.3 SSCNET communication data error

34.4 Hardware error signal detection 35 Command frequency error 35.1 Command frequency error 36 SSCNET receive error 2 36.1 Continuous communication data error 37 Parameter error 37.1 Parameter setting range error

37.2 Parameter combination error 3A Inrush current suppression circuit

3E Operation mode error 3E.1 Operation mode error

Encoder normal communication error 2

Initial magnetic pole detection error

error

Detail

display

20.2 Encoder normal communication - Receive data error 2

21.2 Encoder data update error

27.2 Magnetic pole detection - Time out error

3A.1 Inrush current suppression circuit error

Detail name

1 - 2

1. TROUBLESHOOTING

No. Name

Alarm

42 Servo control error 42.1 Servo control error by position deviation

42.2 Servo control error by speed deviation

42.3 Servo control error by torque/thrust deviation

45 Main circuit device overheat 45.1 Main circuit device overheat error

46 Servo motor overheat 46.1 Abnormal temperature of servo motor 1

46.2 Abnormal temperature of servo motor 2

46.3 Thermistor disconnected

46.5 Abnormal temperature of servo motor 3

46.6 Abnormal temperature of servo motor 4 47 Cooling fan error 47.1 Cooling fan stop error

47.2 Cooling fan speed reduction error 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 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 63 STO timing error 63.1 STO1 off

63.2 STO2 off 8A USB communication time-out error 8A.1 USB communication time-out error 8E USB communication error 8E.1 USB communication receive error 8E.2 USB communication checksum error 8E.3 USB communication character error 8E.4 USB communication command error 8E.5 USB communication data number error 888/

88888

Watchdog 88._/

Detail

display

8888._

Detail name

Watchdog

1 - 3

1. TROUBLESHOOTING

No. Name

Warning

91 Servo amplifier overheat warning 91.1 Main circuit device overheat warning 92 92.1 Encoder battery cable disconnection warning

Battery cable disconnection warning

95 STO warning 95.1 STO1 off detection

95.2 STO2 off detection 96 Home position setting warning 96.1 In-position warning at home positioning

96.2 Command input warning at home positioning

96.3 Servo off warning at home positioning 99 Stroke limit warning 99.1 Forward rotation stroke end off

99.2 Reverse rotation stroke end off 9F Battery warning 9F.1 Low battery 9F.2 Battery degradation warning E0 Excessive regeneration warning E0.1 Excessive regeneration warning E1 Overload warning 1 E1.1 Thermal overload warning 1 during operation E1.2 Thermal overload warning 2 during operation E1.3 Thermal overload warning 3 during operation E1.4 Thermal overload warning 4 during operation E1.5 Thermal overload error 1 during a stop E1.6 Thermal overload error 2 during a stop E1.7 Thermal overload error 3 during a stop E1.8 Thermal overload error 4 during a stop E2 Servo motor overheat warning E2.1 Servo motor temperature warning E3 Absolute position counter warning E3.1 Multi-revolution counter travel distance excess warning E3.2 Encoder absolute positioning counter warning E3.5 Absolute position counter warning E4 Parameter warning E4.1 Parameter setting range error warning 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 E7 Controller forced stop warning E7.1 Controller forced stop warning E8 Cooling fan speed reduction

warning E9 Main circuit off warning E9.1 Servo-on signal on during main circuit off E9.2 Bus voltage drop during low speed operation E9.3 Ready-on signal on during main circuit off EA ABS servo-on warning EA.1 ABS servo-on warning EB The other axis error warning EB.1 The other axis error warning EC Overload warning 2 EC.1 Overload warning 2 ED Output watt excess warning ED.1 Output watt excess warning F0 Tough drive warning F0.1 Instantaneous power failure tough drive warning F0.3 Vibration tough drive warning F2 Drive recorder - Miswriting warning F2.1 Drive recorder - Area writing time-out warning F2.2 Drive recorder - Data miswriting warning F3 Oscillation detection warning F3.1 Oscillation detection warning

Detail

display

92.3 Battery degradation

E8.1 Decreased cooling fan speed warning

Detail name

1 - 4

1. TROUBLESHOOTING

1.2 Remedies for alarms When any alarm has occurred, eliminate its cause, ensure safety, and deactivate

the alarm before restarting operation. Otherwise, it may cause injury.

CAUTION

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.

POINT

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 the 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]

Remove the cause of the alarm in accordance with this section. Use MR Configurator2 to refer to a factor of alarm occurrence.

1 - 5

1. TROUBLESHOOTING

Alarm No.: 10 Name: Undervoltage

Alarm content

Displ

10.1 Voltage drop in

10.2 Voltage drop in

Detail name Cause Check method Check result Action

ay

the control power

(2) The voltage of the

the main circuit power

It is connected. Check (2). (2) The voltage of the main

(3) The alarm has

The voltage is 200 V

(4) The servo amplifier is

The voltage of the control circuit power supply has dropped. The voltage of the main circuit power supply has dropped.

The connection of the

(1) Check the control

control circuit power supply connector (CNP2) has a failure.

control circuit power supply is low.

(3) An instantaneous

power failure has occurred for longer time than the specified time. The time will be 60 ms when [Pr. PA20] is "_ 0 _ _". The time will be the value set in [Pr. PF25] when [Pr. PA20] is "_ 1 _ _".

(1) The main circuit power

supply connector (CNP1) was disconnected.

circuit power supply is low.

occurred during acceleration.

malfunctioning.

circuit power supply connector.

Check if the voltage of the control circuit power supply is lower than 160 V AC.

Check if the power has a problem.

Check the main circuit power supply connector.

Check if the voltage of the main circuit power supply is lower than 160 V AC.

Check that the bus voltage during acceleration is 200 V DC or more.

Check the bus voltage value.

It has a failure. Connect it correctly.

It has no failure. Check (2). The voltage is lower

than 160 V AC.

The voltage is higher than 160 V AC.

It has a problem. Review the power.

It is disconnected. Connect it correctly.

The voltage is lower than 160 V AC.

The voltage is higher than 160 V AC.

The voltage is less than 200 V DC.

DC or more. The voltage of the

main circuit power supply is 160 V AC or more, and the bus voltage is less than 200 V DC.

Review the voltage of the control circuit power supply.

Check (3).

Increase the voltage of the main circuit power supply.

Check (3).

Increase the acceleration time constant. Or increase the power supply capacity.

Check (4).

Replace the servo amplifier.

Targe

t

[A] [B] [WB]

1 - 6

1. TROUBLESHOOTING

Alarm No.: 11 Name: Switch setting error

Alarm content

Displ

11.1 Axis number

11.2 Disabling

The setting is other

Detail name Cause Check method Check result Action

ay

setting error

Both of the auxiliary

control axis setting error

The setting of the axis selection rotary switch or auxiliary axis number setting switch is incorrect. The setting of the disabling control axis switch is incorrect.

(1) The setting of the Axis

No. is incorrect.

(1) The setting of the

disabling control axis switch is incorrect.

Check the settings of the auxiliary axis number setting switch (SW2) and axis selection rotary switch (SW1).

Check the setting of the disabling control axis switch.

When both of the auxiliary axis number setting switches are on, check the axis selection rotary switch if "E" is selected for MR-J4W2, ("E" or "F" is selected for MRJ4W2).

axis number setting switches are off.

Check if the setting is as follows.

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.

than above.

Set the axis No. correctly.

Replace the servo amplifier.

Set it correctly.

Replace the servo amplifier.

Targe

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[WB]

Alarm No.: 12 Name: Memory error 1 (RAM)

Alarm content A part (RAM) in the servo amplifier is failure.

Displ

12.1 RAM error 1 (1) A part in the servo

12.2 RAM error 2 Check it with the check method for [AL. 12.1].

12.3 RAM error 3

12.4 RAM error 4

12.5 RAM error 5

Detail name Cause Check method Check result Action

ay

Disconnect the cables

amplifier is failure.

(2) Something near the

device caused it.

except the control circuit power supply, and then check the repeatability.

Check the power supply for noise.

It is repeatable. Replace the servo

amplifier.

It is not repeatable. Check (2).

It has a failure. Take

countermeasures against its cause.

Targe

t

[A] [B] [WB]

1 - 7

1. TROUBLESHOOTING

Alarm No.: 13 Name: Clock error

Alarm content

Displ

13.1 Clock error 1 (1) A part in the servo

13.2 Clock error 2 Check it with the check method for [AL. 13.1].

Detail name Cause Check method Check result Action

ay

(2) It occurs. Replace the

(3) The servo amplifier of

It is not

(4) Something near the

A part in the servo amplifier is failure. A clock error transmitted from the controller occurred.

Disconnect the cables

amplifier is failure.

A clock error transmitted from the controller occurred.

the next axis is malfunctioning.

device caused it.

except the control circuit power supply, and then check the repeatability.

Check if the error 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.

It is repeatable. Replace the servo

amplifier.

It is not repeatable. Check (2).

controller.

It does not occur. Check (3).

It is malfunctioning. Replace the servo

amplifier of the next axis.

Check (4).

malfunctioning. It has a failure. Take

countermeasures against its cause.

Targe

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[A] [B] [WB]

[B] [WB]

[A] [B] [WB]

1 - 8

1. TROUBLESHOOTING

Alarm No.: 14 Name: Control process error

Alarm content The process did not complete within the specified time.

Displ

14.1 Control

Detail name Cause Check method Check result Action

ay

(1) The parameter setting

process error 1

It is correct. Check (2). (2) Something near the

is incorrect.

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. Set it correctly.

It has a failure. Take

countermeasures against its cause.

It has no failure. Check (3).

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[A] [B] [WB]

(3) The servo amplifier is

malfunctioning.

14.2 Control process error 2

(2) The parameter setting

It is correct. Check (3). (3) Something near the

(4) The servo amplifier is

14.3 Control process error 3

14.4 Control process error 4

14.5 Control process error 5

14.6 Control process error 6

14.7 Control process error 7

14.8 Control process error 8

14.9 Control process error 9

14.A Control process error 10

A synchronous signal

(1) It is repeatable. Replace the servo

error transmitted from the controller occurred.

is incorrect.

device caused it.

malfunctioning.

Check it with the check method for [AL. 14.1].

Replace the servo amplifier, and then check the repeatability.

Replace the controller, and then check the repeatability.

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 not repeatable. Replace the servo

amplifier.

It is not repeatable. Check (2).

It is incorrect. Set it correctly.

It has a failure. Take

countermeasures

against its cause. It has no failure. Check (4). It is not repeatable. Replace the servo

amplifier.

[B] [WB]

[A] [B] [WB]

1 - 9

1. TROUBLESHOOTING

Alarm No.: 15 Name: Memory error 2 (EEP-ROM)

Alarm content A part (EEP-ROM) in the servo amplifier is failure.

Displ

15.1 EEP-ROM error

15.2 EEP-ROM error

Detail name Cause Check method Check result Action

ay

EEP-ROM is

(1) It is repeatable. Replace the servo

at power on

(2) Something near the

(3) The number of write

during operation

(2) It takes an hour or

(3) Something near the

malfunctioning at power on.

device caused it.

times exceeded 100,000.

EEP-ROM is

(1) It occurs. Replace the servo

malfunctioning during normal operation.

A write error occurred while tuning results was processed.

device caused it.

Disconnect the cables except the control circuit power supply, and then check the repeatability.

Check the power supply for noise. Check if the connector is shorted.

Check if parameters has been used very frequently.

Check if the error occurs when you change parameters during normal operation.

Check if the alarm occurs after an hour from power on.

Check the power supply for noise. Check if the connector is shorted.

It is not repeatable. Check (2).

It has a failure. Take

It has no failure. Check (3). It has a failure. Replace the servo

It does not occur. Check (2).

more. It takes less than an

hour. It has a failure. Take

amplifier.

countermeasures

against its cause.

amplifier. Change the

process to use

parameters less

frequently after

replacement.

amplifier.

Replace the servo

amplifier.

Check (3).

countermeasures

against its cause.

Targe

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[A] [B] [WB]

Alarm No.: 16 Name: Encoder initial communication error 1

Alarm content Communication error occurred between encoder and servo amplifier.

Displ

16.1 Encoder initial

16.2 Encoder initial

Detail name Cause Check method Check result Action

ay

(1) An encoder cable is

communication

- Receive data error 1

(2) The servo amplifier is

(3) An encoder is

(4) Something near the

communication

- Receive data error 2

malfunctioning.

device caused it.

Check it with the check method for [AL. 16.1].

Check if the encoder cable is disconnected or shorted.

Replace the servo amplifier, and then check the repeatability.

Replace the servo motor or linear encoder, and then check the repeatability.

Check the noise, ambient temperature, vibration, etc.

It has a failure. Replace or repair the

It has no failure. Check (2). It is not repeatable. Replace the servo

It is repeatable. Check (3).

It is not repeatable. Replace the servo

It is repeatable. Check (4).

It has a failure. Take

cable.

amplifier.

motor.

countermeasures

against its cause.

Targe

t

[A] [B] [WB]

1 - 10

1. TROUBLESHOOTING

Alarm No.: 16 Name: Encoder initial communication error 1

Alarm content Communication error occurred between encoder and servo amplifier.

Displ

16.3 (1) Check the setting of

16.5 Encoder initial

16.6 Encoder initial

16.7 Encoder initial

Detail name Cause Check method Check result Action

ay

Encoder initial communication Receive data error 3

(2) An encoder cable was

(3) The setting is

(4) An encoder cable is

(5) The voltage of the

It has no failure. Check (6). (6) The servo amplifier is

(7) An encoder is

(8) Something near the

communication Transmission data error 1

communication Transmission data error 2

communication Transmission data error 3

An axis not used is not set as disabled-axis.

disconnected.

The parameter setting of two-wire type/fourwire type is incorrect.

Type A: [Pr. PC22] Type B: [Pr. PC04]

malfunctioning.

control circuit power supply has been unstable.

malfunctioning.

device caused it.

Check it with the check method for [AL. 16.1].

the disabling control axis switch (SW2).

It is set as disabled-

Check if the encoder cable is connected correctly.

Check the parameter setting.

Check if the encoder cable is disconnected or shorted.

Check the voltage of the control circuit power supply.

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 is not set as disabled-axis.

axis. It is not connected. Connect it correctly.

It is connected. Check (3).

incorrect. The setting is correct. Check (4).

It has a failure. Replace or repair the

It has no failure. Check (5). The control circuit

power supply has been an instantaneous power failure.

It is not repeatable. Replace the servo

It is repeatable. Check (7).

It is not repeatable. Replace the servo

It is repeatable. Check (8).

It has a failure. Take

Set it as disabled-

axis.

Check (2).

Set it correctly.

cable.

Review the power

and related parts.

amplifier.

motor.

countermeasures

against its cause.

Targe

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[WB]

[A] [B] [WB]

1 - 11

1. TROUBLESHOOTING

Alarm No.: 16 Name: Encoder initial communication error 1

Alarm content Communication error occurred between encoder and servo amplifier.

Displ

16.A Encoder initial

16.B Encoder initial

16.C Encoder initial

16.D Encoder initial

16.E Encoder initial

16.F Encoder initial

Detail name Cause Check method Check result Action

ay

(1) The servo amplifier is communication Process error 1

(2) An encoder is

(3) Something near the

communication Process error 2

communication Process error 3

communication Process error 4

communication Process error 5

communication Process error 6

malfunctioning.

device caused it.

Check it with the check method for [AL. 16.A].

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 is not repeatable. Replace the servo

It is repeatable. Check (2). It is not repeatable. Replace the servo

It is repeatable. Check (3). It has a failure. Take

amplifier.

motor.

countermeasures against its cause.

Targe

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[A] [B] [WB]

1 - 12

1. TROUBLESHOOTING

Alarm No.: 17 Name: Board error

Alarm content A part in the servo amplifier is malfunctioning.

Displ

17.1 Board error 1 (1) A current detection

17.3 Board error 2 Check it with the check method for [AL. 17.1]".

17.4 Board error 3 (1) It is repeatable. Replace the servo

17.5 Board error 4 (1) It is repeatable. Replace the servo

17.6 Board error 5 (1) It is repeatable. Replace the servo

Detail name Cause Check method Check result Action

ay

circuit is malfunctioning.

(2) Something near the

device caused it.

The servo amplifier recognition signal was not read properly.

(2) Something near the

device caused it.

The setting value of the rotary switch (SW1) was not read properly.

(2) Something near the

device caused it.

The setting value of the DIP switches (SW2) was not read properly.

(2) Something near the

device caused it.

Check if the alarm occurs during the servo-on status.

Check the noise, ambient temperature, etc.

Disconnect the cables except the control circuit power supply, and then check the repeatability.

Check the noise, ambient temperature, etc.

Disconnect the cables except the control circuit power supply, and then check the repeatability.

Check the noise, ambient temperature, etc.

Disconnect the cables except the control circuit power supply, and then check the repeatability.

Check the noise, ambient temperature, etc.

It occurs. Replace the servo

It does not occur. Check (2). It has a failure. Take

It is not repeatable. Check (2).

It has a failure. Take

It is not repeatable. Check (2).

It has a failure. Take

It is not repeatable. Check (2).

It has a failure. Take

amplifier.

countermeasures against its cause.

amplifier.

countermeasures against its cause.

amplifier.

countermeasures against its cause.

amplifier.

countermeasures against its cause.

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1. TROUBLESHOOTING

Alarm No.: 19 Name: Memory error 3 (Flash-ROM)

Alarm content A part (Flash-ROM) in the servo amplifier is failure.

Displ

19.1 Flash-ROM

19.2 Flash-ROM

Alarm No.: 1A Name: Servo motor combination error

Displ

1A.1 Servo motor

1A.2 Servo motor

Detail name Cause Check method Check result Action

ay

(1) The Flash-ROM is error 1

(2) Something near the

error 2

Alarm content The combination of servo amplifier and servo motor is incorrect.

Detail name Cause Check method Check result Action

ay

combination error

(2) The setting of [Pr.

(3) An encoder is

control mode combination error

malfunctioning.

device caused it.

Check it with the check method for [AL. 19.1].

The servo amplifier and

(1) The combination is

the servo motor was connected incorrectly.

PA01] is not correspondingto the connected servo motor.

malfunctioning.

(1) The setting of [Pr.

PA01] is not correspondingto the connected servo motor.

Disconnect the cables except the control circuit power supply, and then check the repeatability.

Check the noise, ambient temperature, etc.

Check the model name ofthe servo motor and correspondingservo amplifier.

Check the [Pr. PA01] setting. Rotary servo motor: "_ _ 0 _" Linear servo motor: "_ _ 4 _" Direct drive motor: "_ _ 6 _"

Replace the servo motor, and then check the repeatability.

Check the [Pr. PA01] setting. Rotary servo motor: "_ _ 0 _" Linear servo motor: "_ _ 4 _" Direct drive motor: "_ _ 6 _"

It is repeatable. Replace the servo

amplifier.

It is not repeatable. Check (2).

It has a failure. Take

countermeasures against its cause.

Use them in the

incorrect.

The combination is correct.

The combination is incorrect.

The combination is correct.

It is not repeatable. Replace the servo

The combination is incorrect.

correct combination.

Check (2).

Set [Pr. PA01] correctly.

Check (3).

motor.

Set [Pr. PA01] correctly.

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Alarm No.: 1E Name: Encoder initial communication error 2

Alarm content An encoder is malfunctioning.

Displ

1E.1 Encoder

Detail name Cause Check method Check result Action

ay

(1) An encoder is malfunction

(2) Something near the

malfunctioning.

device caused it.

Replace the servo motor, and then check the repeatability.

Check the noise, ambient temperature, vibration, etc.

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It is not repeatable. Replace the servo

motor.

It is repeatable. Check (2).

It has a failure. Take

countermeasures against its cause.

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1. TROUBLESHOOTING

Alarm No.: 1F Name: Encoder initial communication error 3

Alarm content The connected encoder is not compatible with the servo amplifier.

Displ

1F.1 Incompatible

Detail name Cause Check method Check result Action

ay

(1) A servo motor or linear encoder

It is compatible with

(2) The software version of

It is supported. Check (3). (3) An encoder is

encoder, which is not compatible with the servo amplifier, was connected.

the servo amplifier does not support the servo motor or linear encoder.

malfunctioning.

Check the model the servo motor/linear encoder.

Check if the software version supportsthe servo motor/linear encoder.

Replace the servo motor or linear encoder, and then check the repeatability.

It is not compatible with the servo amplifier.

the servo amplifier. It is not supported. Replace the servo

It is not repeatable. Replace the servo

It is repeatable. Replace the servo

Replace it with a compatible one.

Check (2).

amplifier to one which software version supports the servo motor/linear encoder.

motor or linear encoder.

amplifier.

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1. TROUBLESHOOTING

Alarm No.: 20 Name: Encoder normal communication error 1

Alarm content Communication error occurred between encoder and servo amplifier.

Displ

20.1 (1) An encoder cable is

20.2 Encoder normal

20.3 Encoder normal

20.5 Encoder normal

20.6 Encoder normal

20.7 Encoder normal

20.9 Encoder normal

20.A Encoder normal

Detail name Cause Check method Check result Action

ay

Encoder normal

communication

- Receive data error 1

(2) The servo amplifier is

(3) An encoder is

(4) Something near the

communication

- Receive data error 2

communication

- Receive data error 3

communication

- Transmission data error 1

communication

- Transmission data error 2

communication

- Transmission data error 3

communication

- Receive data error 4

communication

- Receive data error 5

malfunctioning.

device caused it.

Check it with the check method for [AL. 20.1].

Check if the encoder cable is disconnected or shorted.

Replace the servo amplifier, and then check the repeatability.

Replace the servo motor or linear encoder, and then check the repeatability.

Check the noise, ambient temperature, vibration, etc.

It has a failure. Repair or replace the

It has no failure. Check (2).

It is not repeatable. Replace the servo

It is repeatable. Check (3).

It is not repeatable. Replace the servo

It is repeatable. Check (4).

It has a failure. Take

cable.

amplifier.

motor or linear encoder.

countermeasures against its cause.

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1. TROUBLESHOOTING

Alarm No.: 21 Name: Encoder normal communication error 2

Alarm content The encoder detected an error signal.

Displ

21.1 Encoder data

21.2 Encoder data

21.3 Encoder data

21.4 Encoder non-

21.5 Encoder

21.6 Encoder

21.9 Encoder data

Detail name Cause Check method Check result Action

ay

(1) The encoder detected error 1

It is repeatable. Check (2). (2) An encoder is

(3) Something near the

update error

(2) Something near the

waveform error

signal error

(2) Something near the

hardware error 1

hardware error 2

error 2

a high speed/acceleration rate due to an oscillation or other factors.

malfunctioning.

device caused it.

(1) An encoder is

malfunctioning.

device caused it.

Check it with the check method for for [AL. 21.2].

A signal of the linear

(1) It has a failure. Review the wiring. [B]

encoder has not been inputted.

device caused it.

Check it with the check method for [AL. 21.2].

Check it with the check method for [AL. 21.1].

Decrease the loop gain, and then check the repeatability.

Replace the servo motor, and then check the repeatability.

Check the noise, ambient temperature, vibration, etc.

Replace the servo motor, and then check the repeatability.

Check the noise, ambient temperature, etc.

Check if the linear encoder cable is wired correctly.

Check the noise, ambient temperature, etc.

It is not repeatable. Use the encoder with

low loop gain.

It is not repeatable. Replace the servo

motor.

It is repeatable. Check (3).

It has a failure. Take

countermeasures against its cause.

It is not repeatable. Replace the servo

motor.

It is repeatable. Check (2).

It has a failure. Take

countermeasures against its cause.

It has no failure. Check (2). It has a failure. Take

countermeasures against its cause.

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1. TROUBLESHOOTING

Alarm No.: 24 Name: Main circuit error

Alarm content

Displ

24.1 (1) The servo amplifier is

24.2 Ground fault

Detail name Cause Check method Check result Action

ay

Ground fault detected by hardware detection circuit

(2) A ground fault or short

(3) A ground fault occurred

(4) They are in contact. Correct the wiring.

(5) Something near the

detected by software detection function

A ground fault occurred on the servo motor power lines. A ground fault occurred at the servo motor.

Disconnect the servo

malfunctioning.

occurred at the servo motor power cable.

at the servo motor.

The main circuit power supply cable and servo motor power cable were shorted.

device caused it.

Check it with the check method for [AL. 24.1].

motor power cables (U, V, and W) and check if the alarm occurs.

Check if only the servo motor power cable is shorted.

Disconnect the servo motor power cables on motor side, and check insulation of the motor (between U, V, W, and

Shut off the power, and check if the main circuit power supply cable and servo motor power cable are in contact.

Check the noise, ambient temperature, etc.

).

It occurs. Replace the servo

amplifier.

It does not occur. Check (2).

It is shorted. Replace the servo

motor power cable.

It is not shorted. Check (3). It is shorted. Replace the servo

motor.

It is not shorted. Check (4).

They are not in contact.

It has a failure. Take

Check (5).

countermeasures against its cause.

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1. TROUBLESHOOTING

Alarm No.: 25 Name: Absolute position erased

Alarm content

Displ

25.1 Servo motor

Detail name Cause Check method Check result Action

ay

encoder Absolute position erased

This is not the first

(2) The battery was

It was not removed. Check (3). (3) It is less than DC 3.0 V.Replace the battery.

(4) The voltage drop of the

It is used. Check (5). (5) A battery cable is

It has no failure. Check (6). (6) There is a loose

(7) It is not connected. Connect the absolute

(8) The servo amplifier is

(9) An encoder is

Absolute position data in error Power was switched on for the first time in the absolute position detection system.

(1) Power was switched on

for the first time in the absolute position detection system.

removed (replaced) when the control circuit power supply was off.

The battery voltage is low. The battery is consumed.

battery cable is large.

malfunctioning.

connection of the encoder cable on the servo motor side.

The absolute position storage unit was not connected for using a direct drive motor.

malfunctioning.

Check if this is the first time in the absolute position detection system.

Check if the battery was removed (changed) when the control circuit power supply was off.

Check the battery voltage with a tester.

Check if a recommended wire is used.

Check for the loose connection with a tester.

Check for the loose connection with a tester. Measure the voltage on the servo motor side.

Check if the absolute position storage unit is connected correctly.

Replace the servo amplifier, and then check the repeatability.

Replace the servo motor, and then check the repeatability.

This is the first time. Check that the battery

time. It was removed. Check that the battery

It is DC 3.0 V or more.

It is not used. Use a recommended

It has a failure. Replace the battery

It has a failure. Repair or replace the

It has no failure. Check (7).

It is connected. Check (8). It is not repeatable. Replace the servo

It is repeatable. Check (9).

It is not repeatable. Replace the servo

is mounted, and make home position return.

Check (2).

is mounted, and make home position return.

Check (4).

wire.

cable.

encoder cable.

position storage unit correctly.

amplifier.

motor.

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1. TROUBLESHOOTING

Alarm No.: 27 Name: Initial magnetic pole detection error

Alarm content The initial magnetic pole detection was not completed properly.

Displ

27.1 (1) A moving part collided

27.2 Magnetic pole

27.3

27.4

27.5

27.6

27.7

Detail name Cause Check method Check result Action

ay

Magnetic pole detection Abnormal termination

(2) The wiring of the servo

(3) The setting is

(5) The magnetic pole

Check if the travel

detection Time out error

It has no failure. Check (2). (2) The magnetic pole

Magnetic pole detection Limit switch error

Magnetic pole detection Estimated error

Magnetic pole detection Position deviation error

Magnetic pole detection Speed deviation error

Magnetic pole detection Current error

against the machine.

It did not collided. Check (2).

motor power cable is incorrect.

The linear encoder resolution setting differs from the setting value.

The direction of

(4) The mounting

mounting linear encoder is incorrect.

detection voltage level is small.

(1) Only one of the limit

switches of FLS/RLS is on.

detection voltage level is small.

(1) Both of the limit

switches of FLS/RLS are on during the magnetic pole detection.

Check it with the check method for [AL. 27.1].

Check if it collided. It collided. Move the start

position of the magnetic pole detection.

Check if the wiring of the servo motor power cable is correct.

Check the setting of [Pr. PL02] and [Pr. PL03].

Check polarities of the linear encoder and the linear servo motor.

Check if the travel distance during the magnetic pole detection is too short (for a position detection method).

distance during the magnetic pole detection is too long or if a vibration is occurring (for a minute position detection method).

Check the limit switches.

Check if the travel distance during the magnetic pole detection is too short (for a position detection method).

Check the limit switches.

It has a failure. Correct the wiring.

It has no failure. Check (3).

Set it correctly.

incorrect. The setting is correct. Check (4).

Mount it correctly.

direction is incorrect. The mounting

direction is correct. It is too short. Increase it with the

The travel distance is too long or a vibration is occurring.

It has a failure. Remove the cause.

It is too short. Increase it with the

Both of them are off. Turn on the limit

Check (5).

[Pr. PL09] setting.

Review the [Pr. PL17] setting.

Move the start position of the magnetic pole detection.

[Pr. PL09] setting.

switches.

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1. TROUBLESHOOTING

Alarm No.: 28 Name: Linear encoder error 2

Alarm content Working environment of linear encoder is not normal.

Displ

28.1 Linear encoder

Alarm No.: 2A Name: Linear encoder error 1

Displ

2A.1 Linear encoder

2A.2 Linear encoder

2A.3 Linear encoder

2A.4 Linear encoder

2A.5 Linear encoder

2A.6 Linear encoder

2A.7 Linear encoder

2A.8 Linear encoder

Detail name Cause Check method Check result Action

ay

(1) The ambient

- Environment error

It is within

(2) The signal level of the

Alarm content

Detail name Cause Check method Check result Action

ay

error 1-1

(2) Something near the

(3) An alarm of the linear

error 1-2

error 1-3

error 1-4

error 1-5

error 1-6

error 1-7

error 1-8

temperature of the linear encoder is out of specifications.

linear encoder has dropped.

An error of the linear encoder was detected. (The details differ depending on the linear encoder manufacturer.)

Mounting condition of

(1) It is not repeatable. Use the equipment at

the linear encoder and head is failure.

device caused it.

encoder was detected.

Check it with the check method for [AL. 2A.1].

Check the ambient temperature of the linear encoder.

Check the mounting condition of the linear encoder.

Adjust the positions of the scale and head, and then check the repeatability.

Check the noise, ambient temperature, vibration, etc.

Check the content of the alarm detail list of the Linear Encoder Instruction Manual.

It is out of specifications.

specifications. It has a failure. Correct the mounting

It is repeatable. Check (2).

It has a failure. Take

It has no failure. Check (3). Remove its cause

described in the instruction manual.

Lower the temperature. Contact the linear encoder manufacturer.

Check (2).

method of the linear encoder.

the adjusted position.

countermeasures against its cause.

Contact each encoder manufacturer for how to deal with it.

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1. TROUBLESHOOTING

Alarm No.: 2B Name: Encoder counter error

Alarm content Data which encoder created is failure.

Displ

2B.1 Encoder

2B.2 Encoder

Alarm No.: 30 Name: Regenerative error

Displ

30.1 Regeneration

30.2 Regeneration

30.3 (1) A detection circuit of

Detail name Cause Check method Check result Action

ay

(1) An encoder cable is counter error 1

(2) Something near the

(3) An encoder is

counter error 2

Alarm content

Detail name Cause Check method Check result Action

ay

heat error

(2) It is not connected

(3) Power supply voltage

It is less than 240 V

(4) The regenerative load

signal error

Regeneration feedback signal error

(2) Something near the

malfunctioning.

device caused it.

malfunctioning.

Check it with the check method for [AL. 2B.1].

Permissible regenerative power of the built-in regenerative resistor or regenerative option is exceeded. A regenerative transistor in the servo amplifier is malfunctioning.

The setting of the

(1) The setting value is

regenerative resistor (regenerative option) is incorrect.

The regenerative resistor (regenerative option) is not connected.

high.

ratio has been over 100%.

(1) A detection circuit of

the servo amplifier is malfunctioning.

device caused it.

Check if the encoder cable is disconnected or shorted.

Check the noise, ambient temperature, vibration, etc.

Replace the direct drive motor, and then check the repeatability.

Check the regenerative resistor (regenerative option) and [Pr. PA02] setting.

Check if the regenerative resistor (regenerative option) is connected correctly.

Check the input power supply voltage.

Check the regenerative load ratio when alarm occurs.

Check if the regenerative resistor (regenerative option) is overheating.

Remove the regenerative option or built-in regenerative resistor and then check if the alarm occur at power on.

Check the noise, ground fault, ambient temperature, etc.

It has a failure. Repair or replace the

It has no failure. Check (2). It has a failure. Take

It has no failure. Check (3). It is not repeatable. Replace the direct

incorrect. It is set correctly. Check (2).

correctly. It is connected

correctly.

It is 240 V AC or more.

AC. It is 100% or more. Reduce the frequency

It is overheating abnormally.

The alarm occurs. Replace the servo

The alarm does not occur.

It has a failure. Take

cable.

countermeasures against its cause.

drive motor.

Set it correctly.

Connect it correctly.

Check (3).

Reduce the power supply voltage.

Check (4).

of positioning. Reduce the load. Use a regenerative option if not being using. Review the regenerative option capacity.

Replace the servo amplifier.

amplifier.

Check (2).

countermeasures against its cause.

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1. TROUBLESHOOTING

Alarm No.: 31 Name: Overspeed

Alarm content

Displ

31.1 (1) The command pulse

Detail name Cause Check method Check result Action

ay

Abnormal motor speed

(2) The command from the

(3) A larger speed

(4) The servo motor was at

(5) The servo system is

It is not oscillating. Check (6). (6) The velocity waveform

(8) The encoder or liner

The servo motor seed has exceeded the permissible instantaneous speed. The linear servo motor seed has exceeded the permissible instantaneous speed.

Check the command

frequency is high.

The command pulse

controller is excessive.

command than the overspeed alarm level was inputted.

the maximum torque (maximum thrust) at the time of acceleration.

unstable and oscillating.

has overshot.

(7) The connection

destination of the encoder cable is incorrect.

encoder is malfunctioning.

pulse frequency.

Check if the command from the controller is over the permissible speed.

Check that the actual motor speed is higher than the setting value of [Pr. PC08 Overspeed alarm detection level].

Check if the torque (thrust) at the time of acceleration is the maximum torque (maximum thrust).

Check if the servo motor is oscillating.

Check if it is overshooting because the acceleration time constant is too short.

Check the connection destinations of CN2A, CN2B, and CN2C.

Check if the alarm is occurring during less than permissible instantaneous speed.

The command pulse frequency is high.

frequency is low. It is over the

permissible speed. It is less than the

permissible speed. The motor speed is

higher than the overspeed alarm detection level.

The motor speed is lower than the overspeed alarm level.

It is the maximum torque (maximum thrust).

It is less than the maximum torque (maximum thrust).

It is oscillating. Adjust the servo gain.

It is overshooting. Increase the

It is not overshooting. Check (7). It is not correct. Wire it correctly. [WB]

It is correct. Check (8). It is occurring during

less than permissible instantaneous speed.

Check operation pattern.

Check (3).

Check operation pattern.

Check (3).

Review the [Pr. PC08] setting.

Check (4).

Increase the acceleration/decelerat ion time constant. Or reduce the load.

Check (5).

Or reduce the load.

acceleration/decelerat ion time constant.

Replace the servo motor or linear encoder.

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1. TROUBLESHOOTING

Alarm No.: 32 Name: Overcurrent

Alarm content Current that flew is higher than the permissible current of the servo amplifier.

Displ

32.1 (1) The servo amplifier is

Detail name Cause Check method Check result Action

ay

Overcurrent detected at hardware detection circuit (during operation)

(2) A ground fault or short

It is not shorted. Check (3). (3) The servo motor is

(4) The dynamic brake is

(5) It is not correct. Wire it correctly. [WB]

(6) Something near the

malfunctioning.

occurred at the servo motor power cable.

malfunctioning.

The connection destination of the encoder cable is incorrect.

device caused it.

Disconnect the servo motor power cables (U, V, and W) and check if the alarm occurs.

Check if only the servo motor power cable is shorted.

Disconnect the servo motor power cables on motor side, and check insulation of the motor (between U, V, W, and

Check if the error occurs when you turn on the servo-on command.

Check the connection destinations of CN2A, CN2B, and CN2C.

Check the noise, ambient temperature, etc.

It occurs. Replace the servo

amplifier.

It does not occur. Check (2).

It is shorted. Replace the servo

motor power cable.

A ground fault is occurring.

A ground fault is not occurring.

).

It occurs. Replace the servo

It does not occur. Check (5).

It is correct. Check (6).

It has a failure. Take

Replace the servo motor.

Check (4).

amplifier.

countermeasures against its cause.

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1. TROUBLESHOOTING

Alarm No.: 32 Name: Overcurrent

Alarm content Current that flew is higher than the permissible current of the servo amplifier.

Displ

32.2 (1) The servo gain is high. Check if an oscillation

32.3 Overcurrent

32.4 Overcurrent

Detail name Cause Check method Check result Action

ay

Overcurrent detected at software detection function (during operation)

(2) The servo amplifier is

(3) A ground fault or short

It is not shorted. Check (4). (4) The servo motor is

(5) It is not correct. Connect it correctly. [WB]

(6) Something near the

detected at hardware detection circuit (during a stop)

detected at software detection function (during a stop)

An oscillation is not

malfunctioning.

occurred at the servo motor power cable.

malfunctioning.

The connection destination of the encoder cable is incorrect.

device caused it.

Check it with the check method for [AL. 32.1].

Check it with the check method for [AL. 32.2].

is occurring.

Disconnect the servo motor power cables (U, V, and W) and check if the alarm occurs.

Check if only the servo motor power cable is shorted.

Disconnect the servo motor power cables on motor side, and check insulation of the motor (between U, V, W, and

Check the connection destinations of CN2A, CN2B, and CN2C.

Check the noise, ambient temperature, etc.

An oscillation is occurring.

occurring.

It occurs. Replace the servo

It does not occur. Check (3).

It is shorted. Replace the servo

A ground fault is occurring.

A ground fault is not occurring.

).

It is correct. Check (6).

It has a failure. Take

Reduce the speed loop gain ([Pr. PB09]).

Check (2).

amplifier.

motor power cable.

Replace the servo motor.

Check (5).

countermeasures against its cause.

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1. TROUBLESHOOTING

Alarm No.: 33 Name: Overvoltage

Alarm content The value of the bus voltage exceeded 400 V DC.

Displ

33.1 Main circuit

Detail name Cause Check method Check result Action

ay

The setting of the

(1) The setting value is voltage error

(2) It is not connected

(3) Wire breakage of built-

The resistance is

It is repeatable. Check (5). (5) Power supply voltage

It is 264 V AC or less. Check (6). (6) Something near the

regenerative resistor (regenerative option) is incorrect.

The regenerative resistor (regenerative option) is not connected.

in regenerative resistor or regenerative option

(4) The regeneration

capacity is insufficient.

high.

device caused it.

Check the regenerative resistor (regenerative option) and [Pr. PA02] setting.

Check if the regenerative resistor (regenerative option) is connected correctly.

Measure the resistance of the builtin regenerative resistor or regenerative option.

Set a larger deceleration time constant, and then check the repeatability.

Check the input voltage.

Check the noise, ambient temperature, etc.

incorrect. It is set correctly. Check (2).

correctly. It is connected

correctly.

The resistance is abnormal.

normal. It is not repeatable. When using a built-in

It is over 264 V AC. Reduce the input

It has a failure. Take

Set it correctly.

Connect it correctly.

Check (3).

When using a built-in regenerative resistor, replace the servo amplifier. When using a regenerative option, replace the regenerative option.

Check (4).

regenerative resistor, use a regenerative option. When using a regenerative option, use a larger capacity one.

voltage.

countermeasures against its cause.

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1. TROUBLESHOOTING

Alarm No.: 34 Name: SSCNET receive error 1

Alarm content An error occurred in SSCNET III/H communication. (continuous communication error with 3.5 ms interval)

Displ

34.1 SSCNET

34.2 SSCNET

34.3 SSCNET

34.4 Hardware error

Detail name Cause Check method Check result Action

ay

(1) The SSCNET III cable receive data error

It is connected. Check (2). (2) The surface at the end

It is repeatable. Check (3). (3) The SSCNET III cable

It has no failure. Check (4). (4) It is used. They are in

(5) The servo amplifier is

(6) It is not repeatable. Replace the servo

(7) The controller is

(8) Something near the

connector connection error

communication data error

signal detection

is disconnected.

of SSCNET III cable got dirty.

is broken or severed.

A vinyl tape is stacked tothe SSCNET III cable. Or a wire insulator containing migrating plasticizer is adhered to the cable.

malfunctioning.

The previous or next axis servo amplifier of the alarm occurred is malfunctioning.

malfunctioning.

device caused it.

Check it with the check method for [AL. 34.1].

Check the SSCNET III cable connection.

Wipe off the dirt from the cable tip, and then check the repeatability.

Check if the SSCNET III cable is malfunctioning.

Check if a vinyl tape is used. Check if the cable is contacting with other cables.

Replace the servo amplifier, and then check the repeatability.

Replace the previous and next servo amplifier of the alarm occurred axis, and then check the repeatability.

Replace the controller, and then check the repeatability.

Check the noise, ambient temperature, etc.

It is disconnected. Turn off the control

circuit power supply of the servo amplifier, and then connect the SSCNET III cable.

It is not repeatable. Take measure to

keepthe cable tip clean.

It has a failure. Replace the SSCNET

III cable.

Take

contact.

It is not used. They are not in contact.

It is not repeatable. Replace the servo

It is repeatable. Check (6).

It is repeatable. Check (7).

It is not repeatable. Replace the

It is repeatable. Check (8).

It has a failure. Take

countermeasures against its cause.

Check (5).

amplifier.

controller.

countermeasures against its cause.

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1. TROUBLESHOOTING

Alarm No.: 35 Name: Command frequency error

Alarm content Input pulse frequency of command pulse is too high.

Displ

35.1 Command

Detail name Cause Check method Check result Action

ay

(1) The command pulse frequency error

The command pulse

(2) The command from the

(3) The controller is

(4) Something near the

frequency is high.

controller is excessive.

malfunctioning.

device caused it.

Check the command pulse frequency.

Check if the command from the controller is over the permissible speed.

Replace the controller, and then check the repeatability.

Check the noise, ambient temperature, etc.

The command pulse frequency is high.

frequency is low. It is over the

permissible speed. It is less than the

permissible speed. It is not repeatable. Replace the

It is repeatable. Check (4).

It has a failure. Take

Check operation pattern.

Check (4).

Check operation pattern.

Check (3).

controller.

countermeasures against its cause.

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1. TROUBLESHOOTING

Alarm No.: 36 Name: SSCNET receive error 2

Alarm content

Displ

36.1 Continuous

Detail name Cause Check method Check result Action

ay

communication data error

It is connected. Check (2). (2) The surface at the end

It is repeatable. Check (3). (3) It has a failure. Replace the SSCNET

(4) It is used. They are in

(5) The servo amplifier is

(6) It is not repeatable. Replace the servo

(7) The controller is

(8) Something near the

An error occurred in SSCNET III/H communication. (intermittent communication error with about 70 ms interval)

(1) The SSCNET III cable

is disconnected.

of SSCNET III cable got dirty.

The SSCNET III cable is broken or severed.

A vinyl tape is stacked tothe SSCNET III cable. Or a wire insulator containing migrating plasticizer is adhered to the cable.

malfunctioning.

The previous or next axis servo amplifier of the alarm occurred is malfunctioning.

malfunctioning.

device caused it.

Check the SSCNET III cable connection.

Wipe off the dirt from the cable tip, and then check the repeatability.

Check if the SSCNET III cable is malfunctioning.

Check if a vinyl tape is used. Check if the cable is contacting with other cables.

Replace the servo amplifier, and then check the repeatability.

Replace the previous and next servo amplifier of the alarm occurred axis, and then check the repeatability.

Replace the controller, and then check the repeatability.

Check the noise, ambient temperature, etc.

It is disconnected. Turn off the control

circuit power supply of the servo amplifier, and then connect the SSCNET III cable.

It is not repeatable. Take measure to

keepthe cable tip clean.

III cable.

It has no failure. Check (4).

Take

contact.

It is not used. They are not in contact.

It is not repeatable. Replace the servo

It is repeatable. Check (6).

It is repeatable. Check (7).

It is not repeatable. Replace the

It is repeatable. Check (8).

It has a failure. Take

countermeasures against its cause.

Check (5).

amplifier.

controller.

countermeasures against its cause.

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1. TROUBLESHOOTING

Alarm No.: 37 Name: Parameter error

Alarm content Parameter setting is incorrect.

Displ

37.1 Parameter

37.2 Parameter

Detail name Cause Check method Check result Action

ay

(1) A parameter was set setting range error

It is out of setting

(2) The parameter setting

combination error

Check the parameter

out of setting range.

has changed due to a servo amplifier malfunction.

(1) A parameter setting

contradicts another.

Check the parameter error No. and setting value.

Check the parameter error No. and setting value of the servo parameter of the controller.

Replace the servo amplifier, and then check the repeatability.

Check the parameter error No. and setting value.

error No. and setting value of the servo parameter of the controller.

It is out of setting range.

It is within the setting range.

range. It is within the setting

range. It is not repeatable. Replace the servo

A setting value is incorrect.

Set it within the range.

Check (2).

Set it within the range.

Check (2).

amplifier.

Correct the setting value.

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Alarm No.: 3A Name: Inrush current suppression circuit error

Alarm content The inrush current suppression circuit error was detected.

Displ

3A.1 Inrush current

Alarm No.: 3E Name: Operation mode error

Displ

3E.1 Operation

Detail name Cause Check method Check result Action

ay

(1) Inrush current suppression circuit error

Alarm content The operation mode setting was changed.

Detail name Cause Check method Check result Action

ay

mode error

(2) The [Pr. PA01] setting

suppressor circuit faulty.

(1) The MR-J4 servo

amplifier used in J3 compatibility mode was connected to the other SSCNET III/H controller. Or a MR-J4 servo amplifier which was connected another SSCNET III/H controller was connected to the SSCNET III controller.

value was changed.

Replace the servo amplifier, and then check the repeatability.

Check if the connection was changed to like these.

Check if [Pr. PA01] was changed.

It is not repeatable. Replace the servo

amplifier.

It is changed. Initialize the servo

amplifier with the built-in application software "MR-J4(W)B mode selection" of MR Configurator2, and then connect the amplifier to the controller.

It is changed. Set [Pr. PA01]

correctly.

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1. TROUBLESHOOTING

Alarm No.: 42 Name: Servo control error

Alarm content A servo control error occurred.

Displ

42.1 (1) The setting is

42.2 (1) The setting is

Detail name Cause Check method Check result Action

ay

Servo control error by position deviation

(3) The connection of the

The wiring is correct. Check (4). (4) The initial magnetic

(5) The position deviation

Servo control error by speed deviation

(3) The connection of the

The wiring is correct. Check (4). (4) The initial magnetic

(5) The speed deviation

The linear encoder resolution setting differs from the setting value.

The direction of

(2) The mounting

mounting linear encoder is incorrect.

servo motor is incorrect.

pole detection was not executed.

exceeded the detection level.

The linear encoder resolution setting differs from the setting value.

The direction of

(2) The mounting

mounting linear encoder is incorrect.

servo motor is incorrect.

pole detection was not executed.

exceeded the detection level.

Check the setting of [Pr. PL02] and [Pr. PL03].

Check polarities of the linear encoder and the linear servo motor.

Check the wiring. The wiring is

Execute the magnetic pole detection, and then check the repeatability.

Check the value of droop pulses.

Check the setting of [Pr. PL02] and [Pr. PL03].

Check polarities of the linear encoder and the linear servo motor.

Check the wiring. The wiring is

Execute the magnetic pole detection, and then check the repeatability.

Calculate the deviation between the speed command and actual speed.

incorrect. The setting is correct. Check (2).

direction is incorrect. The mounting

direction is correct.

incorrect.

It is not repeatable. Execute the magnetic

It is repeatable. Check (5). The deviation is large. Review the operation

incorrect. The setting is correct. Check (2).

direction is incorrect. The mounting

direction is correct.

incorrect.

It is not repeatable. Execute the magnetic

It is repeatable. Check (5). The deviation is large. Review the operation

Set it correctly. [B]

Mount it correctly.

Check (3).

Connect it correctly.

pole detection.

status. Review the [Pr. PL05] setting depending on circumstances.

Set it correctly.

Mount it correctly.

Check (3).

Connect it correctly.

pole detection.

status. Review the [Pr. PL06] setting depending on circumstances.

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1. TROUBLESHOOTING

Alarm No.: 42 Name: Servo control error

Alarm content A servo control error occurred.

Displ

42.3 (1) The setting is

Detail name Cause Check method Check result Action

ay

Servo control error by torque/thrust deviation

(3) The connection of the

The wiring is correct. Check (4). (4) The initial magnetic

(5) The torque deviation

The linear encoder resolution setting differs from the setting value.

The direction of

(2) The mounting

mounting linear encoder is incorrect.

servo motor is incorrect.

pole detection was not executed.

exceeded the detection level.

Check the setting of [Pr. PL02] and [Pr. PL03].

Check polarities of the linear encoder and the linear servo motor.

Check the wiring. The wiring is

Execute the magnetic pole detection, and then check the repeatability.

Calculate the deviation between the current command and torque.

incorrect. The setting is correct. Check (2).

direction is incorrect. The mounting

direction is correct.

incorrect.

It is not repeatable. Execute the magnetic

It is repeatable. Check (5). The deviation is large. Review the operation

Set it correctly. [B]

Mount it correctly.

Check (3).

Connect it correctly.

pole detection.

status. Review the [Pr. PL07] setting depending on circumstances.

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1. TROUBLESHOOTING

Alarm No.: 45 Name: Main circuit device overheat

Alarm content Inside of the servo amplifier overheated.

Displ

45.1 Main circuit

Detail name Cause Check method Check result Action

ay

(1) Ambient temperature device overheat error

It is less than 55 ˚C. Check (2). (2) The close mounting is

It is within

(3) It occurred. Check operation

(4) It is not repeatable. Clean it periodically.

(5) The servo amplifier is

has exceeded 55 ˚C.

out of specifications.

Turning on and off were repeated under the overload status.

A cooling fan, heat sink, or openings is clogged with foreign matter.

malfunctioning.

Check the ambient temperature.

Check the specifications of close mounting.

Check if the overload status occurred many times.

Clean the cooling fan, heat sink, or openings, and then check the repeatability.

Replace the servo amplifier, and then check the repeatability.

It is over 55 ˚C. Lower the ambient

temperature.

It is out of specifications.

specifications.

It did not occur. Check (4).

It is repeatable. Check (5).

It is not repeatable. Replace the servo

Use within the range of specifications.

Check (3).

pattern.

amplifier.

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1. TROUBLESHOOTING

Alarm No.: 46 Name: Servo motor overheat

Alarm content The servo motor overheated.

Displ

46.1 Abnormal

46.2 Abnormal

46.3 Thermistor

(2) The thermistor wire is

46.5 Abnormal

46.6 Abnormal

Detail name Cause Check method Check result Action

ay

(1) Ambient temperature of temperature of servo motor 1

It is less than 40 ˚C. Check (2). (2) Servo motor is

The effective load

(3) The thermal sensor in

temperature of servo motor 2

(2) The linear servo motor

(3) The thermal sensor in

disconnected

temperature of servo motor 3

temperature of servo motor 4

the servo motor has exceeded 40 ˚C.

overloaded.

the encoder is malfunctioning.

Ambient temperature of

(1) It is over 40 ˚C. Lower the ambient

the linear servo motor or direct drive motor has exceeded 40 ˚C.

or direct drive motor has been under overload status.

the encoder is malfunctioning.

(1) A thermistor wire is not

connected.

disconnected.

Check it with the check method for [AL. 46.1].

(1) A current was applied

to the servo amplifier in excess of its continuous output current.

Check the ambient temperature of the servo motor.

Check the effective load ratio.

Check the servo motor temperature when the alarm occurs.

Check the ambient temperature of the linear servo motor or direct drive motor.

Check the effective load ratio.

Check the servo motor temperature when the alarm occurs.

Check the thermistor wire.

Check the effective load ratio.

It is over 40 ˚C. Lower the ambient

temperature.

The effective load ratio is large.

ratio is small. The servo motor

temperature is low.

It is less than 40 ˚C. Check (2). The effective load

ratio is large.

The servo motor temperature is low.

It is not connected. Connect it correctly.

It is connected. Check (2). It is disconnected. Repair the lead wire.

It is not disconnected. Replace the servo

The effective load ratio is high.

Reduce the load or review the operation pattern.

Check (3).

Replace the servo motor.

temperature.

Reduce the load or review the operation pattern.

Replace the servo motor.

motor.

Reduce the load or review the operation pattern. Or use a larger capacity motor.

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1. TROUBLESHOOTING

Alarm No.: 47 Name: Cooling fan error

Alarm content

Displ

47.1 Cooling fan

47.2 (1) Foreign matter was

Detail name Cause Check method Check result Action

ay

stop error

(2) Cooling fan life expired. Check if the cooling

Cooling fan speed reduction error

(2) Cooling fan life expired. Check the cooling fan

The speed of the servo amplifier cooling fan decreased. Or the fan speed decreased to the alarm occurrence level or less.

(1) Foreign matter was

caught in the cooling fan.

Check if a foreign matter is caught in the cooling fan.

fan is stopping. Check if a foreign

matter is caught in the cooling fan.

speed.

Something has been caught.

Nothing has been caught.

It is stopping. Replace the servo

Something has been caught.

Nothing has been caught.

The fan speed is less than the alarm occurrence level.

Remove the foreign matter.

Check (2).

amplifier. Remove the foreign

matter.

Check (2).

Replace the servo amplifier.

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1. TROUBLESHOOTING

Alarm No.: 50 Name: Overload 1

Alarm content Load exceeded overload protection characteristic of servo amplifier.

Displ

50.1 Thermal

50.2 Thermal

50.3 Thermal

Detail name Cause Check method Check result Action

ay

(1) The servo motor power overload error 1 during operation

It is not disconnected. Check (2). (2) The connection of the

It is correct. Check (3). (3) It is not released. Release the

(4) A current was applied

The effective load

(5) It is not correct. Connect it correctly. [WB]

(6) The servo system is

It is not resonating. Check (7). (7) The servo amplifier is

(8) The encoder or liner

overload error 2 during operation

overload error 4 during operation

cable was disconnected.

servo motor is incorrect.

The electromagnetic brake has not released. (The electromagnetic brake has been activated.)

to the servo amplifier in excess of its continuous output current.

The connection destination of the encoder cable is incorrect.

unstable and resonating.

malfunctioning.

encoder is malfunctioning.

Check it with the check method for [AL. 50.1].

Check the servo motor power cable.

Check the wiring of U, V, and W.

Check if the electromagnetic brake is released during operation.

Check the effective load ratio.

Check the connection destinations of CN2A, CN2B, and CN2C.

Check if it is resonating.

Replace the servo amplifier, and then check the repeatability.

Replace the servo motor or linear encoder, and then check the repeatability.

It is disconnected. Repair or replace the

servo motor power cable.

It is incorrect. Connect it correctly.

electromagnetic brake.

It is released. Check (4).

The effective load ratio is high.

ratio is small.

It is correct. Check (6).

It is resonating. Adjust gains.

It is not repeatable. Replace the servo

It is repeatable. Check (8).

It is not repeatable. Replace the servo

Reduce the load. Or use a larger capacity motor.

Check (5).

amplifier.

motor or linear encoder.

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1. TROUBLESHOOTING

Alarm No.: 50 Name: Overload 1

Alarm content Load exceeded overload protection characteristic of servo amplifier.

Displ

50.4 Thermal

50.5 Thermal

50.6 Thermal

Detail name Cause Check method Check result Action

ay

(1) A moving part collided overload error 1 during a stop

It did not collide. Check (2). (2) The servo motor power

It is not disconnected. Check (3). (3) Hunting occurs during

The hunting is not

(4) It is not released. Release the

(5) A current was applied

The effective load

(6) It is not correct. Connect it correctly. [WB]

(7) The servo system is

It is not resonating. Check (8). (8) The servo amplifier is

(9) The encoder or liner

overload error 2 during a stop

overload error 4 during a stop

against the machine.

cable was disconnected.

servo-lock.

The electromagnetic brake has not released. (The electromagnetic brake has been activated.)

to the servo amplifier in excess of its continuous output current.

The connection destination of the encoder cable is incorrect.

unstable and resonating.

malfunctioning.

encoder is malfunctioning.

Check it with the check method for [AL. 50.4].

Check if it collided. It collided. Check operation

pattern.

Check the servo motor power cable.

Check if the hunting is occurring.

Check if the electromagnetic brake is released.

Check the effective load ratio.

Check the connection destinations of CN2A, CN2B, and CN2C.

Check if it is resonating.

Replace the servo amplifier, and then check the repeatability.

Replace the servo motor or linear encoder, and then check the repeatability.

It is disconnected. Repair or replace the

servo motor power cable.

The hunting is occurring.

occurring.

It is released. Check (5).

The effective load ratio is high.

ratio is small.

It is correct. Check (7).

It is resonating. Adjust gains.

It is not repeatable. Replace the servo

It is repeatable. Check (9).

It is not repeatable. Replace the servo

Adjust gains.

Check (4).

electromagnetic brake.

Reduce the load. Or use a larger capacity motor.

Check (6).

amplifier.

motor or linear encoder.

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1. TROUBLESHOOTING

Alarm No.: 51 Name: Overload 2

Alarm content Maximum output current flowed continuously due to machine collision or the like.

Displ

51.1 Thermal

51.2 Thermal

Detail name Cause Check method Check result Action

ay

(1) The servo motor power overload error 3 during operation

It is not disconnected. Check (2). (2) The connection of the

It is correct. Check (3). (3) The connection of the

(4) The torque is

The torque is not

(5) The servo amplifier is

(6) An encoder is

overload error 3 during a stop

It did not collide. Refer to (2). (2) The servo motor power

(3) The connection of the

(4) The connection of the

(5) The torque is

(6) The servo amplifier is

(7) An encoder is

cable was disconnected.

servo motor is incorrect.

encoder cable is incorrect.

insufficient.

malfunctioning.

(1) A moving part collided

against the machine.

cable was disconnected.

servo motor is incorrect.

encoder cable is incorrect.

saturated.

malfunctioning.

Check the servo motor power cable.

Check the wiring of U, V, and W.

Check if the encoder cable is connected correctly.

Check the peak load ratio.

Replace the servo amplifier, and then check the repeatability.

Replace the servo motor, and then check the repeatability.

Check if it collided. It collided. Check operation

Check it with the check method for [AL. 50.1].

It is disconnected. Repair or replace the

servo motor power cable.

It is incorrect. Connect it correctly.

It is correct. Check (4). The torque is

saturated.

saturated. It is not repeatable. Replace the servo

It is repeatable. Check (6).

It is not repeatable. Replace the servo

Reduce the load or review the operation pattern. Or use a larger capacity motor.

Check (5).

amplifier.

motor.

pattern.

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1. TROUBLESHOOTING

Alarm No.: 52 Name: Error excessive

Alarm content Droop pulses have exceeded the alarm occurrence level.

Displ

52.1 Excess droop

52.3 Excess droop

52.4 Error excessive

52.5 Excess droop

Detail name Cause Check method Check result Action

ay

(1) The servo motor power pulse 1

It is not disconnected. Check (2). (2) The connection of the

It is correct. Check (3). (3) The connection of the

(4) The torque limit has

(5) A moving part collided

It did not collide. Check (6). (6) The torque is

The torque is not

(7) Power supply voltage

The bus voltage is

(9) The position loop gain

It is repeatable. Check (10). (10) Servo motor shaft was

It is not rotated by

(11) An encoder is

pulse 2

during 0 torque limit

pulse 3

cable was disconnected.

servo motor is incorrect.

encoder cable is incorrect.

been enabled.

against the machine.

insufficient.

dropped.

(8) Acceleration/decelerati

on time constant is too short.

is small.

rotated by external force.

malfunctioning.

Check it with the check method for [AL. 52.1].

(1) The torque limit has

been 0.

Check it with the check method for [AL. 52.1].

Check the servo motor power cable.

Check the wiring of U, V, and W.

Check if the encoder cable is connected correctly.

Check if the limiting torque is in progress.

Check if it collided. It collided. Check operation

Check the peak load ratio.

Check the bus voltage value.

Set a longer deceleration time constant, and then check the repeatability.

Increase the position loop gain, and then check the repeatability.

Measure the actual position under the servo-lock status.

Replace the servo motor, and then check the repeatability.

Check the torque limit value.

It is disconnected. Repair or replace the

servo motor power cable.

It is incorrect. Connect it correctly.

It is correct. Check (4). The limiting torque is

in progress. The limiting torque is

not in progress.

The torque is saturated.

saturated. The bus voltage is

low.

high. It is not repeatable. Increase the

It is repeatable. Check (9).

It is not repeatable. Increase the position

It is rotated by external force.

external force. It is not repeatable. Replace the servo

The torque limit has been 0.

Increase the torque limit value.

Check (5).

pattern.

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).

acceleration/decelerat ion time constant.

loop gain ([Pr. PB08]).

Review the machine.

Check (11).

motor.

Do not input a command while the torque limit value is 0.

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1. TROUBLESHOOTING

Alarm No.: 54 Name: Oscillation detection

Alarm content An oscillation of the servo motor was detected.

Displ

54.1 Oscillation

Detail name Cause Check method Check result Action

ay

(1) The servo system is detection error

The torque ripple is

(3) The encoder or liner

unstable and oscillating.

(2) The resonance

frequency has changed due to deterioration.

encoder is malfunctioning.

Check if the servo motor is oscillating. Check the torque ripple with MR Configurator2.

Measure the resonance frequency of the equipment and compare it with the setting value of the machine resonance suppression filter.

Replace the servo motor or linear encoder, and then check the repeatability.

The torque ripple is vibrating.

not vibrating. The resonance

frequency of the equipment is different from the filter setting value.

The resonance frequency of the equipment is the same as the filter setting value.

It is not repeatable. Replace the servo

Adjust the servo gain with the auto tuning. Set the machine resonance suppression filter.

Check (2).

Change the setting value of the machine resonance suppression filter.

Check (3).

motor or linear encoder.

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1. TROUBLESHOOTING

Alarm No.: 56 Name: Forced stop error

Alarm content The servo motor does not decelerate normally during forced stop deceleration.

Displ

56.2 Over speed

56.3 Estimated

Detail name Cause Check method Check result Action

ay

The forced stop

(1) It is not repeatable. Adjust the during forced stop

(2) The torque limit has

(3) The servo system is

(4) The encoder or liner

distance over during forced stop

(2) The torque limit has

(3) The encoder or liner

deceleration time constant value is short. Type A: [Pr. PC51] Type B: [Pr. PC24]

been enabled.

unstable and oscillating.

encoder is malfunctioning.

The forced stop

(1) It is not repeatable. Adjust the

deceleration time constant value is short. Type A: [Pr. PC51] Type B: [Pr. PC24]

been enabled.

encoder is malfunctioning.

Increase the parameter setting value, and then check the repeatability.

Check if the limiting torque is in progress.

Check if the servo motor is oscillating. Check the torque ripple with MR Configurator2.

Replace the servo motor or linear encoder, and then check the repeatability.

Increase the parameter setting value, and then check the repeatability.

Check if the limiting torque is in progress.

Replace the servo motor or linear encoder, and then check the repeatability.

It is repeatable. Check (2).

The limiting torque is in progress.

The limiting torque is not in progress.

The torque ripple is vibrating.

The torque ripple is not vibrating.

It is not repeatable. Replace the servo

It is repeatable. Check (2). The limiting torque is

in progress. The limiting torque is

not in progress. It is not repeatable. Replace the servo

deceleration time constant.

Review the torque limit value.

Check (3).

Adjust the servo gain. Set the machine resonance suppression filter.

Check (4).

motor or linear encoder.

deceleration time constant.

Review the torque limit value.

Check (3).

motor or linear encoder.

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1. TROUBLESHOOTING

Alarm No.: 63 Name: STO timing error

Alarm content STO was activated during motor driving.

Displ

63.1 STO1 off (1) STO1 was turned off

63.2 STO2 off (1) STO2 was turned off

Detail name Cause Check method Check result Action

ay

under the following speed conditions.

1) Servo motor speed: 50 r/min or more

2) Linear servo motor speed: 50 mm/s or more

3) Direct drive motor speed: 5 r/min or more

under the following speed conditions.

1) Servo motor speed: 50 r/min or more

2) Linear servo motor speed: 50 mm/s or more

3) Direct drive motor speed: 5 r/min or more

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Check if STO1 is off. It is off. Turn on STO1. [A]

[B] [WB]

Check if STO2 is off. It is off. Turn on STO2.

Alarm No.: 8A Name: USB communication time-out error/serial communication time-out error

Alarm content

Displ

8A.1 (1) Communication

Detail name Cause Check method Check result Action

ay

USB communication time-out error/serial communication time-out error

(3) The servo amplifier is

Communication between the servo amplifier and a personal computer stopped for the specified time or longer.

commands have not been transmitted.

(2) A USB cable is

disconnected.

malfunctioning.

Check if a command was transmitted from the personal computer.

Replace the USB cable, and then check the repeatability.

Replace the servo amplifier, and then check the repeatability.

It was not transmitted. Transmit a command.

It was transmitted. Check (2). It is not repeatable. Replace the USB

It is repeatable. Check (3). It is not repeatable. Replace the servo

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cable.

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1. TROUBLESHOOTING

Alarm No.: 8E Name: USB communication error/serial communication error

Alarm content The USB communication error occurred between servo amplifier and a personal computer.

Displ

8E.1 (1) A USB cable is

8E.2 USB

8E.3 (1) The transmitted

8E.4 (1) The transmitted

8E.5 (1) The transmitted data

Detail name Cause Check method Check result Action

ay

USB communication receive error

(2) It is incorrect. Review the settings.

(3) The servo amplifier is

communication checksum error

USB communication character error

(3) The setting of the

USB communication command error

(3) The setting of the

USB communication data number error

(3) The setting of the

malfunctioning.

The setting of the personal computer is incorrect.

malfunctioning.

(1) The setting of the

personal computer is incorrect.

character is out of specifications.

(2) The communication

protocol is failure.

personal computer is incorrect.

command is out of specifications.

(2) The communication

protocol is failure.

personal computer is incorrect.

number is out of specifications.

The transmitted data

(2) The communication

protocol is failure.

personal computer is incorrect.

Check the USB cable, and then check the repeatability.

Check the setting of the personal computer.

Replace the servo amplifier, and then check the repeatability.

Check the setting of the personal computer.

Check the character code at the time of transmission.

Check if transmission data conforms the communication protocol.

Check the setting of the personal computer.

Check the command at the time of transmission.

Check if transmission data conforms the communication protocol.

Check the setting of the personal computer.

Check the data number at the time of transmission.

Check if transmission data conforms the communication protocol.

Check the setting of the personal computer.

It is not repeatable. Replace the USB

cable.

It is repeatable. Check (2).

It is correct. Check (3).

It is not repeatable. Replace the servo

amplifier.

It is incorrect. Review the settings.

The transmitted character is out of specifications.

The transmitted character is within specifications.

It is not conforming. Modify the

It is conforming. Check (3). It is incorrect. Review the settings.

The transmitted command is out of specifications.

The transmitted command is within specifications.

It is not conforming. Modify the

It is conforming. Check (3). It is incorrect. Review the settings.

The transmitted data number is out of specifications.

number is within specifications.

It is not conforming. Modify the

It is conforming. Check (3). It is incorrect. Review the settings.

Correct the transmission data.

Check (2).

transmission data according to the communication protocol.

Correct the transmission data.

Check (2).

transmission data according to the communication protocol.

Correct the transmission data.

Check (2).

transmission data according to the communication protocol.

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1. TROUBLESHOOTING

Alarm No.: 88888 Name: Watchdog

Alarm content A part such as CPU is malfunctioning.

Displ

88._/

8888._

1.3 Remedies for warnings

Detail name Cause Check method Check result Action

ay

Watchdog (1) A part in the servo

amplifier is failure.

Replace the servo amplifier, and then check the repeatability.

It is not repeatable. Replace the servo

amplifier.

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CAUTION

setting again. Otherwise, it may cause an unexpected operation.

POINT

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 the 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]

If [AL. E6], [AL. E7], [AL. E9], [AL. EA], or [AL. EB] occurs, the servo-off status is established. 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 a factor of warning occurrence.

If [AL. E3 Absolute position counter warning] occurs, always make home position

Alarm No.: 91 Name: Servo amplifier overheat warning

Alarm content The temperature inside of the servo amplifier reached a warning level.

Displ

91.1 Main circuit

Detail name Cause Check method Check result Action

ay

(1) Ambient temperature of device overheat warning

It is less than 55 ˚C. Check (2). (2) The close mounting is

the servo amplifier has exceeded 55 ˚C.

out of specifications.

Check the ambient temperature.

Check the specifications of close mounting.

It is over 55 ˚C. Lower the ambient

temperature.

It is out of specifications.

Use within the range of specifications.

1 - 44

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1. TROUBLESHOOTING

Alarm No.: 92 Name: Battery cable disconnection warning

Alarm content Absolute position detection system battery voltage is low.

Displ

92.1 Encoder

92.3 Battery

Alarm No.: 95 Name: STO warning

Displ

95.1 STO1 off

95.2 STO2 off

Detail name Cause Check method Check result Action

ay

(1) Battery cable is battery cable disconnection warning

It has no failure. Check (2). (2) Check the battery

(3) An encoder cable was

degradation

Alarm content The STC signal turned off while the servo motor is stopped.

Detail name Cause Check method Check result Action

ay

detection

disconnected.

The battery voltage is low. The battery is consumed.

disconnected.

(1) The battery has

deteriorated.

(1) STO1 was turned off

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

(1) STO2 was turned off

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

Check if the battery cable is malfunctioning.

voltage with a tester.

Check if the encoder cable is disconnected.

Replace the battery, and then check the repeatability.

Check if STO1 is off. It is off. Turn on STO1. [A]

Check if STO2 is off. It is off. Turn on STO2.

It has a failure. Replace or repair the

cable.

It is less than DC 3.1 V.Replace the battery.

It is DC 3.1 V or more.

It is disconnected. Replace or repair the

It is not repeatable. Replace the battery.

Check (3).

cable.

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1. TROUBLESHOOTING

Alarm No.: 96 Name: Home position setting warning

Alarm content Home position setting could not be made.

Displ

96.1 In-position

96.2 Command

96.3 Servo off

Detail name Cause Check method Check result Action

ay

(1) INP (In-position) did not warning at home positioning

input warning at home positioning

A command is not

(2) Creep speed is high. Decrease the creep

warning at home positioning

turn on within the specified time during home positioning.

(1) A command has

already inputted at the time of home positioning.

(1) A home positioning

was executed during servo-off.

Check the droop pulses during home positioning.

Check if a command is inputted at home positioning.

speed, and then check the repeatability.

Check if the status is servo-off at home positioning.

It is In-position range or more.

A command is inputted.

inputted. It is not repeatable. Reduce the creep

It is servo-off. Turn to servo-on, and

Adjust gains to set droop pulses within the In-position range. Remove the cause of droop pulse occurrence.

Set it after home positioning.

Check (2).

speed.

then execute the home positioning.

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[A]

Alarm No.: 99 Name: Stroke limit warning

Alarm content The stroke limit signal is off.

Displ

99.1 (1) It is not connected. Connect it correctly. [A]

99.2 (1) It is not connected. Connect it correctly.

Detail name Cause Check method Check result Action

ay

Forward rotation stroke end off

(2) The forward rotation

Reverse rotation stroke end off

(2) The reverse rotation

The forward rotation stroke limit switch has not connected.

stroke limit was exceeded during driving.

The reverse rotation stroke limit switch has not connected.

stroke limit was exceeded during driving.

Check if the limit switch is connected correctly.

Check if the forward rotation stroke limit switch turned off.

Check if the limit switch is connected correctly.

Check if the reverse rotation stroke limit switch turned off.

It is connected. Check (2).

It turned off. Check operation

It is connected. Check (2).

It turned off. Check operation

pattern.

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1. TROUBLESHOOTING

Alarm No.: 9F Name: Battery warning

Alarm content Absolute position detection system battery voltage is low.

Displ

9F.1 Low battery (1) The battery voltage is

9F.2 Battery

Alarm No.: E0 Name: Excessive regeneration warning

Displ

E0.1 Excessive

Detail name Cause Check method Check result Action

ay

Check the battery low. The battery is consumed.

(1) The absolute position degradation warning

Alarm content

Detail name Cause Check method Check result Action

ay

regeneration warning

storage unit has not connected.

There is a possibility that regenerative power may exceed permissible regenerative power of built-in regenerative resistor or regenerative option.

(1) The regenerative power

exceeded 85% of the permissible regenerative power of the built-in regenerative resistor or regenerative option.

voltage with a tester.

Check if the absolute position storage unit is connected correctly.

Check the effective load ratio.

Targe

It is less than DC 4.9 V.Replace the battery. [A]

[B] [WB]

It is not connected. Connect it correctly. [B]

[WB]

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It is 85% or more. Reduce the frequency

of positioning. Increase the

deceleration time constant.

Reduce the load. Use a regenerative

option if not being using.

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1 - 47

1. TROUBLESHOOTING

Alarm No.: E1 Name: Overload 1

Alarm content [AL.50 Overload 1] or [AL.51 Overload 2] may occur.

Displ

E1.1 Thermal

E1.2 Thermal

E1.3 Thermal

E1.4 Thermal

E1.5 Thermal

E1.6 Thermal

E1.7 Thermal

E1.8 Thermal

Detail name Cause Check method Check result Action

ay

overload warning 1 during operation

overload warning 2 during operation

overload warning 3 during operation

overload warning 4 during operation

overload error 1 during a stop

overload error 2 during a stop

overload error 3 during a stop

overload error 4 during a stop

(1) The load was over 85%

to the alarm level of [AL. 50.1 Thermal overload error 1 during operation].

(1) The load was over 85%

to the alarm level of [AL. 50.2 Thermal overload error 2 during operation].

(1) The load was over 85%

to the alarm level of [AL. 51.1 Thermal overload error 3 during operation].

(1) The load was over 85%

to the alarm level of [AL. 50.3 Thermal overload error 4 during operation].

(1) The load was over 85%

to the alarm level of [AL. 50.4 Thermal overload error 1 during a stop].

(1) The load was over 85%

to the alarm level of [AL. 50.5 Thermal overload error 2 during a stop].

(1) The load was over 85%

to the alarm level of [AL. 51.2 Thermal overload error 3 during operation].

(1) 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. 50.1]. [A]

Check it with the check method for [AL. 50.2].

Check it with the check method for [AL. 51.1].

Check it with the check method for [AL. 50.3].

Check it with the check method for [AL. 50.4].

Check it with the check method for [AL. 50.5].

Check it with the check method for [AL. 51.2].

Check it with the check method for [AL. 50.6].

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Alarm No.: E2 Name: Servo motor overheat warning

Alarm content [AL. 46.2 Abnormal temperature of servo motor 2] may occur.

Displ

E2.1 Servo motor

Detail name Cause Check method Check result Action

ay

temperature warning

(1) The temperature of the

linear servo motor or direct drive motor reached 85% of the occurrence level of [AL.

46.2 Abnormal temperature of servo motor 2].

Check it with the check method for [AL. 46.2]. [B]

1 - 48

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1. TROUBLESHOOTING

Alarm No.: E3 Name: Absolute position counter warning

Alarm content

Displ

E3.1 Multi-revolution

E3.2 (1) Something near the

E3.5 Absolute

Detail name Cause Check method Check result Action

ay

counter travel distance excess warning

Encoder absolute positioning counter warning

(2) An encoder is

position counter warning

The multi-revolution counter value of the absolute position encoder exceeded the maximum range. Absolute position encoder pulses are faulty.

(1) The travel distance

from the home position exceeded 32768 rotation in the absolute position system.

device caused it.

It has no failure. Check (2).

malfunctioning.

Check it with the check method for [AL. E3.2].

Check the value of the multi-revolution counter.

Check the noise, ambient temperature, etc.

Replace the servo motor, and then check the repeatability.

It is over 32768 rotation.

It has a failure. Take

It is not repeatable. Replace the servo

Review operation range. Execute the home position return again.

countermeasures against its cause.

motor.

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Alarm No.: E4 Name: Parameter warning

Alarm content Out of the setting range was attempted to write during parameter writing.

Displ

E4.1 Parameter

Alarm No.: E5 Name: ABS time-out warning

Displ

E5.1 Time-out

E5.2 ABSM off

E5.3 SON off during

Detail name Cause Check method Check result Action

ay

(1) Parameter value set setting range error warning

Alarm content

Detail name Cause Check method Check result Action

ay

during ABS data transfer

It has no failure. Check (2). (2) A ladder program of the

during ABS data transfer

ABS data transfer

from servo system controller is outside setting range.

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.

(1) The wiring of I/O

signals is incorrect.

programmable controller is incorrect.

Check it with the check method for [AL. E5.1].

Check the parameter setting value set with the servo system controller.

Check if the I/O signal wire is disconnected or connected loosely.

Check the ladder program.

It is out of setting range.

It has a failure. Repair or replace the

The ladder program is incorrect.

Set it within the range.

I/O signal wire.

Modify the program.

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1. TROUBLESHOOTING

Alarm No.: E6 Name: Servo forced stop warning

Alarm content EM2/EM1 (Forced stop) turned off.

Displ

E6.1 Forced stop

Alarm No.: E7 Name: Controller forced stop warning

Displ

E7.1 Controller

Detail name Cause Check method Check result Action

ay

(1) EM2/EM1 (Forced warning

It is on. Check (2). (2) An external 24 V DC

(3) The servo amplifier is

Alarm content The forced stop signal of the servo system controller was enabled.

Detail name Cause Check method Check result Action

ay

forced stop warning

stop) turned off.

power supply have not inputted.

malfunctioning.

(1) The forced stop signal

of the servo system controller was inputted.

Check the status of EM2/EM1.

Check if the external 24 V DC power supply is inputted.

Replace the servo amplifier, and then check the repeatability.

Check if the servo system controller is a forced stop status.

It is off. Ensure safety and

turn on EM2/EM1 (Forced stop).

It is not inputted. Input the 24 V DC

power supply.

It is inputted. Check (3). It is not repeatable. Replace the servo

amplifier.

It is the forced stop status.

Ensure safety and cancel the forced stop signal of the controller.

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Alarm No.: E8 Name: Cooling fan speed reduction warning

Alarm content The cooling fan speed decreased to the warning occurrence level or less.

Displ

E8.1 Decreased

Detail name Cause Check method Check result Action

ay

Foreign matter caught

(1) Check if a foreign cooling fan speed warning

(2) Cooling fan life expired. Check the total of

in the cooling fan and the speed was decreased.

matter is caught in the cooling fan.

power on time of the servo amplifier.

Something has been caught.

Nothing has been caught.

It exceed the cooling fan life.

Remove the foreign matter.

Check (2).

Replace the servo amplifier.

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1. TROUBLESHOOTING

Alarm No.: E9 Name: Main circuit off warning

Alarm content

Displ

E9.1

E9.2 Bus voltage

E9.3 Ready-on

Detail name Cause Check method Check result Action

ay

Servo-on signal on during main circuit off

(2) The main circuit power

It has no failure. Check (3). (3) The bus voltage is less

drop during low speed operation

signal on during main circuit off

The servo-on command was inputted with main circuit power supply off. The bus voltage dropped during the linear servo motor driving under 50 m/s.

(1) The main circuit power

supply is off.

supply connector was disconnected.

than 215 V DC.

(1) The bus voltage

dropped during the linear servo motor driving under 50 m/s.

Check it with the check method for [AL. E9.1]. [B]

Check if the main circuit power supply is inputted.

Check the main circuit power supply connector.

Check the bus voltage.

It is not inputted. Turn on the main

circuit power.

It is inputted. Check (2). It is disconnected. Connect it correctly.

It is less than 215 V DC.

It is less than 200 V DC.

Review the wiring. Check the power supply capacity.

Review the power supply capacity. Increase the acceleration time constant.

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[WB]

Alarm No.: EA Name: ABS servo-on warning

Alarm content The servo-on was not executed within 1 s after ABSM (ABS transfer mode) was turned on.

Displ

EA.1 ABS servo-on

Detail name Cause Check method Check result Action

ay

(1) The wiring of I/O warning

It has no failure. Check (2). (2) A ladder program of the

signals is incorrect.

programmable controller is incorrect.

Check if the I/O signal wire is disconnected or connected loosely.

Check the ladder program.

It has a failure. Repair or replace the

I/O signal wire.

The ladder program is incorrect.

Modify the program.

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1. TROUBLESHOOTING

Alarm No.: EB 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 other

Alarm content

Displ

EB.1 The other axis

Alarm No.: EC Name: Overload 2

Displ

EC.1 Overload

Detail name Cause Check method Check result Action

ay

error warning

It did not occur. Check (2). (2) [AL. 32] occurred at

It did not occur. Check (3). (3) "All alarms" was set for

Alarm content

Detail name Cause Check method Check result Action

ay

warning 2

axis. "All alarms" was set for alarm occurrence.

(1) [AL. 24] occurred at

other axis.

alarm occurrence.

Operation, in which a current exceeding the rating flew intensively in any of the U, V, and W phases of the servo motor, was repeated.

(1) The load is too large or

thecapacity is not enough.

Check if [AL. 24] is occurring at other axis.

Check if [AL. 32] is occurring at other axis.

Check the [Pr. PF02] setting.

Check the effective load ratio.

It is occurring. Eliminate the cause

of [AL. 24] on the other axis side.

It is occurring. Eliminate the cause

of [AL. 32] on the other axis side.

"All alarms" is selected.

The effective load ratio is high.

Remove the cause of the occurring alarm at other axis.

Reduce the load. Replace the servo motor with the one of larger capacity.

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Alarm No.: ED Name: Output watt excess warning

Alarm content

Displ

ED.1 Output watt

Detail name Cause Check method Check result Action

ay

excess warning

The status, in which the output wattage (speed × torque) of the servo motor exceeded the rated output, continued steadily.

(1) The status, in which the

output wattage (speed × torque or thrust) of the servo motor exceeded 150% of the rated output (continuous thrust), continued steadily.

Check the servo motor speed and torque, or check the motor speed and thrust.

The output wattage is 150% of rating.

Reduce the servo motor speed. Reduce the load.

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1. TROUBLESHOOTING

Alarm No.: F0 Name: Tough drive warning

Alarm content Tough drive function was activated.

Displ

F0.1 Instantaneous

F0.3 Vibration tough

Alarm No.: F2 Name: Drive recorder - Miswriting warning

Displ

F2.1 Drive recorder -

F2.2 Drive recorder -

Detail name Cause Check method Check result Action

ay

(1) The voltage of the power failure tough drive warning

drive warning

Alarm content A waveform measured by the drive recorder function was not recorded.

Detail name Cause Check method Check result Action

ay

Area writing time-out warning

Data miswriting warning

control circuit power supply has dropped.

(1) The setting value of the

machine resonance suppression filter was changed due to a machine resonance.

(1) The Flash-ROM is

malfunctioning.

(1) Data were not written to

the drive recorder area.

Check it with the check method for alarm No. "10.1".

Check if it was changed frequently.

Disconnect the cables except the control circuit power supply, and then check the repeatability.

Check if the records have all written.

It was changed frequently.

It is repeatable. Replace the servo

They have all written. Delete the records in

Set the machine resonance suppression filter. Check the machine status if screws are loose or the like.

amplifier.

the drive recorder window of MR Configurator2.

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Alarm No.: F3 Name: Oscillation detection warning

Alarm content [AL. 54 Oscillation detection] may occur.

Displ

F3.1 Oscillation

Detail name Cause Check method Check result Action

ay

Check it with the check method for [AL. 54.1]. [A] detection warning

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1. TROUBLESHOOTING

MEMO

1 - 54

APPENDIX

r

App. 1 Detection points of [AL. 25], [AL. 92], and [AL. 9F]

The following diagram shows detection points of [AL. 25 Absolute position erased], [AL. 92 Battery cable disconnection warning], and [AL. 9F Battery warning].

(1) MR-J4-_A or MR-J4-_B

Servo amplifie

Servo motor encode

(2) MR-J4W_-_B

MR-BAT6V1SET

Battery

MR-BAT6V1

MR-BT6VCASE

Battery case MR-BAT6V1

× 5

[AL.9F]

Detection point

CN4 CN2

[AL.9F]

Detection point

CN4

Step-down

circuit

Servo amplifie

Step-down

circuit

CN2A/ CN2B/ CN2C

[AL.25][AL.92] Detection point

Position/speed detection circuit

Servo motor encode

[AL.25]㸪[AL.92]

Detection point

Position/speed detection circuit

App. - 1

REVISIONS

*The manual number is given on the bottom left of the back cover.

Print Data *Manual Number Revision Mar. 2012 SH(NA)030109-A First edition

This manual confers no industrial property rights or any 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

¤

Country/Region

Sales office

Tel/Fax

USA

Germany

Italy

China

Taiwan

Korea

Singapore

Mitsubishi Electric Automation Inc. 500 Corporate Woods Parkway, Vernon Hills, IL 60061, USA

Mitsubishi Electric Europe B.V. German Branch Gothaer Strasse 8, D-40880 Ratingen, Germany

Mitsubishi Electric Europe B.V. Italian Branch Viale Colleoni 7 1-20041 Agrate Brianza (Milano), Italy

Mitsubishi Electric Automation (China) Ltd. 4F Zhi Fu Plazz, No. 80 Xin Chang Road Shanghai 200003, China

Setsuyo Enterprise Co., Ltd. 6F, No.105 Wu-Kung 3rd Rd, Wu-Ku Hsiang, Taipei Hsine, Taiwan

Mitsubishi Electric Automation Korea Co., Ltd. 3F, 1480-6, Gayang-dong, Gangseo-gu, Seoul 157-200, Korea

Mitsubishi Electric Asia Pte, Ltd. 307 Alexandra Road #05-01/02, Mitsubishi Electric Building Singapore 159943

Tel : 1-847-478-2100 Fax : 1-847-478-0327

Tel : 49-2102-486-0 Fax : 49-2102-486-1120

Tel : 39-39-60531 Fax : 39-39-6053312

Tel : 86-21-6120-0808 Fax : 86-21-6121-2444

Tel : 886-2-2299-2499 Fax : 886-2-2299-2509

Tel : 82-2-3660-9552 Fax : 82-2-3664-8372

Tel : 65-6470-2460 Fax : 65-6476-7439

Warranty

1. Warranty period and co vera ge 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 Produ c t is twe lv e (12) mon th s after your pur c hase or del iv ery of t he Pro duc t to a plac e des ign ated 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 on ly when the cond ition, method, enviro nme nt, et c. of use are in comp lian ce with the te rms an d

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;

(i) a failure caused by your improper storing or handling, carelessness or negligence, etc., and a failure caused by your hardware

or software problem

(ii) a failure caused by any alteration, etc. to the Product made on your side without our approval (iii) a failure which may be regarded as avoidable, if your equipment in which the Product is incorporated is equipped with a safety

device required by applicable laws and has any function or structure considered to be indispensable according to a common sense in the industry

(iv) a failure which may be regarded as avoidable if consumable parts designated in the instruction manual, etc. are duly

maintained and repla ced

(v) any replacement of consumable parts (battery, fan, smoothing capacitor, etc.) (vi) 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

(vii) a failure generated by an unforeseeable cause with a scientific technology that was not available at the time of the shipment of

the Product from our company

(viii) any other failures which we are not responsible for or which you acknowledge we are not responsible for

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 responsibility for compensation against loss of opportunity, secondary loss, etc.

Whether under or after the term of warranty, we assume no responsibility for any damages arisen from causes for which we are not responsible, any losses of opportunity and/or profit incurred by you due to a failure of the Product, any damages, secondary damages or compensation for accidents arisen under a specific circumstance that are foreseen or unforeseen by our company, any damages to products other than the Product, and also compensation for any replacement work, readjustment, start-up test run of local machines and the Product and any other operations conducted by you.

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 oc cur s in Gener a l-Pu rpo se AC Ser vo, an d a backu p or fail- safe fu nct ion shou ld oper ate on an ex ter nal system to General-Purpose AC Ser v o w hen any f a ilure o r 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.

SH(NA)030109-A

MODEL

MR-J4 INSTRUCTIONMANUAL (TROUBLESHOOTING)

MODEL CODE

This Instruction Manual uses recycled paper. SH (NA) 030109-A (1203) MEE Printed in Japan Specifications subject to change without notice.

1CW808

HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310

Mitsubishi MELSERVO-J4 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Safety Instructions

CONTENTS

1. TROUBLESHOOTING

1.1 Alarm and warning list When an error occurs during operation, the corresponding alarm or warning is displayed. If any alarm or

1.2 Remedies for alarms When any alarm has occurred, eliminate its cause, ensure safety, and deactivate

1.3 Remedies for warnings

APPENDIX

App. 1 Detection points of [AL. 25], [AL. 92], and [AL. 9F]

REVISIONS

Country/Region

Warranty