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
CONTENTS
1. TROUBLESHOOTING 1- 1 to 1-54
1.1 Alarm and warning list........................................................................................................................ 1- 1
1.2 Remedies for alarms..........................................................................................................................1- 5
1.3 Remedies for warnings.....................................................................................................................1-44
APPENDIX App.- 1 to App.- 1
App. 1 Detection points of [AL. 25], [AL. 92], and [AL. 9F].................................................................App.- 1
1
MEMO
2
1. TROUBLESHOOTING
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
t
[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
t
[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).
Targe
t
[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.
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
t
[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.
malfunctioning.
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.
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
t
[WB]
[A]
[B]
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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.
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
t
[A]
[B]
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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.
Targe
t
[A]
[B]
[WB]
[B]
[WB]
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