Mitsubishi Electric AC Servo System
MR-J5
User's Manual
(Troubleshooting)
-MR-J5-_G_
-MR-J5W_-_G
-MR-J5-_A_
About the manual
This manual covers the following servo amplifiers. These include servo amplifiers with optional units.
MR-J5-_G_/MR-J5W_-_G/MR-J5-_A_
In this manual, the servo amplifier names are abbreviated as shown below.
Symbol Servo amplifier
[G] MR-J5-_G_
[WG] MR-J5W_-_G
[A] MR-J5-_A_
U.S. CUSTOMARY UNITS
U.S. customary units are not shown in this manual. Convert the values if necessary according to the following table.
Quantity SI (metric) unit U.S. customary unit
Mass 1 [kg] 2.2046 [lb]
Length 1 [mm] 0.03937 [inch]
Torque 1 [N•m] 141.6 [oz•inch]
-4
Moment of inertia 1 [(× 10
Load (thrust load/axial load) 1 [N] 0.2248 [lbf]
Temperature N [°C] × 9/5 + 32 N [°F]
kg•m2)] 5.4675 [oz•inch2]
1
CONTENTS
About the manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1
U.S. CUSTOMARY UNITS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1
CHAPTER 1 SERVO AMPLIFIER TROUBLESHOOTING 5
1.1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.2 The list of alarm No./warning No.. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Explanation of the lists. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.3 Handling methods for alarms/warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
[AL. 010_Undervoltage]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
[AL. 011_Switch setting error] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
[AL. 012_Memory error 1 (RAM)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
[AL. 013_Clock error]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
[AL. 014_Control process error] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
[AL. 016_Encoder initial communication error 1]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
[AL. 017_Board error] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
[AL. 019_Memory error 3] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
[AL. 01A_Servo motor combination error] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
[AL. 01E_Encoder initial communication error 2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
[AL. 01F_Encoder initial communication error 3]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
[AL. 020_Encoder normal communication error 1] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
[AL. 021_Encoder normal communication error 2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
[AL. 024_Main circuit error] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
[AL. 025_Absolute position erased]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
[AL. 027_Initial magnetic pole detection error] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
[AL. 028_Linear encoder error 2]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
[AL. 02A_Linear encoder error 1] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
[AL. 02B_Encoder counter error]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
[AL. 030_Regenerative error] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
[AL. 031_Overspeed]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
[AL. 032_Overcurrent] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
[AL. 033_Overvoltage]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
[AL. 035_Command frequency error] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
[AL. 037_Parameter error]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
[AL. 03A_Inrush current suppression circuit error] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
[AL. 042_Servo control error] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
[AL. 045_Main circuit device overheat] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
[AL. 046_Servo motor overheat] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
[AL. 047_Cooling fan error] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
[AL. 050_Overload 1]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
[AL. 051_Overload 2]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
[AL. 052_Excessive error] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
[AL. 054_Oscillation detection] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
[AL. 056_Forced stop error]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
[AL. 063_STO timing error] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
[AL. 068_STO diagnosis error] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
[AL. 069_Command error] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
[AL. 086_Network communication error] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
[AL. 088_Watchdog 1]/[AL. 888_Watchdog 1]/[AL. 88888_Watchdog 1] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
2
[AL. 08E_Serial communication error]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
[AL. 090_Homing incomplete warning] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
[AL. 091_Servo amplifier overheat warning] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
[AL. 092_Battery cable disconnection warning]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
[AL. 093_ABS data transfer warning] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
[AL. 095_STO warning] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
[AL. 096_Home position setting warning] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
[AL. 098_Software position limit warning] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
[AL. 099_Stroke limit warning]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
[AL. 09B_Excessive error warning] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
[AL. 09E_Network warning] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
[AL. 09F_Battery warning] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
[AL. 0E0_Excessive regenerative error] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
[AL. 0E1_Overload warning 1]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
[AL. 0E2_Servo motor overheat warning] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
[AL. 0E3_Absolute position counter warning] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
[AL. 0E5_ABS time-out warning] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
[AL. 0E6_Servo forced stop warning] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
[AL. 0E8_Cooling fan speed reduction warning] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
[AL. 0E9_Main circuit off warning] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
[AL. 0EA_ABS servo-on warning] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
[AL. 0EB_The other axis error warning] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
[AL. 0EC_Overload warning 2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
[AL. 0ED_Output watt excess warning] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
[AL. 0F0_Tough drive warning] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
[AL. 0F2_Drive recorder warning] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
[AL. 0F3_Oscillation detection warning] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
[AL. 0F7_Machine diagnosis warning]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
[AL. 118_Encoder diagnosis]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
[AL. 119_Memory error 4] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
[AL. 11A_Servo motor constant error] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
[AL. 130_Regenerative error 2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
[AL. 139_Open phase error] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
[AL. 168_STO function error]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
[AL. 188_Watchdog 2]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
[AL. 1E9_Open phase warning]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
[AL. 1F8_Memory warning 1] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
1.4 Trouble which does not trigger an alarm/warning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
The display shows "A" (unconnected to the controller) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
The display shows "r##" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
The display shows "TST". . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
The display shows "off" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
The display is turned off . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
The servo motor does not operate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
The increase in the servo motor speed is insufficient or excessive. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
The servo motor vibrates with low frequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
An unusual noise is occurring in the servo motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
The servo motor vibrates . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
Poor speed accuracy (Unstable speed of servo motor) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
The machine vibrates unsteadily when it stops . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
Overshoot/undershoot occurs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
. . . . . . . . . . . . . . . 96
CONTENTS
3
The servo motor starts moving immediately after the power-on of the servo amplifier or servo-on . . . . . . . . . 105
The home position deviates at the homing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
The position deviates during operation after the homing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
In the absolute position detection system, a position mismatch occurs at power restoration . . . . . . . . . . . . . . 107
Communication with the servo amplifier fails using MR Configurator2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
Electromagnetic brake went out . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
Electromagnetic brake cannot be released. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
Coasting distance of the servo motor became longer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
REVISIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
WARRANTY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
TRADEMARKS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
4
1 SERVO AMPLIFIER TROUBLESHOOTING
Precautions
Precautions
• MR-J5-_G_-RJ and -MR-J5-_A_-RJ will be available in the future.
• In MR-J5, the alarm No. and warning No. are changed to be shown with three digits followed by one digit indicating the
detailed No., which were shown with two digits and one detailed No. in MR-J4 series.
1.1 Outline
When an error occurs in the servo system, the corresponding alarm and warning is displayed. When an alarm occurs, ALM
(Malfunction) turns off.
When an alarm or warning is displayed, take appropriate measures according to the following:
Page 13 Handling methods for alarms/warnings
Restrictions
• The following alarms are not recorded in the alarm history.
[AL. 010.1 Voltage drop in the control circuit power]
[AL. 037 Parameter error]
• With exception of [AL. 0F0 Tough drive warning], warnings are not recorded in the alarm history.
1
• As soon as an alarm occurs, switch to the servo-off status and shut off the main circuit power supply.
• Cool the equipment for approximately 30 minutes.
• The alarm canceling method in [AL. 042 Servo control error] can be changed with [Pr. PL04.3 [AL. 042 Servo control error]
detection controller reset condition selection].
• If an alarm which is related to the communication error with the controller occurs, resetting the communication may not
cancel the alarm.
• The alarms which have "○" in the safety reset column of the alarm list must be canceled while all the safety observation
functions have stopped. The alarms cannot be canceled unless all the safety observation functions have stopped.
• After performing the check/action, cycle the power of the servo amplifier.
• If the alarm remains active even after the check/action of each alarm of detail number, the servo amplifier may be
malfunctioning. Replace the servo amplifier, and then check the repeatability.
• If the malfunction continues even after replacing the servo amplifier, there is a possibility that there is an abnormality in the
surrounding area.
• To prevent unexpected operation, when [AL. 25 Absolute position erased] occurs, perform homing again.
• To prevent malfunctions of the servo amplifier and servo motor, when any of the following alarms occurs, do not deactivate
the alarm repeatedly to resume. Remove the cause of occurrence and allow 30 minutes or more for cooling, and then
resume the operation.
[AL. 030 Regenerative error]
[AL. 045 Main circuit device overheat]
[AL. 046 Servo motor overheat]
[AL. 050 Overload 1]
[AL. 051 Overload 2]
• To prevent malfunctions of the servo amplifier and servo motor, when any of the following warnings occurs, do not cycle the
power of the servo amplifier repeatedly to resume. If the power of the servo amplifier is switched off/on during the warnings,
allow more than 30 minutes for cooling before resuming operation.
[AL. 091 Servo amplifier overheat warning]
[AL. 0E0 Excessive regenerative warning]
[AL. 0E1 Overload warning 1]
1 SERVO AMPLIFIER TROUBLESHOOTING
1.1 Outline
5
• When [AL. 0E6 Servo forced stop warning], [AL. 0E9 Main circuit off warning], [AL. 0EA ABS servo-on warning], or [AL.
0EB The other axis error warning] occurs, the servo amplifier is changed to servo-off status. If any other warning occurs,
the operation can still be continued, but an alarm may occur.
6
1 SERVO AMPLIFIER TROUBLESHOOTING
1.1 Outline
1.2 The list of alarm No./warning No.
Explanation of the lists
Motor stop method
For the alarms and warnings in which "SD" is written in the stop method column, the servo motor stops with the dynamic
brake after forced stop deceleration. For the alarms and warnings in which "DB" or "EDB" is written in the stop method
column, the servo motor stops with the dynamic brake.
■ Stop method at occurrence of alarms/warnings
MR-J5 servo amplifier has the following stop methods:
DB: Dynamic brake stop (for a servo amplifier without the dynamic brake, the servo motor coasts)
SD: Forced stop deceleration
These stop methods are applicable when [Pr. PA04] is set to the initial value. With [Pr. PA04], the stop methods can be
changed from SD to DB.
■ Specific stop methods
For MR-J5-_G_ servo amplifiers (I/O mode), quick stop or slow stop can be selected with [Pr. PD12].
For MR-J5-_A_ servo amplifiers, quick stop or slow stop can be selected with [Pr. PD30].
Alarm deactivation
After the cause of the alarm has been removed, the alarm can be deactivated by the methods marked "○" in the alarm
deactivation column. Alarms are deactivated by alarm reset, communication reset, or power cycling. Alarms can be canceled
by software reset, instead of power cycling.
Refer to "Alarm function" in the following manual.
MR-5 User's Manual (Function)
1
Stop system
This stop system is applicable only for MR-J5W_-_G.
This indicates which axis to stop when an alarm or a warning occurs.
Each axis: Only the axis where the alarm or warning occurred will stop.
All axes: All axes will stop.
Motor stop warning
A warning with "○" indicates that a servo motor to stop when the warning occurs. When the servo motor stop warning occurs,
WNGSTOP (Motor stop warning) is turned on.
1 SERVO AMPLIFIER TROUBLESHOOTING
1.2 The list of alarm No./warning No.
7
No. Detail No. Alarm/Warning Motor stop
method
010 010.1 Alarm EDB All axes
010.2 Alarm SD All axes
011 011.1 Alarm DB All axes
011.2 Alarm DB All axes
012 012.1 Alarm DB All axes
012.2 Alarm DB All axes
012.4 Alarm DB All axes
012.5 Alarm DB All axes
012.6 Alarm DB All axes
012.7 Alarm DB All axes
012.8 Alarm DB All axes
013 013.1 Alarm DB All axes
013.2 Alarm DB All axes
013.4 Alarm DB All axes
013.5 Alarm DB All axes
014 014.1 Alarm DB All axes
014.2 Alarm DB All axes
014.3 Alarm DB All axes
014.4 Alarm DB All axes
014.5 Alarm DB All axes
014.8 Alarm DB All axes
014.9 Alarm DB All axes
016 016.1 Alarm DB Each axis
016.2 Alarm DB Each axis
016.3 Alarm DB Each axis
016.5 Alarm DB Each axis
016.6 Alarm DB Each axis
016.7 Alarm DB Each axis
016.A Alarm DB Each axis
016.B Alarm DB Each axis
016.C Alarm DB Each axis
016.D Alarm DB Each axis
016.E Alarm DB Each axis
016.F Alarm DB Each axis
017 017.1 Alarm DB All axes
017.3 Alarm DB All axes
017.4 Alarm DB All axes
017.5 Alarm DB All axes
017.6 Alarm DB All axes
017.7 Alarm DB All axes
017.9 Alarm DB All axes
019 019.1 Alarm DB All axes
019.2 Alarm DB All axes
019.3 Alarm DB All axes
019.6 Alarm DB All axes
01A 01A.1 Alarm DB Each axis
01A.2 Alarm DB Each axis
01A.5 Alarm DB Each axis
01A.6 Alarm DB Each axis
01E 01E.1 Alarm DB Each axis
Stop
system
Alarm deactivation Motor stop
Safety
reset
Alarm
reset
Communic
ation reset
Power
cycling
warning
8
1 SERVO AMPLIFIER TROUBLESHOOTING
1.2 The list of alarm No./warning No.
No. Detail No. Alarm/Warning Motor stop
method
01F 01F.1 Alarm DB Each axis
020 020.1 Alarm EDB Each axis
020.2 Alarm EDB Each axis
020.3 Alarm EDB Each axis
020.5 Alarm EDB Each axis
020.6 Alarm EDB Each axis
020.7 Alarm EDB Each axis
021 021.1 Alarm EDB Each axis
021.2 Alarm EDB Each axis
021.3 Alarm EDB Each axis
021.4 Alarm EDB Each axis
021.5 Alarm EDB Each axis
021.6 Alarm EDB Each axis
024 024.1 Alarm DB All axes
024.2 Alarm DB All axes
025 025.1 Alarm DB Each axis
027 027.1 Alarm DB Each axis
027.2 Alarm DB Each axis
027.3 Alarm DB Each axis
027.4 Alarm DB Each axis
027.5 Alarm DB Each axis
027.6 Alarm DB Each axis
027.7 Alarm DB Each axis
028 028.1 Alarm EDB Each axis
02A 02A.1 Alarm EDB Each axis
02A.2 Alarm EDB Each axis
02A.3 Alarm EDB Each axis
02A.4 Alarm EDB Each axis
02A.5 Alarm EDB Each axis
02A.6 Alarm EDB Each axis
02A.7 Alarm EDB Each axis
02A.8 Alarm EDB Each axis
02B 02B.1 Alarm EDB Each axis
02B.2 Alarm EDB Each axis
030 030.1 Alarm DB All axes
030.2 Alarm DB All axes
030.3 Alarm DB All axes
031 031.1 Alarm SD Each axis
032 032.1 Alarm DB All axes
032.2 Alarm DB All axes
032.3 Alarm DB All axes
032.4 Alarm DB All axes
033 033.1 Alarm EDB All axes
035 035.1 Alarm SD Each axis
037 037.1 Alarm DB Each axis
037.2 Alarm DB All axes
037.6 Alarm DB Each axis
037.7 Alarm DB Each axis
03A 03A.1 Alarm EDB All axes
Stop
system
Alarm deactivation Motor stop
Safety
reset
Alarm
reset
Communic
ation reset
Power
cycling
warning
1
1 SERVO AMPLIFIER TROUBLESHOOTING
1.2 The list of alarm No./warning No.
9
No. Detail No. Alarm/Warning Motor stop
method
042 042.1 Alarm EDB Each axis
042.2 Alarm EDB Each axis
042.3 Alarm EDB Each axis
045 045.1 Alarm EDB All axes
045.2 Alarm EDB All axes
046 046.1 Alarm SD Each axis
046.2 Alarm SD Each axis
046.3 Alarm SD Each axis
046.4 Alarm SD Each axis
046.5 Alarm DB Each axis
046.6 Alarm DB Each axis
047 047.1 Alarm SD All axes
047.2 Alarm SD All axes
050 050.1 Alarm SD Each axis
050.2 Alarm SD Each axis
050.3 Alarm SD Each axis
050.4 Alarm SD Each axis
050.5 Alarm SD Each axis
050.6 Alarm SD Each axis
051 051.1 Alarm DB Each axis
051.2 Alarm DB Each axis
052 052.1 Alarm SD Each axis
052.3 Alarm SD Each axis
052.4 Alarm SD Each axis
052.5 Alarm EDB Each axis
052.6 Alarm SD Each axis
054 054.1 Alarm EDB Each axis
056 056.2 Alarm EDB Each axis
056.3 Alarm EDB Each axis
063 063.1 Alarm DB All axes
063.2 Alarm DB All axes
068 068.1 Alarm DB All axes
069 069.1 Alarm SD Each axis
069.2 Alarm SD Each axis
069.3 Alarm SD Each axis
069.4 Alarm SD Each axis
069.5 Alarm SD Each axis
069.6 Alarm SD Each axis
086 086.1 Alarm SD All axes
086.2 Alarm SD All axes
086.3 Alarm SD All axes
086.5 Alarm SD All axes
086.6 Alarm SD All axes
088 088.1/088/
888/88888
088.2 Alarm DB All axes
088.4 Alarm DB All axes
088.8 Alarm DB All axes
Alarm DB All axes
Stop
system
Alarm deactivation Motor stop
Safety
reset
Alarm
reset
Communic
ation reset
Power
cycling
warning
10
1 SERVO AMPLIFIER TROUBLESHOOTING
1.2 The list of alarm No./warning No.
No. Detail No. Alarm/Warning Motor stop
method
08E 08E.1 Alarm SD All axes
08E.2 Alarm SD All axes
08E.3 Alarm SD All axes
08E.4 Alarm SD All axes
08E.5 Alarm SD All axes
090 090.1 Warning DB Each axis
090.2 Warning DB Each axis
090.5 Warning DB Each axis
091 091.1 Warning
092 092.1 Warning
092.3 Warning
093 093.1 Warning DB
095 095.1 Warning DB Each axis
095.2 Warning DB Each axis
096 096.1 Warning
096.2 Warning
096.3 Warning
096.4 Warning
098 098.1 Warning
098.2 Warning
099 099.1 Warning
099.2 Warning
099.4 Warning
099.5 Warning
09B 09B.1 Warning
09B.3 Warning
09B.4 Warning
09E 09E.2 Warning SD All axes
09E.3 Warning SD All axes
09E.4 Warning SD All axes
09E.5 Warning SD All axes
09E.6 Warning SD All axes
09E.7 Warning SD All axes
09E.8 Warning SD All axes
09F 09F.1 Warning
09F.2 Warning
0E0 0E0.1 Warning
0E1 0E1.1 Warning
0E1.2 Warning
0E1.3 Warning
0E1.4 Warning
0E1.5 Warning
0E1.6 Warning
0E1.7 Warning
0E1.8 Warning
0E2 0E2.1 Warning
0E2.2 Warning
0E3 0E3.1 Warning
0E3.2 Warning
0E3.5 Warning
Stop
system
Alarm deactivation Motor stop
Safety
reset
Alarm
reset
Communic
ation reset
Power
cycling
warning
1
1 SERVO AMPLIFIER TROUBLESHOOTING
1.2 The list of alarm No./warning No.
11
No. Detail No. Alarm/Warning Motor stop
method
0E5 0E5.1 Warning
0E5.2 Warning
0E5.3 Warning
0E6 0E6.1 Warning SD All axes
0E8 0E8.1 Warning
0E8.2 Warning
0E9 0E9.1 Warning DB All axes
0E9.2 Warning DB All axes
0E9.3 Warning DB All axes
0EA 0EA.1 Warning Each axis
0EB 0EB.1 Warning DB Each axis
0EC 0EC.1 Warning
0ED 0ED.1 Warning
0F0 0F0.1 Warning
0F0.3 Warning
0F2 0F2.1 Warning
0F2.2 Warning
0F2.3 Warning
0F2.4 Warning
0F2.5 Warning
0F2.6 Warning
0F3 0F3.1 Warning
0F7 0F7.1 Warning
0F7.2 Warning
0F7.3 Warning
0F7.4 Warning
0F7.5 Warning
0F7.6 Warning
118 118.1 Alarm DB All axes
119 119.1 Alarm DB All axes
119.2 Alarm DB All axes
119.3 Alarm DB All axes
119.4 Alarm DB All axes
119.5 Alarm DB All axes
119.6 Alarm DB All axes
119.7 Alarm DB All axes
119.8 Alarm DB All axes
11A 11A.1 Alarm DB Each axis
130 130.1 Alarm DB All axes
139 139.1 Alarm SD All axes
139.2 Alarm DB Each axis
139.3 Alarm DB Each axis
168 168.1 Alarm DB All axes
188 188.1 Alarm DB All axes
1E9 1E9.1 Warning
1F8 1F8.1 Warning
1F8.2 Warning
Stop
system
Alarm deactivation Motor stop
Safety
reset
Alarm
reset
Communic
ation reset
Power
cycling
warning
12
1 SERVO AMPLIFIER TROUBLESHOOTING
1.2 The list of alarm No./warning No.
1.3 Handling methods for alarms/warnings
Remove the cause of the alarm and warning in accordance with this section. MR Configurator2 can be used as reference for
the cause of a warning.
[AL. 010_Undervoltage]
• The voltage of the control circuit power supply has dropped.
• The voltage of the main circuit power supply has dropped.
[AL. 010.1_Voltage drop in the control circuit power]
Cause Check/action method Model
1. The control circuit power supply connection is
incorrect.
2. The voltage of the control circuit power supply
is low.
3. The power was cycled before the internal
control circuit power supply stopped.
4. An instantaneous power failure lasted for
longer than the specified time.
• When [Pr. PA20.2 SEMI-F47 function selection] is set to "0"
(Disabled), the specified time is 60 ms.
• When [Pr. PA20.2] is set to "1" (Enabled), the value set in [Pr.
PF25 SEMI-F47 function - Instantaneous power failure detection
time (instantaneous power failure tough drive - detection time)]
is the specified time.
Check the connection of the control circuit power supply.
Refer to "Connection example of power supply circuit" in the following manual.
MR-J5 User's Manual (Hardware)
Check if the voltage of the control circuit power supply is equal to or lower than
the specified value.
200 V class: 160 V AC
After shutting off the servo amplifier power supply, make sure that the sevensegment LED of the servo amplifier is turned off, and then cycle the power.
Check if the power supply has a problem.
After checking, cycle the power of the servo amplifier.
[A]
[G]
[WG]
1
[AL. 010.2_Voltage drop in the main circuit power]
Cause Check/action method Model
1. The main circuit power supply wiring is
disconnected.
2. The wiring between P3 and P4 is
disconnected.
3. The voltage of the main circuit power supply is
low.
4. When this alarm occurs, the bus voltage is low
at acceleration.
5. The fuse is disconnected.
6. The power supply capacity is insufficient.
7. Main circuit capacitor has deteriorated.
8. The servo amplifier is malfunctioning.
Check the main circuit power supply wiring.
Refer to "Connection example of power supply circuit" in the following manual.
MR-J5 User's Manual (Hardware)
Check the wiring between P3 and P4.
Refer to "Connection example of power supply circuit" in the following manual.
MR-J5 User's Manual (Hardware)
Check if the voltage of the main circuit power supply is equal to or lower than
the specified value. When the voltage is equal to or lower than the specified
value, increase the voltage of the main circuit power supply.
• 200 V class: 160 V AC
Check if the bus voltage during acceleration is lower than the specified value.
If the bus voltage is lower than the specified value, increase the acceleration
time constant or the power supply capacity.
• 200 V class: 200 V DC
Check the charge light after a certain period of time.
Check that the specified power supply capacity is satisfied.
After checking the operation time and ambient temperature, replace the servo
amplifier if the main circuit capacitor has reached its life.
Refer to "Parts having life" in the following manual.
MR-J5-A User's Manual (Introduction)
MR-J5-G/MR-J5W-G User's Manual (Introduction)
Check the value of the bus voltage. When the bus voltage is lower than the
specified value though the voltage of the main circuit power supply is within
specifications, replace the servo amplifier.
• 200 V class: 200 V DC
[A]
[G]
[WG]
1 SERVO AMPLIFIER TROUBLESHOOTING
1.3 Handling methods for alarms/warnings
13
[AL. 011_Switch setting error]
• The setting of the DIP switch is incorrect.
• The setting of the rotary switch is incorrect.
[AL. 011.1_Rotary switch setting error]
Cause Check/action method Model
1. Each selected network has its settable range,
and the values set with the rotary switches
(SW1/SW2) were set out of the range.
Check the settings of the rotary switches (SW1/SW2).
When the value set with the rotary switch and the actual value do not match,
the servo amplifier may be malfunctioning. Replace the servo amplifier.
Specifications on the setting of the rotary switches vary depending on each
network.
Refer to "Switch setting and display of the servo amplifier" in the following
manual.
MR-J5-G/MR-J5W-G User's Manual (Introduction)
[AL. 011.2_Disabling control axis setting error]
Cause Check/action method Model
1. The setting of the disabling control axis switch
is incorrect.
Check the setting of the disabling control axis switch.
Refer to "Switch setting and display of the servo amplifier" in the following
manual.
MR-J5-G/MR-J5W-G User's Manual (Introduction)
If the above case does not apply, the servo amplifier may be malfunctioning.
Replace the servo amplifier.
[G]
[WG]
[WG]
14
1 SERVO AMPLIFIER TROUBLESHOOTING
1.3 Handling methods for alarms/warnings
[AL. 012_Memory error 1 (RAM)]
• The internal parts of the servo amplifier (RAM) have malfunctioned.
[AL. 012.1_RAM error 1]
Cause Check/action method Model
1. The internal parts of the servo amplifier has
malfunctioned.
2. There is an abnormality in the surrounding
environment.
Noise from the power supply may have caused the failure. Disconnect the
cables except for the control circuit power supply, and then check the
repeatability. If the failure continues, the servo amplifier may have
malfunctioned. Replace the servo amplifier.
Check the power supply for noise. If there is noise, take countermeasures to
reduce the noise.
Refer to "Noise reduction techniques" in the following manual.
MR-J5 User's Manual (Hardware)
[A]
[G]
[WG]
[AL. 012.2_RAM error 2]
Page 15 [AL. 012.1_RAM error 1]
[AL. 012.4_RAM error 4]
Page 15 [AL. 012.1_RAM error 1]
[AL. 012.5_RAM error 5]
Page 15 [AL. 012.1_RAM error 1]
1
[AL. 012.6_RAM error 6]
Page 15 [AL. 012.1_RAM error 1]
[AL. 012.7_RAM error 7]
Page 15 [AL. 012.1_RAM error 1]
[AL. 012.8_RAM error 8]
Page 15 [AL. 012.1_RAM error 1]
1 SERVO AMPLIFIER TROUBLESHOOTING
1.3 Handling methods for alarms/warnings
15
[AL. 013_Clock error]
• The internal parts of the servo amplifier have malfunctioned.
• A clock transmitted from the controller has an error.
[AL. 013.1_CPU error 1]
Cause Check/action method Model
1. The internal parts of the servo amplifier have
malfunctioned.
2. A clock transmitted from the controller has an
error.
3. The servo amplifier of the next axis is
malfunctioning.
4. There is an abnormality in the surrounding
environment.
[AL. 013.2_CPU error 2]
Page 16 [AL. 013.1_CPU error 1]
Noise from the power supply may have caused the failure. Disconnect the
cables except for the control circuit power supply, and then check the
repeatability. If the failure continues, replace the servo amplifier.
Check if this alarm occurs when the servo amplifier is connected to the
controller. If the alarm occurs, replace the controller.
Replace the servo amplifier of the next axis, and then check the repeatability.
Check the power supply for noise. If there is noise, take countermeasures to
reduce the noise.
Check if the connector is shorted.
Refer to "Noise reduction techniques" in the following manual.
MR-J5 User's Manual (Hardware)
[A]
[G]
[WG]
[G]
[WG]
[A]
[G]
[WG]
[AL. 013.4_CPU error 4]
Page 16 [AL. 013.1_CPU error 1]
[AL. 013.5_CPU error 5]
Page 16 [AL. 013.1_CPU error 1]
16
1 SERVO AMPLIFIER TROUBLESHOOTING
1.3 Handling methods for alarms/warnings
[AL. 014_Control process error]
• The process did not complete within the specified time.
• The internal parts of the servo amplifier (communication IC) have malfunctioned. [G]
[AL. 014.1_Control process error 1]
Cause Check/action method Model
1. The servo parameter setting is incorrect.
2. There is an abnormality in the surrounding
environment.
3. The servo amplifier is malfunctioning.
Set the servo parameter to a value before the alarm occurrence, and then
check the repeatability.
Check the power supply for noise. If there is noise, take countermeasures to
reduce the noise.
Check if the connector is shorted.
Refer to "Noise reduction techniques" in the following manual.
MR-J5 User's Manual (Hardware)
Replace the servo amplifier.
[A]
[G]
[WG]
[AL. 014.2_Control process error 2]
Cause Check/action method Model
1. A synchronous signal error transmitted from
the controller occurred.
2. The servo parameter setting is incorrect.
3. There is an abnormality in the surrounding
environment.
4. The servo amplifier is malfunctioning.
Replace the controller, and then check the repeatability. [G]
Set the servo parameter to a value before the alarm occurrence, and then
check the repeatability.
Check the power supply for noise. If there is noise, take countermeasures to
reduce the noise.
Check if the connector is shorted.
Refer to "Noise reduction techniques" in the following manual.
MR-J5 User's Manual (Hardware)
Replace the servo amplifier.
[WG]
[A]
[G]
[WG]
1
[AL. 014.3_Control process error 3]
Page 17 [AL. 014.1_Control process error 1]
[AL. 014.4_Control process error 4]
Page 17 [AL. 014.1_Control process error 1]
[AL. 014.5_Control process error 5]
Page 17 [AL. 014.1_Control process error 1]
[AL. 014.8_Control process error 8]
Page 17 [AL. 014.1_Control process error 1]
[AL. 014.9_Control process error 9]
Page 17 [AL. 014.1_Control process error 1]
1 SERVO AMPLIFIER TROUBLESHOOTING
1.3 Handling methods for alarms/warnings
17
[AL. 016_Encoder initial communication error 1]
• An error has occurred in the communication between an encoder and servo amplifier.
[AL. 016.1_Encoder initial communication - Receive data error 1]
Cause Check/action method Model
1. There is an error in the encoder cable.
2. When using an A/B/Z-phase differential output
linear encoder on the servo motor side, the
servo amplifier is not compatible with the A/B/
Z-phase differential output linear encoder.
3. When using an A/B/Z-phase differential output
linear encoder on the servo motor side, the A/
B/Z-phase differential output linear encoder is
connected incorrectly.
4. The servo amplifier is malfunctioning.
5. The encoder is malfunctioning.
6. There is an abnormality in the surrounding
environment.
Check if the encoder cable is disconnected, shorted, or incorrectly wired.
If the encoder cable is malfunctioning, replace or repair the cable.
Refer to "A/B/Z-phase differential output linear encode" in the following
manual.
MR-J5 Partner's Encoder User's Manual
Check if the servo amplifier is compatible with the A/B/Z-phase differential
output linear encoder.
Refer to "Corresponding linear encoder list" in the following manual.
MR-J5 Partner's Encoder User's Manual
Check if the wiring of the A/B/Z-phase differential output linear encoder is
correct. Check that the encoder is wired to PSEL.
Refer to "A/B/Z-phase differential output linear encode" in the following
manual.
MR-J5 Partner's Encoder User's Manual
Replace the servo amplifier. [A]
Replace the servo motor.
Check the power supply for noise. If there is noise, take countermeasures to
reduce the noise.
Check if the connector is shorted.
Refer to "Noise reduction techniques" in the following manual.
MR-J5 User's Manual (Hardware)
[A]
[G]
[WG]
[A]
[G]
[G]
[WG]
[AL. 016.2_Encoder initial communication - Receive data error 2]
Page 18 [AL. 016.1_Encoder initial communication - Receive data error 1]
[AL. 016.3_Encoder initial communication - Receive data error 3]
Cause Check/action method Model
1. Axis not used is not set as disabled-axis.
2. The encoder cable is disconnected.
3. The servo parameter setting of communication
method is incorrect.
[A]: [Pr. PC22.3 Encoder cable communication method selection]
[G] [WG]: [Pr. PC04.3 Encoder cable communication method
selection]
4. There is an error in the encoder cable.
5. When using an A/B/Z-phase differential output
linear encoder on the servo motor side, the
connection with the linear encoder is incorrect.
6. The voltage of the control circuit power supply
has become unstable.
7. The servo amplifier is malfunctioning.
8. The encoder is malfunctioning.
9. There is an abnormality in the surrounding
environment.
Set the axis not used to disabled with disabling control axis switch (SW3-2/
SW3-3/SW3-4).
Check if the encoder cable is connected correctly. [A]
Check the setting value of the servo parameter.
Check if the encoder cable is disconnected or shorted. If the encoder cable is
malfunctioning, replace or repair the cable.
Check if the wiring of the A/B/Z-phase differential output linear encoder is
correct. Check that the encoder is wired to PSEL.
Refer to "A/B/Z-phase differential output linear encode" in the following
manual.
MR-J5 Partner's Encoder User's Manual
Check the voltage of the control circuit power supply.
When an instantaneous power failure is occurring in the control circuit power
supply, review the power supply environment.
Replace the servo amplifier.
Replace the servo motor.
Check the power supply for noise. If there is noise, take countermeasures to
reduce the noise.
Check if the connector is shorted.
Refer to "Noise reduction techniques" in the following manual.
MR-J5 User's Manual (Hardware)
[WG]
[G]
[WG]
[A]
[G]
[A]
[G]
[WG]
18
1 SERVO AMPLIFIER TROUBLESHOOTING
1.3 Handling methods for alarms/warnings
[AL. 016.5_Encoder initial communication - Transmission data error 1]
Page 18 [AL. 016.1_Encoder initial communication - Receive data error 1]
[AL. 016.6_Encoder initial communication - Transmission data error 2]
Page 18 [AL. 016.1_Encoder initial communication - Receive data error 1]
[AL. 016.7_Encoder initial communication - Transmission data error 3]
Page 18 [AL. 016.1_Encoder initial communication - Receive data error 1]
[AL. 016.A_Encoder initial communication - Process error 1]
Cause Check/action method Model
1. The servo amplifier is malfunctioning.
2. The encoder is malfunctioning.
3. There is an abnormality in the surrounding
environment.
Replace the servo amplifier. [A]
Replace the servo motor.
Check the power supply for noise. If there is noise, take countermeasures to
reduce the noise.
Check if the connector is shorted.
Refer to "Noise reduction techniques" in the following manual.
MR-J5 User's Manual (Hardware)
[G]
[WG]
[AL. 016.B_Encoder initial communication - Process error 2]
Page 19 [AL. 016.A_Encoder initial communication - Process error 1]
1
[AL. 016.C_Encoder initial communication - Process error 3]
Page 19 [AL. 016.A_Encoder initial communication - Process error 1]
[AL. 016.D_Encoder initial communication - Process error 4]
Page 19 [AL. 016.A_Encoder initial communication - Process error 1]
[AL. 016.E_Encoder initial communication - Process error 5]
Page 19 [AL. 016.A_Encoder initial communication - Process error 1]
[AL. 016.F_Encoder initial communication - Process error 6]
Page 19 [AL. 016.A_Encoder initial communication - Process error 1]
1 SERVO AMPLIFIER TROUBLESHOOTING
1.3 Handling methods for alarms/warnings
19
[AL. 017_Board error]
• A part in the servo amplifier is malfunctioning.
[AL. 017.1_Board error 1]
Cause Check/action method Model
1. The current detection circuit is malfunctioning.
2. There is an abnormality in the surrounding
environment.
Check that this alarm occurs in the servo-on status. If the alarm occurs, the
servo amplifier may have malfunctioned. Replace the servo amplifier.
Check the noise, ambient temperature, and others, and implement appropriate
countermeasures for the cause.
If there is noise, take countermeasures to reduce the noise.
Refer to "Noise reduction techniques" in the following manual.
MR-J5 User's Manual (Hardware)
[AL. 017.3_Board error 2]
Page 20 [AL. 017.1_Board error 1]
[AL. 017.4_Board error 3]
Cause Check/action method Model
1. The recognition signal of the servo amplifier
was not read properly.
2. There is an abnormality in the surrounding
environment.
Disconnect the cables except for the control circuit power supply, and then
check the repeatability. If the failure continues, the servo amplifier may have
malfunctioned. Replace the servo amplifier.
Check the noise, ambient temperature, and others, and implement appropriate
countermeasures for the cause.
If there is noise, take countermeasures to reduce the noise.
Refer to "Noise reduction techniques" in the following manual.
MR-J5 User's Manual (Hardware)
[A]
[G]
[WG]
[A]
[G]
[WG]
[AL. 017.5_Board error 4]
Cause Check/action method Model
1. Rotary switches (SW1/SW2) are
malfunctioning.
2. There is an abnormality in the surrounding
environment.
After checking the conditions of the rotary switches, cycle the power, and then
check the repeatability. If the failure continues, the servo amplifier may have
malfunctioned. Replace the servo amplifier.
Check the noise, ambient temperature, and others, and implement appropriate
countermeasures for the cause.
If there is noise, take countermeasures to reduce the noise.
Refer to "Noise reduction techniques" in the following manual.
MR-J5 User's Manual (Hardware)
[G]
[WG]
[AL. 017.6_Board error 5]
Cause Check/action method Model
1. The DIP switch (SW3) is malfunctioning.
2. There is an abnormality in the surrounding
environment.
After checking the conditions of the DIP switch, cycle the power, and then
check the repeatability. If the failure continues, the servo amplifier may have
malfunctioned. Replace the servo amplifier.
Check the noise, ambient temperature, and others, and implement appropriate
countermeasures for the cause. If there is noise, take countermeasures to
reduce the noise.
Refer to "Noise reduction techniques" in the following manual.
MR-J5 User's Manual (Hardware)
[G]
[WG]
[AL. 017.7_Board error 7]
Page 20 [AL. 017.4_Board error 3]
20
1 SERVO AMPLIFIER TROUBLESHOOTING
1.3 Handling methods for alarms/warnings
[AL. 017.9_Board error 8]
Cause Check/action method Model
1. There is an abnormality in the surrounding
environment.
2. The servo amplifier is malfunctioning.
Check the noise, ambient temperature, and others, and implement appropriate
countermeasures for the cause.
If there is noise, take countermeasures to reduce the noise.
Refer to "Noise reduction techniques" in the following manual.
MR-J5 User's Manual (Hardware)
Replace the servo amplifier.
[G]
1
1 SERVO AMPLIFIER TROUBLESHOOTING
1.3 Handling methods for alarms/warnings
21
[AL. 019_Memory error 3]
• The internal parts of the servo amplifier (Flash-ROM) have malfunctioned.
[AL. 019.1_Flash-ROM error 1]
Cause Check/action method Model
1. The Flash-ROM is malfunctioning.
2. There is an abnormality in the surrounding
environment.
[AL. 019.2_Flash-ROM error 2]
Page 22 [AL. 019.1_Flash-ROM error 1]
[AL. 019.3_Flash-ROM error 3]
Page 22 [AL. 019.1_Flash-ROM error 1]
[AL. 019.6_Flash-ROM error 6]
Page 22 [AL. 019.1_Flash-ROM error 1]
Noise from the power supply may have caused the failure. Disconnect the
cables except for the control circuit power supply, and then check the
repeatability. If the failure continues, replace the servo amplifier.
Check the noise, ambient temperature, and others, and implement appropriate
countermeasures for the cause.
If there is noise, take countermeasures to reduce the noise.
Refer to "Noise reduction techniques" in the following manual.
MR-J5 User's Manual (Hardware)
[A]
[G]
[WG]
22
1 SERVO AMPLIFIER TROUBLESHOOTING
1.3 Handling methods for alarms/warnings
[AL. 01A_Servo motor combination error]
• The combination of the servo amplifier and servo motor is incorrect.
• The combination of the servo amplifier and servo motor constant file is incorrect.
[AL. 01A.1_Servo motor combination error 1]
Cause Check/action method Model
1. The servo amplifier and the servo motor have
been connected incorrectly.
2. [Pr. PA17 Servo motor series setting] and [Pr.
PA18 Servo motor type setting] were not set
based on the servo motor to be used.
3. The encoder is malfunctioning.
Refer to "Specifications" in the following manual.
MR-J5-A User's Manual (Introduction)
MR-J5-G/MR-J5W-G User's Manual (Introduction)
Check if [Pr. PA17] and [Pr. PA18] are set correctly.
Replace the servo motor.
[A]
[G]
[WG]
[AL. 01A.2_Servo motor control mode combination error]
Cause Check/action method Model
1. The combination of the servo amplifier to be
used and the setting of [Pr. PA01.1 Operation
mode selection] is not appropriate.
Check the [Pr. PA01.1] setting. [A]
[G]
[WG]
[AL. 01A.5_Servo motor combination error 3]
1
Cause Check/action method Model
1. A servo motor, other than the one that was
connected at the startup of the absolute
position detection system, is connected.
2. At occurrence of [AL. 025 Absolute position
erased], the power was supplied after shutting
off without leaving the servo motor for 5 s.
3. The servo motor was replaced.
4. The servo amplifier is malfunctioning.
5. The encoder is malfunctioning.
6. Something near the device caused it.
Check if a servo motor other than the one that was connected at the startup of
the absolute position detection system is connected. If connected, re-connect
to the servo motor that was connected at the startup of the absolute position
detection system.
After changing the setting value of [Pr. PA03.1 Servo motor replacement
preparation] to "1" (enabled), cycle the power and then deactivate [AL. 01A
Servo motor combination error]. Perform homing again.
After changing the setting value of [Pr. PA03.1] to "1" (enabled), cycle the
power and then deactivate [AL. 01A]. Perform homing again.
Replace the servo amplifier.
Replace the servo motor.
Take countermeasures against its cause.
[A]
[G]
[WG]
[AL. 01A.6_Servo motor combination error 4]
Cause Check/action method Model
1. A scale measurement encoder, other than the
one that was connected at the startup of the
absolute position detection system, is
connected.
2. The servo amplifier is malfunctioning.
3. The scale measurement encoder is
malfunctioning.
4. Something near the device caused it.
Connect the scale measurement encoder that was connected at the startup of
the absolute position detection system.
Replace the servo amplifier.
Replace the scale measurement encoder.
Take countermeasures against its cause.
[A]
[G]
[WG]
1 SERVO AMPLIFIER TROUBLESHOOTING
1.3 Handling methods for alarms/warnings
23
[AL. 01E_Encoder initial communication error 2]
• The encoder is malfunctioning.
[AL. 01E.1_Encoder malfunction]
Cause Check/action method Model
1. The encoder is malfunctioning.
2. There is an abnormality in the surrounding
environment.
Replace the servo motor. [A]
Check the noise, ambient temperature, and others, and implement appropriate
countermeasures for the cause.
If there is noise, take countermeasures to reduce the noise.
Refer to "Noise reduction techniques" in the following manual.
MR-J5 User's Manual (Hardware)
[G]
[WG]
24
1 SERVO AMPLIFIER TROUBLESHOOTING
1.3 Handling methods for alarms/warnings
[AL. 01F_Encoder initial communication error 3]
• The connected encoder is not compatible with the servo amplifier.
[AL. 01F.1_Incompatible encoder]
Cause Check/action method Model
1. Incompatible servo motor or linear encoder
was connected to the servo amplifier.
2. The software version of the servo amplifier
does not support the servo motor or linear
encoder.
3. The encoder is malfunctioning.
Refer to "Specifications" in the following manual.
MR-J5-A User's Manual (Introduction)
MR-J5-G/MR-J5W-G User's Manual (Introduction)
Refer to "Corresponding linear encoder list" in the following manual.
MR-J5 Partner's Encoder User's Manual
Refer to "Corresponding linear encoder list" in the following manual.
MR-J5 Partner's Encoder User's Manual
Replace the servo motor.
[A]
[G]
[WG]
1
1 SERVO AMPLIFIER TROUBLESHOOTING
1.3 Handling methods for alarms/warnings
25
[AL. 020_Encoder normal communication error 1]
• An error has occurred in the communication between an encoder and servo amplifier.
[AL. 020.1_Encoder normal communication - Receive data error 1]
Cause Check/action method Model
1. There is an error in the encoder cable.
2. The external conductor of the encoder cable is
not connected to the ground plate of the
connector.
3. The servo parameter setting of communication
method is incorrect.
[A]: [Pr. PC22.3 Encoder cable communication method selection]
[G] [WG]: [Pr. PC04.3 Encoder cable communication method
selection]
4. The servo amplifier is malfunctioning.
5. The encoder is malfunctioning.
6. There is an abnormality in the surrounding
environment.
Check if the encoder cable is disconnected or shorted.
If there is a malfunction, repair or replace the cable.
When an A/B/Z-phase differential output linear encoder is used, check if the
linear encoder is wired correctly.
Refer to "A/B/Z-phase differential output linear encode" in the following
manual.
MR-J5 Partner's Encoder User's Manual
Check if the external conductor of the encoder cable is connected to the
ground plate of the connector.
Refer to "Ground plate connection" in the following manual.
Rotary Servo Motor User's Manual (HK series)
Refer to "Parameter detail list" in the following manual.
MR-J5-A User's Manual (Parameters)
MR-J5-G/MR-J5W-G User's Manual (Parameters)
Replace the servo amplifier.
Replace the servo motor.
Check the noise, ambient temperature, and others, and implement appropriate
countermeasures for the cause.
If there is noise, take countermeasures to reduce the noise.
Refer to "Noise reduction techniques" in the following manual.
MR-J5 User's Manual (Hardware)
[A]
[G]
[WG]
[AL. 020.2_Encoder normal communication - Receive data error 2]
Page 26 [AL. 020.1_Encoder normal communication - Receive data error 1]
[AL. 020.3_Encoder normal communication - Receive data error 3]
Page 26 [AL. 020.1_Encoder normal communication - Receive data error 1]
[AL. 020.5_Encoder normal communication - Transmission data error 1]
Cause Check/action method Model
1. When an A/B/Z-phase differential output linear
encoder is used, the wiring of the linear
encoder has an error.
2. There is an error in the encoder cable.
3. The external conductor of the encoder cable is
Check if the A/B-phase pulse signals (PA, PAR, PB, and PBR) of the encoder
cable are disconnected or shorted.
Refer to "A/B/Z-phase differential output linear encode" in the following
manual.
MR-J5 Partner's Encoder User's Manual
Page 26 [AL. 020.1_Encoder normal communication - Receive data error
1]
[A]
[G]
[WG]
not connected to the ground plate of the
connector.
4. When an A/B/Z-phase differential output linear
encoder is used, the servo parameter setting
is incorrect.
5. The servo amplifier is malfunctioning.
6. The encoder is malfunctioning.
7. There is an abnormality in the surrounding
environment.
26
1 SERVO AMPLIFIER TROUBLESHOOTING
1.3 Handling methods for alarms/warnings
[AL. 020.6_Encoder normal communication - Transmission data error 2]
Cause Check/action method Model
1. When an A/B/Z-phase differential output linear
encoder is used, the wiring of the linear
encoder has an error.
2. There is an error in the encoder cable.
3. The external conductor of the encoder cable is
not connected to the ground plate of the
connector.
Check if the Z-phase pulse signals (PZ and PZR) of the encoder cable are
disconnected or shorted.
Refer to "A/B/Z-phase differential output linear encode" in the following
manual.
MR-J5 Partner's Encoder User's Manual
Page 26 [AL. 020.1_Encoder normal communication - Receive data error 1][A]
[A]
[G]
[G]
[WG]
4. When an A/B/Z-phase differential output linear
encoder is used, the servo parameter setting
is incorrect.
5. The servo amplifier is malfunctioning.
6. The encoder is malfunctioning.
7. There is an abnormality in the surrounding
environment.
[AL. 020.7_Encoder normal communication - Transmission data error 3]
Page 26 [AL. 020.1_Encoder normal communication - Receive data error 1]
1
1 SERVO AMPLIFIER TROUBLESHOOTING
1.3 Handling methods for alarms/warnings
27
[AL. 021_Encoder normal communication error 2]
• The encoder detected an error signal.
[AL. 021.1_Encoder data error 1]
Cause Check/action method Model
1. An excessive speed or acceleration was
detected due to an oscillation or other factors.
2. The external conductor of the encoder cable is
not connected to the ground plate of the
connector.
3. The encoder is malfunctioning.
4. There is an abnormality in the surrounding
environment.
Decrease the control gain, and then check the repeatability. If the error does
not repeat, use the encoder with a lower gain.
Check if the external conductor of the encoder cable is connected to the
ground plate of the connector.
Refer to "Ground plate connection" in the following manual.
Rotary Servo Motor User's Manual (HK series)
Replace the servo motor.
Check the noise, ambient temperature, and others, and implement appropriate
countermeasures for the cause.
If there is noise, take countermeasures to reduce the noise.
Refer to "Noise reduction techniques" in the following manual.
MR-J5 User's Manual (Hardware)
[AL. 021.2_Encoder data update error]
Cause Check/action method Model
1. The encoder is malfunctioning.
2. The external conductor of the encoder cable is
not connected to the ground plate of the
connector.
3. There is an abnormality in the surrounding
environment.
Replace the servo motor. [A]
Check if the external conductor of the encoder cable is connected to the
ground plate of the connector.
Refer to "Ground plate connection" in the following manual.
Rotary Servo Motor User's Manual (HK series)
Check the noise, ambient temperature, and others, and implement appropriate
countermeasures for the cause.
If there is noise, take countermeasures to reduce the noise.
Refer to "Noise reduction techniques" in the following manual.
MR-J5 User's Manual (Hardware)
[A]
[G]
[WG]
[G]
[WG]
[AL. 021.3_Encoder data waveform error]
Page 28 [AL. 021.2_Encoder data update error]
[AL. 021.4_Encoder non-signal error]
Cause Check/action method Model
1. A signal of the encoder has not been input.
2. The external conductor of the encoder cable is
not connected to the ground plate of the
connector.
3. There is an abnormality in the surrounding
environment.
Check if the encoder cable is wired correctly. [A]
Check if the external conductor of the encoder cable is connected to the
ground plate of the connector.
Refer to "Ground plate connection" in the following manual.
Rotary Servo Motor User's Manual (HK series)
Check the noise, ambient temperature, and others, and implement appropriate
countermeasures for the cause.
If there is noise, take countermeasures to reduce the noise.
Refer to "Noise reduction techniques" in the following manual.
MR-J5 User's Manual (Hardware)
[G]
[WG]
[AL. 021.5_Encoder hardware error 1]
Page 28 [AL. 021.2_Encoder data update error]
[AL. 021.6_Encoder hardware error 2]
Page 28 [AL. 021.2_Encoder data update error]
28
1 SERVO AMPLIFIER TROUBLESHOOTING
1.3 Handling methods for alarms/warnings
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