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

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.

Note that the CAUTION level may lead to a serious consequence according to conditions. Please follow the instructions of both levels because they are important to personnel safety.

What must not be done and what must be done are indicated by the following diagrammatic symbols.

Indicates what must not be done. For example, "No Fire" is indicated by .

Indicates what must be done. For example, grounding is indicated by.

In this Instruction Manual, instructions at a lower level than the above, instructions for other functions, and so on are classified into "POINT".

After reading this Instruction Manual, keep it accessible to the operator.

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 lamp 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	Servo motor	Servo amplifier	U	Servo motor
U			U
V	V	M	V	V	M
W	W		W	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	Contacts must be opened
malfunction) or MBR (Electromagnetic brake	with the EMG stop switch.
interlock) turns off.

Servo motor

	RA
B	24 V DC

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]

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.

Alarm

No.		Name		Detail	Detail name
				display
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	Encoder	initial	communication	16.1	Encoder initial communication - Receive data error 1
	error 1			16.2	Encoder initial communication - Receive data error 2
				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	1E.1	Encoder malfunction
	error 2
1F	Encoder	initial	communication	1F.1	Incompatible encoder
	error 3

1 - 1

1. TROUBLESHOOTING

Alarm

No.			Name		Detail	Detail name
					display
20	Encoder		normal	communication	20.1	Encoder normal communication - Receive data error 1
	error 1				20.2	Encoder normal communication - Receive data error 2
					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	Encoder		normal	communication	21.1	Encoder data error 1
	error 2				21.2	Encoder data update error
					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	Initial	magnetic		pole detection	27.1	Magnetic pole detection - Abnormal termination
	error				27.2	Magnetic pole detection - Time out error
					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			3A.1	Inrush current suppression circuit error
	error
3E	Operation mode error				3E.1	Operation mode error

1 - 2

1. TROUBLESHOOTING

Alarm

	No.	Name	Detail	Detail name
			display
	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/	Watchdog	88._/	Watchdog
	88888		8888._

1 - 3

1. TROUBLESHOOTING

Warning

No.		Name		Detail	Detail name
				display
91	Servo amplifier overheat warning			91.1	Main circuit device overheat warning
92	Battery	cable	disconnection	92.1	Encoder battery cable disconnection warning
	warning			92.3	Battery degradation
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		E8.1	Decreased cooling fan speed warning
	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

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.

CAUTIONIf [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		The voltage of the control circuit power supply has dropped.
		The voltage of the main circuit power supply has dropped.
Displ	Detail name		Cause	Check method	Check result	Action	Targe
ay							t
10.1	Voltage drop in	(1)	The connection of the	Check the control	It has a failure.	Connect it correctly.	[A]
	the control		control circuit power	circuit power supply			[B]
	power		supply connector	connector.			[WB]
			(CNP2) has a failure.		It has no failure.	Check (2).
		(2)	The voltage of the	Check if the voltage	The voltage is lower	Review the voltage of
			control circuit power	of the control circuit	than 160 V AC.	the control circuit
			supply is low.	power supply is lower		power supply.
				than 160 V AC.	The voltage is higher	Check (3).
					than 160 V AC.
		(3)	An instantaneous	Check if the power	It has a problem.	Review the power.
			power failure has	has a problem.
			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 _ _".
10.2	Voltage drop in	(1)	The main circuit power	Check the main	It is disconnected.	Connect it correctly.
	the main circuit		supply connector	circuit power supply
	power		(CNP1) was	connector.
			disconnected.
					It is connected.	Check (2).
		(2)	The voltage of the main	Check if the voltage	The voltage is lower	Increase the voltage
			circuit power supply is	of the main circuit	than 160 V AC.	of the main circuit
			low.	power supply is lower		power supply.
				than 160 V AC.	The voltage is higher	Check (3).
					than 160 V AC.
		(3)	The alarm has	Check that the bus	The voltage is less	Increase the
			occurred during	voltage during	than 200 V DC.	acceleration time
			acceleration.	acceleration is 200 V		constant. Or increase
				DC or more.		the power supply
						capacity.
					The voltage is 200 V	Check (4).
					DC or more.
		(4)	The servo amplifier is	Check the bus	The voltage of the	Replace the servo
			malfunctioning.	voltage value.	main circuit power	amplifier.
					supply is 160 V AC or
					more, and the bus
					voltage is less than
					200 V DC.

1 - 6

1. TROUBLESHOOTING

Alarm No.: 11		Name: Switch setting error
Alarm content		The setting of the axis selection rotary switch or auxiliary axis number setting switch is incorrect.
		The setting of the disabling control axis switch is incorrect.
Displ	Detail name		Cause		Check method		Check result	Action	Targe
ay									t
11.1	Axis number	(1)	The setting of the Axis		Check the settings of	When both of the		Set the axis No.	[WB]
	setting error		No. is incorrect.		the auxiliary axis	auxiliary axis number		correctly.
					number setting switch	setting switches are
					(SW2) and axis	on, check the axis
					selection rotary switch	selection rotary switch
					(SW1).	if "E" is selected for
						MR-J4W2, ("E" or "F"
						is selected for MR-
						J4W2).
						Both of the auxiliary		Replace the servo
						axis number setting		amplifier.
						switches are off.
11.2	Disabling	(1)	The setting of the		Check the setting of	Check if the setting is		Set it correctly.
	control axis		disabling control axis		the disabling control	as follows.
	setting error		switch is incorrect.		axis switch.	1)	Only A-axis is
							disabled.
						2)	Only B-axis is
							disabled.
						3)	A-axis and B-axis
							are disabled.
						4)	A-axis and C-axis
							are disabled.
						The setting is other		Replace the servo
						than above.		amplifier.
Alarm No.: 12		Name: Memory error 1 (RAM)
Alarm content		A part (RAM) in the servo amplifier is failure.
Displ	Detail name		Cause		Check method		Check result	Action	Targe
ay									t
12.1	RAM error 1	(1)	A part in the servo		Disconnect the cables	It is repeatable.		Replace the servo	[A]
			amplifier is failure.		except the control			amplifier.	[B]
					circuit power supply,	It is not repeatable.		Check (2).	[WB]
					and then check the
					repeatability.
		(2)	Something near the		Check the power	It has a failure.		Take
			device caused it.		supply for noise.			countermeasures
								against its cause.

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

12.3RAM error 3

12.4RAM error 4

12.5RAM error 5

1 - 7

1. TROUBLESHOOTING

Alarm No.: 13		Name: Clock error
Alarm content		A part in the servo amplifier is failure.
		A clock error transmitted from the controller occurred.
Displ	Detail name		Cause	Check method	Check result	Action	Targe
ay							t
13.1	Clock error 1	(1)	A part in the servo	Disconnect the cables	It is repeatable.	Replace the servo	[A]
			amplifier is failure.	except the control		amplifier.	[B]
				circuit power supply,	It is not repeatable.	Check (2).	[WB]
				and then check the
				repeatability.
		(2)	A clock error	Check if the error	It occurs.	Replace the	[B]
			transmitted from the	occurs when you		controller.	[WB]
			controller occurred.	connect the amplifier	It does not occur.	Check (3).
				to the controller.
		(3)	The servo amplifier of	Check if the servo	It is malfunctioning.	Replace the servo
			the next axis is	amplifier of the next		amplifier of the next
			malfunctioning.	axis is malfunctioning.		axis.
					It is not	Check (4).
					malfunctioning.
		(4)	Something near the	Check the power	It has a failure.	Take	[A]
			device caused it.	supply for noise.		countermeasures	[B]
				Check if the		against its cause.	[WB]
				connector is shorted.
13.2	Clock error 2	Check it with the check method for [AL. 13.1].

1 - 8

1. TROUBLESHOOTING

Alarm No.: 14		Name: Control process error
Alarm content		The process did not complete within the specified time.
Displ	Detail name		Cause	Check method	Check result	Action	Targe
ay							t
14.1	Control	(1)	The parameter setting	Check if the	It is incorrect.	Set it correctly.	[A]
	process error 1		is incorrect.	parameter setting is			[B]
				incorrect.			[WB]
					It is correct.	Check (2).
		(2)	Something near the	Check the power	It has a failure.	Take
			device caused it.	supply for noise.		countermeasures
				Check if the		against its cause.
				connector is shorted.	It has no failure.	Check (3).
		(3)	The servo amplifier is	Replace the servo	It is not repeatable.	Replace the servo
			malfunctioning.	amplifier, and then		amplifier.
				check the
				repeatability.
14.2	Control	(1)	A synchronous signal	Replace the	It is repeatable.	Replace the servo	[B]
	process error 2		error transmitted from	controller, and then		amplifier.	[WB]
			the controller occurred.	check the	It is not repeatable.	Check (2).
				repeatability.
		(2)	The parameter setting	Check if the	It is incorrect.	Set it correctly.	[A]
			is incorrect.	parameter setting is			[B]
				incorrect.			[WB]
					It is correct.	Check (3).
		(3)	Something near the	Check the power	It has a failure.	Take
			device caused it.	supply for noise.		countermeasures
				Check if the		against its cause.
				connector is shorted.	It has no failure.	Check (4).
		(4)	The servo amplifier is	Replace the servo	It is not repeatable.	Replace the servo
			malfunctioning.	amplifier, and then		amplifier.
				check the
				repeatability.
14.3	Control	Check it with the check method for [AL. 14.1].
	process error 3
14.4	Control
	process error 4
14.5	Control
	process error 5
14.6	Control
	process error 6
14.7	Control
	process error 7
14.8	Control
	process error 8
14.9	Control
	process error 9
14.A	Control process
	error 10

1 - 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	Detail name		Cause	Check method	Check result	Action	Targe
ay							t
15.1	EEP-ROM error	(1)	EEP-ROM is	Disconnect the cables	It is repeatable.	Replace the servo	[A]
	at power on		malfunctioning at power	except the control		amplifier.	[B]
			on.	circuit power supply,	It is not repeatable.	Check (2).	[WB]
				and then check the
				repeatability.
		(2)	Something near the	Check the power	It has a failure.	Take
			device caused it.	supply for noise.		countermeasures
				Check if the connector		against its cause.
				is shorted.	It has no failure.	Check (3).
		(3)	The number of write	Check if parameters	It has a failure.	Replace the servo
			times exceeded	has been used very		amplifier. Change the
			100,000.	frequently.		process to use
						parameters less
						frequently after
						replacement.
15.2	EEP-ROM error	(1)	EEP-ROM is	Check if the error	It occurs.	Replace the servo
	during operation		malfunctioning during	occurs when you		amplifier.
			normal operation.	change parameters	It does not occur.	Check (2).
				during normal
				operation.
		(2)	A write error occurred	Check if the alarm	It takes an hour or	Replace the servo
			while tuning results was	occurs after an hour	more.	amplifier.
			processed.	from power on.	It takes less than an	Check (3).
					hour.
		(3)	Something near the	Check the power	It has a failure.	Take
			device caused it.	supply for noise.		countermeasures
				Check if the connector		against its cause.
				is shorted.
Alarm No.: 16		Name: Encoder initial communication error 1
Alarm content		Communication error occurred between encoder and servo amplifier.
Displ	Detail name		Cause	Check method	Check result	Action	Targe
ay							t
16.1	Encoder initial	(1)	An encoder cable is	Check if the encoder	It has a failure.	Replace or repair the	[A]
	communication		malfunctioning.	cable is disconnected		cable.	[B]
	- Receive data			or shorted.			[WB]
	error 1
					It has no failure.	Check (2).
		(2)	The servo amplifier is	Replace the servo	It is not repeatable.	Replace the servo
			malfunctioning.	amplifier, and then		amplifier.
				check the	It is repeatable.	Check (3).
				repeatability.
		(3)	An encoder is	Replace the servo	It is not repeatable.	Replace the servo
			malfunctioning.	motor or linear		motor.
				encoder, and then	It is repeatable.	Check (4).
				check the
				repeatability.
		(4)	Something near the	Check the noise,	It has a failure.	Take
			device caused it.	ambient temperature,		countermeasures
				vibration, etc.		against its cause.
16.2	Encoder initial	Check it with the check method for [AL. 16.1].
	communication
	- Receive data
	error 2

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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	Detail name		Cause	Check method	Check result	Action	Targe
ay							t
16.3	Encoder initial	(1)	An axis not used is not	Check the setting of	It is not set as	Set it as disabled-	[WB]
	communication -		set as disabled-axis.	the disabling control	disabled-axis.	axis.
	Receive data			axis switch (SW2).
	error 3				It is set as disabled-	Check (2).
					axis.
		(2)	An encoder cable was	Check if the encoder	It is not connected.	Connect it correctly.	[A]
			disconnected.	cable is connected			[B]
				correctly.	It is connected.	Check (3).	[WB]
		(3)	The parameter setting	Check the parameter	The setting is	Set it correctly.
			of two-wire type/four-	setting.	incorrect.
			wire type is incorrect.
					The setting is correct.	Check (4).
			Type A: [Pr. PC22]
			Type B: [Pr. PC04]
		(4)	An encoder cable is	Check if the encoder	It has a failure.	Replace or repair the
			malfunctioning.	cable is disconnected		cable.
				or shorted.	It has no failure.	Check (5).
		(5)	The voltage of the	Check the voltage of	The control circuit	Review the power
			control circuit power	the control circuit	power supply has	and related parts.
			supply has been	power supply.	been an
			unstable.		instantaneous power
					failure.
					It has no failure.	Check (6).
		(6)	The servo amplifier is	Replace the servo	It is not repeatable.	Replace the servo
			malfunctioning.	amplifier, and then		amplifier.
				check the	It is repeatable.	Check (7).
				repeatability.
		(7)	An encoder is	Replace the servo	It is not repeatable.	Replace the servo
			malfunctioning.	motor, and then		motor.
				check the	It is repeatable.	Check (8).
				repeatability.
		(8)	Something near the	Check the noise,	It has a failure.	Take
			device caused it.	ambient temperature,		countermeasures
				vibration, etc.		against its cause.
16.5	Encoder initial	Check it with the check method for [AL. 16.1].
	communication -
	Transmission
	data error 1
16.6	Encoder initial
	communication -
	Transmission
	data error 2
16.7	Encoder initial
	communication -
	Transmission
	data error 3

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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	Detail name		Cause	Check method	Check result	Action	Targe
ay							t
16.A	Encoder initial	(1)	The servo amplifier is	Replace the servo	It is not repeatable.	Replace the servo	[A]
	communication -		malfunctioning.	amplifier, and then		amplifier.	[B]
	Process error 1			check the			[WB]
				repeatability.	It is repeatable.	Check (2).
		(2)	An encoder is	Replace the servo	It is not repeatable.	Replace the servo
			malfunctioning.	motor, and then check		motor.
				the repeatability.	It is repeatable.	Check (3).
		(3)	Something near the	Check the noise,	It has a failure.	Take
			device caused it.	ambient temperature,		countermeasures
				vibration, etc.		against its cause.
16.B	Encoder initial	Check it with the check method for [AL. 16.A].
	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

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1. TROUBLESHOOTING

Alarm No.: 17		Name: Board error
Alarm content		A part in the servo amplifier is malfunctioning.
Displ	Detail name		Cause	Check method	Check result	Action	Targe
ay							t
17.1	Board error 1	(1)	A current detection	Check if the alarm	It occurs.	Replace the servo	[A]
			circuit is	occurs during the		amplifier.	[B]
			malfunctioning.	servo-on status.			[WB]
					It does not occur.	Check (2).
		(2)	Something near the	Check the noise,	It has a failure.	Take
			device caused it.	ambient temperature,		countermeasures
				etc.		against its cause.
17.3	Board error 2	Check it with the check method for [AL. 17.1]".
17.4	Board error 3	(1)	The servo amplifier	Disconnect the cables	It is repeatable.	Replace the servo
			recognition signal was	except the control		amplifier.
			not read properly.	circuit power supply,	It is not repeatable.	Check (2).
				and then check the
				repeatability.
		(2)	Something near the	Check the noise,	It has a failure.	Take
			device caused it.	ambient temperature,		countermeasures
				etc.		against its cause.
17.5	Board error 4	(1)	The setting value of the	Disconnect the cables	It is repeatable.	Replace the servo	[B]
			rotary switch (SW1)	except the control		amplifier.	[WB]
			was not read properly.	circuit power supply,	It is not repeatable.	Check (2).
				and then check the
				repeatability.
		(2)	Something near the	Check the noise,	It has a failure.	Take
			device caused it.	ambient temperature,		countermeasures
				etc.		against its cause.
17.6	Board error 5	(1)	The setting value of the	Disconnect the cables	It is repeatable.	Replace the servo
			DIP switches (SW2)	except the control		amplifier.
			was not read properly.	circuit power supply,	It is not repeatable.	Check (2).
				and then check the
				repeatability.
		(2)	Something near the	Check the noise,	It has a failure.	Take
			device caused it.	ambient temperature,		countermeasures
				etc.		against its cause.

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