Mitsubishi Electric MELSERVO-JE Instruction Manual

General-Purpose AC Servo

MELSERVO-JE Servo amplifier

INSTRUCTION MANUAL (TROUBLE SHOOTING)

D

Safety Instructions

Please read the instructions carefully before using the equipment.

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

WARNING

CAUTION

Note that the

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.

CAUTION level may lead to a serious consequence according to conditions.

Indicates that incorrect handling may cause hazardous conditions,

resulting in death or severe injury.

Indicates that incorrect handling may cause hazardous conditions,

resulting in medium or slight injury to personnel or may cause physical damage.

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

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

In this Instruction Manual, instructions at a level lower 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 and inspections, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Otherwise, an electric shock may occur. In addition, always confirm that the charge lamp is off from the front of the servo amplifier. Do not operate switches with wet hands. Doing so may cause an electric shock.

2. To prevent injury, note the following.

CAUTION

The servo amplifier heat sink, regenerative resistor, servo motor, etc. may be hot while the power is on, or for some time after power-off. Take safety measures, such as providing covers, to avoid accidentally touching the parts (cables, etc.) by hand.

3. Additional instructions

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

(1) Wiring

CAUTION

Make sure to connect the cables and connectors by using the fixing screws and the locking mechanism. Otherwise, the cables and connectors may be disconnected during operation. 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/W) of the servo amplifier and servo motor. Connect the servo amplifier power outputs (U/V/W) to the servo motor power inputs (U/V/W) directly. Do not connect a magnetic contactor, etc. between them. Otherwise, it may cause a malfunction.

Servo amplifier

U

V

W

Configure a circuit to turn off EM2 or EM1 when the power supply is turned off to prevent an unexpected restart of the servo amplifier. To prevent malfunction, avoid bundling power lines (input/output) and signal cables together or running them in parallel to each other. Separate the power lines from the signal cables.

Servo motor

U

V

W

Servo motorServo amplifier

U

M

V

W

U

V

W

M

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. Correctly wire options and peripheral equipment, etc. in the correct combination. Otherwise, an electric shock, fire, injury, etc. may occur. If the dynamic brake is activated at power-off, alarm occurrence, etc., do not rotate the servo motor by an external force. Otherwise, it may cause a fire.

(3) Corrective actions

CAUTION

Ensure safety by confirming the power off, etc. before performing corrective actions. Otherwise, it may cause an accident. If it is assumed that a power failure, machine stoppage, or product malfunction may result in a hazardous situation, use a servo motor with an electromagnetic brake or provide an external brake system for holding purpose to prevent such hazard. Configure an electromagnetic brake circuit which is interlocked with an external emergency stop switch.

Contacts must be opened when ALM (Malfunction) or MBR (Electromagnetic brake interlock) turns off.

Contacts must be opened with the emergency stop switch.

Servo motor

B

Electromagnetic brake

When an alarm occurs, eliminate its cause, ensure safety, and deactivate the alarm before restarting operation. If the molded-case circuit breaker or fuse is activated, be sure to remove the cause and secure safety before switching the power on. If necessary, replace the servo amplifier and recheck the wiring. Otherwise, it may cause smoke, fire, or an electric shock. Provide an adequate protection to prevent unexpected restart after an instantaneous power failure. To prevent an electric shock, injury, or fire from occurring after an earthquake or other natural disasters, ensure safety by checking conditions, such as the installation, mounting, wiring, and equipment before switching the power on.

RA

24 V DC

A - 3

«About the manual»

This Instruction Manual covers the following models.

MR-JE-_A MR-JE-_B MR-JE-_C

The symbols in the target column mean as follows. [A]: MR-JE-_A [B]: MR-JE-_B [C]: MR-JE-_C

A - 4

1. SERVO AMPLIFIER TROUBLESHOOTING

POINT

As soon as an alarm occurs, turn SON (Servo-on) off and interrupt the power. [AL. 37 Parameter error] and warnings (except [AL. F0 Tough drive warning]) are not recorded in the alarm history.

When an error occurs during operation, the corresponding alarm or warning is displayed. If an alarm is displayed, refer to section 1.4 and take the appropriate action. When an alarm occurs, ALM (Malfunction) turns off. If any warning occurs, refer to section 1.5 and take the appropriate action.

1.1 Explanations of the lists

(1) No./Name/Detail No./Detail name

Indicates the No./name/detail No./detail name of alarms or warnings.

(2) Stop method

For the alarms and warnings in which "SD" is written in the stop method column, the servo motor stops with the dynamic brake after forced stop deceleration. For the alarms and warnings in which "DB" or "EDB" is written in the stop method column, the servo motor stops with the dynamic brake without forced stop deceleration.

(3) Alarm deactivation

After the cause of the alarm has been removed, the alarm can be deactivated by any of the methods marked

in the alarm deactivation column. Warnings are automatically canceled after the cause of

occurrence is removed. Alarms are deactivated by alarm reset, CPU reset, or power cycling.

(a) MR-JE-_A

Alarm reset 1. Turn on RES (Reset) with an input device.

Power cycling Turn off the power, check that the 5-digit, 7-segment LED display is off, and then

Alarm deactivation Explanation

2. Push the "SET" button while the display of the servo amplifier is in the current alarm display mode.

3. Click "Occurring Alarm Reset" in the "Alarm Display" window of MR Configurator2.

turn on the power.

(b) MR-JE-_B

Alarm reset 1. Error reset command from the controller

CPU reset Reset the controller itself.

Power cycling Turn off the power, check that the 3-digit, 7-segment LED display is off, and then

Alarm deactivation Explanation

2. Click "Occurring Alarm Reset" in the "Alarm Display" window of MR Configurator2.

turn on the power.

(c) MR-JE-_C

Alarm reset 1. Turn on RES (Reset) with an input device.

Power cycling Turn off the power, check that the 3-digit, 7-segment LED display is off, and then

Alarm deactivation Explanation

2. Error reset command from the controller

3. Click "Occurring Alarm Reset" in the "Alarm Display" window of MR Configurator2.

turn on the power.

1 - 1

1. SERVO AMPLIFIER TROUBLESHOOTING

(4) Alarm code

Alarm codes are outputted from the MR-JE-_A or MR-JE-_C. To output alarm codes, set [Pr. PD34] to "_ _ _ 1" for the MR-JE-_A or set [Pr. PD39] to "_ _ _ 1" for the MR-JE-_C. Warnings ([AL. 90] to [AL. F3]) do not have alarm codes. The alarm codes in the following table are outputted when they occur. The alarm codes are not outputted in normal condition.

1 - 2

1. SERVO AMPLIFIER TROUBLESHOOTING

1.2 Alarm list

Stop

No. Name

10 Undervoltage

Alarm

12.1 RAM error 1 DB

12.2 RAM error 2 DB

12 Memory error 1 (RAM)

12.4 RAM error 4 DB

12.5 RAM error 5 DB

12.6 RAM error 6 DB

13.1 Clock error 1 DB

13 Clock error 13.2 Clock error 2 DB

13.3 Clock error 3 DB

14.1 Control process error 1 DB

14.2 Control process error 2 DB

14.3 Control process error 3 DB

14.4 Control process error 4 DB

14.5 Control process error 5 DB

14 Control process error

14.7 Control process error 7 DB

14.8 Control process error 8 DB

14.9 Control process error 9 DB

14.A Control process error 10 DB

14.C Control process error 12 DB

14.D Control process error 13 DB

15.2 EEP-ROM error during operation DB 15

15.4 Home position information read

16

17.1 Board error 1 DB

17.3 Board error 2 DB

17 Board error

17.5 Board error 4 DB

17.6 Board error 5 DB

17.7 Board error 7 DB

Memory error 2

(EEP-ROM)

16.1

16.2

16.3

16.5

16.6

Encoder initial

communication error 1

16.B

16.C

16.D

16.E

16.F

Detail

No.

10.1 Voltage drop in the power EDB

10.2 Bus voltage drop SD

12.3 RAM error 3 DB

14.6 Control process error 6 DB

15.1 EEP-ROM error at power on DB

error

Encoder initial communication Receive data error 1

Encoder initial communication Receive data error 2

Encoder initial communication Receive data error 3

Encoder initial communication Transmission data error 1

Encoder initial communication Transmission data error 2

Encoder initial communication -

16.7 Transmission data error 3

Encoder initial communication -

16.A Process error 1

Encoder initial communication Process error 2

Encoder initial communication Process error 3

Encoder initial communication Process error 4

Encoder initial communication Process error 5

Encoder initial communication Process error 6

17.4 Board error 3 DB

Detail name

method

(Note 2,

3)

DB

Alarm deactivation

Alarm

CPU

reset

Power

cycling

Alarm code

(Note 5)

ACD2

ACD1

(Bit 2)

(Bit 1)

0 1 0

0 0 0

1 1 0

0 0 0

ACD0 (Bit 0)

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1. SERVO AMPLIFIER TROUBLESHOOTING

No. Name

19.1 Flash-ROM error 1 DB

Alarm

19

1A

1A.4 Servo motor combination error 2 DB

1E

1F

20

21.2 Encoder data update error EDB

21.3 Encoder data waveform error EDB 21

21.5 Encoder hardware error 1 EDB

21.6 Encoder hardware error 2 EDB

21.9 Encoder data error 2 EDB

24 Main circuit error

25

30 Regenerative error 30.2 Regeneration signal error DB

31 Overspeed 31.1 Abnormal motor speed SD

32 Overcurrent

33 Overvoltage 33.1 Main circuit voltage error EDB

34

34.4 Hardware error signal detection SD

35

Memory error 3

(Flash-ROM)

19.5 Flash-ROM error 5 DB

Servo motor

combination error

Encoder initial

communication error 2

Encoder initial

communication error 3

20.1

20.2

20.3

Encoder normal

communication error 1

20.7

20.9

20.A

Encoder normal

communication error 2

Absolute position

erased

30.1 Regeneration heat error DB

30.3

32.1

32.4

SSCNET receive error

1

Command frequency

error

Detail

No.

19.2 Flash-ROM error 2 DB

19.4 Flash-ROM error 4 DB

1A.1 Servo motor combination error 1 DB

1E.1 Encoder malfunction DB

1F.1 Incompatible encoder DB

Encoder normal communication Receive data error 1

Encoder normal communication Receive data error 2

Encoder normal communication Receive data error 3

Encoder normal communication -

20.5 Transmission data error 1

Encoder normal communication -

20.6 Transmission data error 2

Encoder normal communication Transmission data error 3

Encoder normal communication Receive data error 4

Encoder normal communication Receive data error 5

21.1 Encoder data error 1 EDB

Ground fault detected at hardware

24.1 detection circuit

Ground fault detected at software

24.2 detection function

Servo motor encoder - Absolute

25.1 position erased

Regeneration feedback signal error

Overcurrent detected at hardware detection circuit (during operation)

Overcurrent detected at software

32.2

detection function (during operation)

Overcurrent detected at hardware

32.3 detection circuit (during a stop)

Overcurrent detected at software detection function (during a stop)

34.1 SSCNET receive data error SD

SSCNET connector connection

34.2 error

SSCNET communication data

34.3 error

35.1 Command frequency error SD

Detail name

Stop

method

(Note 2,

3)

EDB

DB

SD

Alarm deactivation

Alarm

(Note 1) (Note 1) (Note 1)

CPU

reset

(Note 4)

Power

cycling

Alarm code

(Note 5)

ACD2

ACD1

ACD0

(Bit 2)

(Bit 1)

(Bit 0)

0 0 0

1 1 0

1 0 0

0 0 1

1 0 1

1 0 0

0 0 1

1 0 1

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1. SERVO AMPLIFIER TROUBLESHOOTING

No. Name

SSCNET receive error

36

Alarm

37.1 Parameter setting range error DB

37 Parameter error 37.2 Parameter combination error DB

37.3 Point table setting error DB

39.2 Instruction argument external error DB 39 Program error

39.3 Register No. error DB

3A

3E Operation mode error

45

46 Servo motor overheat

46.5

46.6

47 Cooling fan error 47.2 Cooling fan speed reduction error SD

50.1

50.2

50 Overload 1

50.5

50.6

51 Overload 2

52.1 Excess droop pulse 1 SD

52 Error excessive

52.5 Excess droop pulse 3 EDB

54 Oscillation detection 54.1 Oscillation detection error EDB

56 Forced stop error

61 Operation error 61.1 Point table setting range error DB

69.1

69 Command error

69.4

86

86.4 Network communication error 4 SD

86.5 Network communication error 5 SD

communication error

2

Inrush current

suppression circuit

error

Main circuit device

overheat

Network

Detail

No.

Continuous communication data

36.1 error

39.1 Program error DB

Non-correspondence command

39.4 error

Inrush current suppression circuit

3A.1

error

3E.1 Operation mode error DB

3E.6 Operation mode switch error DB

45.1 Main circuit device overheat error 1 SD

Abnormal temperature of servo

46.1 motor 1

Abnormal temperature of servo motor 3

Abnormal temperature of servo motor 4

Thermal overload error 1 during operation

Thermal overload error 2 during operation

Thermal overload error 4 during

50.3 operation

Thermal overload error 1 during a

50.4 stop

Thermal overload error 2 during a stop

Thermal overload error 4 during a stop

Thermal overload error 3 during

51.1 operation

Thermal overload error 3 during a

51.2 stop

52.3 Excess droop pulse 2 SD

Error excessive during 0 torque

52.4 limit

56.2 Over speed during forced stop EDB

Estimated distance over during

56.3 forced stop

Forward rotation-side software limit detection - Command excess error

Reverse rotation-side software limit

69.2 detection - Command excess error

Forward rotation stroke end

69.3 detection - Command excess error

Reverse rotation stroke end detection - Command excess error

86.1 Network communication error 1 SD

Detail name

Stop

method

(Note 2,

3)

SD

DB

EDB

SD

DB

SD

DB

SD

EDB

SD

Alarm deactivation

Alarm

(Note 1) (Note 1) (Note 1)

CPU

reset

Power

cycling

Alarm code

(Note 5)

ACD2

ACD1

(Bit 2)

(Bit 1)

0 0 0

0 1 1

1 0 1

0 1 1

1 1 0

1 0 1

0 0 0

ACD0 (Bit 0)

1 - 5

1. SERVO AMPLIFIER TROUBLESHOOTING

A

No. Name

USB communication

Alarm

888/

88888

time-out error/serial

communication time-

8A

out error/Modbus RTU

communication time-

out error

8C.1

8C.2

8C 8C.4

8E

Network module

communication error

8C.5

8C.6

8C.7

USB communication

error/serial

communication

error/Modbus RTU

communication error

Watchdog

Note 1. After resolving the source of trouble, cool the equipment for approximately 30 minutes.

2. The following shows three stop methods of DB, EDB, and SD.

DB: Dynamic brake stop (For a servo amplifier without the dynamic brake, the servo motor coasts.)

EDB: Electronic dynamic brake stop (available with specified servo motors)

Refer to the following table for the specified servo motors. The stop method for other than the specified

servo motors is DB.

For MR-JE_A, setting [Pr. PF09] to "(_ _ _ 3)" enables the electronic dynamic brake.

SD: Forced stop deceleration

3. This is applicable when [Pr. PA04] is set to the initial value. The stop method of SD can be changed to DB using

[Pr. PA04].

4. In some controller communication status, the alarm factor may not be removed.

5.

larm codes are outputted from the MR-JE-_A or MR-JE-_C. Refer to section 1.1 for details.

Series Servo motor

HG-KN HG-KN053/HG-KN13/HG-KN23/HG-KN43

HG-SN HG-SN52

Detail

No.

USB communication time-out

8A.1

error/serial communication timeout error

Modbus RTU communication time-

8A.2

out error

Network module communication error 1

Network module communication error 2

Network module communication

8C.3

error 3

Network module communication error 4

Network module communication error 5

Network module communication error 6

Network module communication error 7

USB communication receive

8E.1

error/serial communication receive error

USB communication checksum

8E.2

error/serial communication checksum error

USB communication character

8E.3

error/serial communication character error

USB communication command

8E.4

error/serial communication command error

USB communication data number

8E.5

error/serial communication data number error

Modbus RTU communication

8E.6

receive error

Modbus RTU communication

8E.7

message frame error

Modbus RTU communication CRC

8E.8

error

88._/ Watchdog DB

8888._

Detail name

Stop

method

(Note 2,

3)

SD

Alarm deactivation

Alarm

CPU

reset

Power

cycling

Alarm code

(Note 5)

ACD2

ACD1

ACD0

(Bit 2)

(Bit 1)

(Bit 0)

0 0 0

1 - 6

1. SERVO AMPLIFIER TROUBLESHOOTING

1.3 Warning list

No. Name

90.1 Home position return incomplete

Home position return

90

Warning

92.3 Battery degradation

96.2

96.3

97

98.2

99.2 Reverse rotation stroke end off (Note 4)

9B.3 Excess droop pulse 2 warning

9B.4

9F Battery warning 9F.1 Low battery

E1.2

E1.3

E1.4

E1.5

E1.6

E1.7

E1.8

E3.2 Absolute position counter warning

E3.4

E3.5

E4 Parameter warning E4.1

E6

E7

E8

incomplete warning

90.5 Z-phase unpassed

91

92

96

98 Software limit warning

99 Stroke limit warning

9B

E0

E1 Overload warning 1

E3

Servo amplifier

overheat warning

(Note 1)

Battery cable

disconnection warning

Home position setting

warning

Positioning

specification warning

Error excessive

warning

Excessive regeneration

warning

Absolute position

counter warning

Servo forced stop

warning

Controller forced stop

warning

Cooling fan speed reduction warning

Detail

No.

Home position return abnormal

90.2 termination

Main circuit device overheat

91.1 warning

Encoder battery cable

92.1 disconnection warning

In-position warning at home

96.1 positioning

Command input warning at home positioning

Servo off warning at home positioning

Program operation disabled

97.1 warning

Forward rotation-side software

98.1 stroke limit reached

Reverse rotation-side software stroke limit reached

99.1 Forward rotation stroke end off (Note 4)

9B.1 Excess droop pulse 1 warning

Error excessive warning during 0 torque limit

E0.1 Excessive regeneration warning

Thermal overload warning 1 during

E1.1

operation

Thermal overload warning 2 during operation

Thermal overload warning 3 during operation

Thermal overload warning 4 during operation

Thermal overload warning 1 during a stop

Thermal overload warning 2 during a stop

Thermal overload warning 3 during a stop

Thermal overload warning 4 during a stop

Multi-revolution counter travel

E3.1

distance excess warning

Absolute positioning counter EEPROM writing frequency warning

Encoder absolute positioning counter warning

Parameter setting range error warning

E6.1 Forced stop warning SD

E7.1 Controller forced stop input warning SD

Decreased cooling fan speed

E8.1

warning

Detail name

Stop

method

(Note 2,

3)

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1. SERVO AMPLIFIER TROUBLESHOOTING

No. Name

Warning

E9 Main circuit off warning

E9.3

EC Overload warning 2 EC.1 Overload warning 2

ED

F0 Tough drive warning

F2.2

F3

F4.4

F4.7

F4.8

F5.2 Cam data - Area miswriting warning

F5.3 Cam data checksum error

F6.1

F6.3 Cam unregistered error

F6.4 Cam control data setting range error

F6.5 Cam No. external error

F6.6 Cam control inactive

Output watt excess

warning

F2

F4 Positioning warning

F5

F6

Drive recorder -

Miswriting warning

Oscillation detection

warning

Simple cam function -

Cam data miswriting

warning

Simple cam function -

Cam control warning

Note 1. After resolving the source of trouble, cool the equipment for approximately 30 minutes.

2. The following shows two stop methods of DB and SD.

DB: Dynamic brake stop (For a servo amplifier without the dynamic brake, the servo motor coasts.)

SD: Forced stop deceleration

3. This is applicable when [Pr. PA04] is set to the initial value. The stop method of SD can be changed to DB

using [Pr. PA04].

4. Quick stop or slow stop can be selected using [Pr. PD30] for the MR-JE-_A or using [Pr. PD35] for the MR-

JE-_C (except in the profile mode).

Detail

No.

Servo-on signal on during main

E9.1

circuit off

Bus voltage drop during low speed

E9.2

operation

Ready-on signal on during main circuit off

ED.1 Output watt excess warning

Instantaneous power failure tough

F0.1

drive warning

F0.3 Vibration tough drive warning

Drive recorder - Area writing time-

F2.1

out warning

Drive recorder - Data miswriting warning

F3.1 Oscillation detection warning

Target position setting range error warning

Acceleration time constant setting

F4.6

range error warning

Deceleration time constant setting range error warning

Control command input error warning

Cam data - Area writing time-out

F5.1

warning

Cam axis one cycle current value restoration failed

Cam axis feed current value

F6.2

restoration failed

Detail name

Stop

method

(Note 2,

3)

DB

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1. SERVO AMPLIFIER TROUBLESHOOTING

1.4 Remedies for alarms

When an alarm occurs, eliminate its cause, ensure safety, and deactivate the alarm to restart operation. Otherwise, it may cause injury.

CAUTION

If [AL. 25 Absolute position erased] occurs, perform the 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 power.

POINT

When any of the following alarms occurs, do not deactivate the alarm repeatedly to restart operation. Doing so will cause a malfunction of the servo amplifier and servo motor. Remove its cause and allow 30 minutes or more for cooling, and then resume the operation.

[AL. 30 Regenerative error] [AL. 45 Main circuit device overheat] [AL. 46 Servo motor overheat] [AL. 50 Overload 1] [AL. 51 Overload 2]

[AL. 37 Parameter error] is not recorded in the alarm history.

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

1 - 9

1. SERVO AMPLIFIER TROUBLESHOOTING

Alarm No.: 10 Name: Undervoltage

The power supply voltage dropped.

Alarm content

Detail

No.

10.1 Voltage drop in

10.2 Bus voltage

It has no failure. Check (2).

Detail name Cause Check method Check result Action Target

the power

It has no failure. Check (2).

(2) The power supply

The voltage is

(3) An instantaneous power

It has no problem. Check (4).

(4) For the 1-phase power

drop

(2) The power supply

The voltage is

(3) The alarm has occurred

The voltage is 200 V

(4) The servo amplifier is

The bus voltage dropped. The power supply wiring is incorrect.

(1) The connection of the

power connector has a failure.

voltage is low.

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

supply, the power supply wiring is incorrect.

(1) The connection of the

power connector has a failure.

voltage is low.

during acceleration.

malfunctioning.

Check the power connector.

Check if the power supply voltage is 160 V AC or less.

Check if the power supply has a problem.

Check the power supply wiring.

MR-JE-100_ or less: L1 and L3

MR-JE-200_: L1 and L2

Check the power connector.

Check if the power supply voltage is 160 V AC or less.

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

Check the bus voltage value.

It has a failure. Connect it correctly. [A]

The voltage is 160 V AC or less.

higher than 160 V AC.

It has a problem. Review the power

The power supply wiring is incorrect.

It has a failure. Connect it correctly.

The voltage is 160 V AC or less.

higher than 160 V AC.

The voltage is less than 200 V DC.

DC or more.

The power supply voltage is 160 V AC or more, but the bus voltage is less than 200 V DC.

Review the power supply voltage.

Check (3).

supply.

Connect it correctly.

Increase the power supply voltage.

Check (3).

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

Check (4).

Replace the servo amplifier.

[B] [C]

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1. SERVO AMPLIFIER TROUBLESHOOTING

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

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

Detail

No.

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

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

12.3 RAM error 3

12.4 RAM error 4

12.5 RAM error 5

12.6 RAM error 6

Alarm No.: 13 Name: Clock error

Detail

No.

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

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

13.3 Clock error 3

Detail name Cause Check method Check result Action Target

Disconnect the cables

amplifier has a failure.

It is not repeatable. Check (2).

(2) Something near the

device caused it.

Alarm content

Detail name Cause Check method Check result Action Target

It is not repeatable. Check (2).

(2) A clock transmitted

It does not occur. Check (3).

(3) The servo amplifier of

It is not

(4) Something near the

A part in the servo amplifier has a failure. A clock transmitted from the controller has a failure.

amplifier has a failure.

from the controller has a failure.

the next axis is malfunctioning.

device caused it.

except for the power supply, and then check the repeatability.

Check the power supply for noise.

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

Check if the alarm occurs when you connect the amplifier to the controller.

Check if the servo amplifier of the next axis is malfunctioning.

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

It is repeatable. Replace the servo

amplifier.

It has a failure. Take

countermeasures against its cause.

It is repeatable. Replace the servo

amplifier.

It occurs. Replace the

controller.

It is malfunctioning. Replace the servo

amplifier of the next axis.

Check (4).

malfunctioning.

It has a failure. Take

countermeasures against its cause.

[A] [B] [C]

[B]

[A] [B] [C]

1 - 11

1. SERVO AMPLIFIER TROUBLESHOOTING

Alarm No.: 14 Name: Control process error

Alarm content

Detail

No.

14.1 Control

14.2 Control

14.3 Control process

14.4 Control process

14.5 Control process

14.6 Control process

14.7 Control process

14.8 Control process

14.9 Control process

14.A Control process

14.C Control process

14.D Control process

Detail name Cause Check method Check result Action Target

process error 1

It is correct. Check (2).

(2) Something near the

It has no failure. Check (3).

(3) The servo amplifier is

process error 2

It is correct. Check (2).

(2) Something near the

It has no failure. Check (3).

(3) The servo amplifier is

error 3

error 4

error 5

error 6

error 7

error 8

error 9

error 10

error 12

It has no failure. Check (2).

(2) The servo amplifier is

error 13

The process did not complete within the specified time. [C]: A part (communication IC) in the servo amplifier is failure.

(1) The parameter setting is

incorrect.

device caused it.

malfunctioning.

(1) The parameter setting is

incorrect.

device caused it.

malfunctioning.

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

(1) Something near the

device caused it.

malfunctioning.

Check it with the check method for [AL. 14.C].

Check if the parameter setting is incorrect.

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

Replace the servo amplifier, and then check the repeatability.

Check if the parameter setting is incorrect.

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

Replace the servo amplifier, and then check the repeatability.

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

Replace the servo amplifier, and then check the repeatability.

It is incorrect. Set it correctly. [A]

It has a failure. Take

countermeasures against its cause.

It is not repeatable. Replace the servo

amplifier.

It is incorrect. Set it correctly.

It has a failure. Take

countermeasures against its cause.

It is not repeatable. Replace the servo

amplifier.

It has a failure. Take

countermeasures against its cause.

It is not repeatable. Replace the servo

amplifier.

[B] [C]

[C]

1 - 12

1. SERVO AMPLIFIER TROUBLESHOOTING

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

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

Detail

No.

15.1 EEP-ROM error

15.2 EEP-ROM error

15.4 Home position

Detail name Cause Check method Check result Action Target

(1) EEP-ROM is

at power on

It is not repeatable. Check (2).

(2) Something near the

It has no failure. Check (3).

(3) The number of write

during operation

It does not occur. Check (2).

(2) A write error occurred

It takes less than an

(3) Something near the

information read error

It is not repeatable. Check (2).

(2) Multiple rotation data

It has no failure. Check (3).

(3) Something near the

It has no failure. Check (4).

(4) The number of write

malfunctioning at poweron.

device caused it.

times exceeded 100,000.

(1) EEP-ROM is

malfunctioning during normal operation.

while tuning results were processed.

device caused it.

(1) EEP-ROM is

malfunctioning at poweron.

saved as a home position and read from EEP-ROM were failure.

device caused it.

times exceeded 100,000.

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

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

Check if parameters, point tables, or programs are changed very frequently.

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

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

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

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

Check if the home position was set correctly.

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

Check if parameters have been used very frequently.

It is repeatable. Replace the servo

amplifier.

It has a failure. Take

countermeasures against its cause.

It has been changed. Replace the servo

amplifier. Change the process so as to reduce the number of times of changing parameters, point tables, and programs after replacement.

It occurs. Replace the servo

amplifier.

It takes an hour or more.

hour.

It has a failure. Take

It is repeatable. Replace the servo

It has a failure. Make home position

It has a failure. Take

It has been changed. Replace the servo

Replace the servo amplifier.

Check (3).

countermeasures against its cause.

amplifier.

setting again.

countermeasures against its cause.

amplifier. Change the process to use parameters less frequently after replacement.

[A] [B]

[C]

[A] [B] [C]

[C]

1 - 13

1. SERVO AMPLIFIER TROUBLESHOOTING

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

Alarm content An error occurred in the communication between an encoder and servo amplifier.

Detail

No.

16.1 Encoder initial

16.2 Encoder initial

16.3 Encoder initial

16.5 Encoder initial

16.6 Encoder initial

16.7 Encoder initial

Detail name Cause Check method Check result Action Target

(1) An encoder cable is

communication

- Receive data

It has no failure. Check (2).

error 1

(2) The servo amplifier is

It is repeatable. Check (3).

(3) An encoder is

It is repeatable. Check (4).

(4) Something near the

communication Receive data error 2

communication -

It is connected. Check (2).

Receive data error 3

(2) The parameter setting of

The setting is

(3) An encoder cable is

It has no failure. Check (4).

(4) The power supply

It has no failure. Check (5).

(5) The servo amplifier is

It is repeatable. Check (6).

(6) An encoder is

It is repeatable. Check (7).

(7) Something near the

communication Transmission data error 1

communication Transmission data error 2

communication Transmission data error 3

malfunctioning.

device caused it.

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

(1) An encoder cable is

disconnected.

two-wire type/four-wire type is incorrect.

[A], [C]: [Pr. PC22] [B]: [Pr. PC04]

malfunctioning.

voltage has been unstable.

malfunctioning.

device caused it.

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

Check if the encoder cable is disconnected or shorted.

Replace the servo amplifier, and then check the repeatability.

Replace the servo motor, and then check the repeatability.

Check the noise, ambient temperature, vibration, etc.

Check if the encoder cable is connected correctly.

Check the parameter setting.

Check if the encoder cable is disconnected or shorted.

Check the power supply voltage.

Replace the servo amplifier, and then check the repeatability.

Replace the servo motor, and then check the repeatability.

Check the noise, ambient temperature, vibration, etc.

It has a failure. Replace or repair the

cable.

It is not repeatable. Replace the servo

amplifier.

It is not repeatable. Replace the servo

motor.

It has a failure. Take

countermeasures against its cause.

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

The setting is incorrect.

correct.

It has a failure. Replace or repair the

An instantaneous power failure has occurred.

It is not repeatable. Replace the servo

It has a failure. Take

Set it correctly.

Check (3).

cable.

Review the power and related parts.

amplifier.

motor.

countermeasures against its cause.

[A] [B] [C]

[B] [C]

1 - 14

1. SERVO AMPLIFIER TROUBLESHOOTING

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

Alarm content An error occurred in the communication between an encoder and servo amplifier.

Detail

No.

16.A Encoder initial

16.B Encoder initial

16.C Encoder initial

16.D Encoder initial

16.E Encoder initial

16.F Encoder initial

Alarm No.: 17 Name: Board error

Detail

No.

17.1 Board error 1 (1) A current detection

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

17.4 Board error 3 (1) The servo amplifier

17.5 Board error 4 (1) The setting value of the

17.6 Board error 5 (1) Something near the

17.7 Board error 7 Check it with the check method for [AL. 17.4].

Detail name Cause Check method Check result Action Target

(1) The servo amplifier is communication Process error 1

It is repeatable. Check (2).

(2) An encoder is

It is repeatable. Check (3).

(3) Something near the

communication Process error 2

communication Process error 3

communication Process error 4

communication Process error 5

communication Process error 6

Alarm content A part in the servo amplifier has a failure.

Detail name Cause Check method Check result Action Target

It does not occur. Check (2).

(2) Something near the

It is not repeatable. Check (2).

(2) Something near the

It is not repeatable. Check (2).

(2) Something near the

It has no failure. Replace the servo

malfunctioning.

device caused it.

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

circuit is malfunctioning.

device caused it.

recognition signal was not read properly.

device caused it.

axis selection rotary switch (SW1) was not read normally.

device caused it.

Replace the servo amplifier, and then check the repeatability.

Replace the servo motor, and then check the repeatability.

Check the noise, ambient temperature, vibration, etc.

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

Check the noise, ambient temperature, etc.

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

Check the noise, ambient temperature, etc.

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

Check the noise, ambient temperature, etc.

It is not repeatable. Replace the servo

amplifier.

It is not repeatable. Replace the servo

motor.

It has a failure. Take

countermeasures against its cause.

It occurs. Replace the servo

amplifier.

It has a failure. Take

countermeasures against its cause.

It is repeatable. Replace the servo

amplifier.

It has a failure. Take

countermeasures against its cause.

It is repeatable. Replace the servo

amplifier.

It has a failure. Take

countermeasures against its cause.

It has a failure. Take

countermeasures against its cause.

amplifier.

[A] [B] [C]

[B]

1 - 15

1. SERVO AMPLIFIER TROUBLESHOOTING

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

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

Detail

No.

19.1 Flash-ROM

19.2 Flash-ROM

19.4 Flash-ROM

19.5 Flash-ROM

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

Detail

No.

1A.1 Servo motor

1A.4 Servo motor

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

Detail

No.

1E.1 Encoder

Detail name Cause Check method Check result Action Target

(1) The Flash-ROM is error 1

It is not repeatable. Check (2).

(2) Something near the

error 2

error 4

error 5

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

Detail name Cause Check method Check result Action Target

combination error

The combination is

(2) An encoder is

combination error 2

Alarm content An encoder is malfunctioning.

Detail name Cause Check method Check result Action Target

malfunction

It is repeatable. Check (2).

(2) Something near the

malfunctioning.

device caused it.

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

(1) The servo amplifier and

the servo motor were connected incorrectly.

malfunctioning.

(1) The servo amplifier is

malfunctioning.

(1) An encoder is

malfunctioning.

device caused it.

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

Check the noise, ambient temperature, etc.

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

Replace the servo motor, and then check the repeatability.

Replace the servo amplifier, and then check the repeatability.

Replace the servo motor, and then check the repeatability.

Check the noise, ambient temperature, vibration, etc.

It is repeatable. Replace the servo

amplifier.

It has a failure. Take

countermeasures against its cause.

The combination is incorrect.

correct.

It is not repeatable. Replace the servo

It has a failure. Take

Use them in the correct combination.

Check (2).

motor.

amplifier.

motor.

countermeasures against its cause.

[A] [B] [C]

1 - 16

1. SERVO AMPLIFIER TROUBLESHOOTING

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

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

Detail

No.

1F.1 Incompatible

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

Detail

No.

20.1 Encoder normal

Detail name Cause Check method Check result Action Target

(1) A servo motor, which is encoder

It is compatible with

(2) The software version of

It is compatible. Check (3).

(3) An encoder is

It is repeatable. Replace the servo

Alarm content An error has occurred in the communication between an encoder and servo amplifier.

Detail name Cause Check method Check result Action Target

communication Receive data

It has no failure. Check (2).

error 1

(2) The external conductor

It is connected. Check (3).

(3) The servo amplifier is

It is repeatable. Check (4).

(4) An encoder is

It is repeatable. Check (5).

(5) Something near the

not compatible with the servo amplifier, has been connected.

the servo amplifier is not compatible with the servo motor.

malfunctioning.

(1) An encoder cable is

malfunctioning.

of the encoder cable is not connected to the ground plate of the connector.

malfunctioning.

device caused it.

Check the model of the servo motor.

Check if the software version is compatible with the servo motor.

Replace the servo motor, and then check the repeatability.

Check if the encoder cable is disconnected or shorted.

Check if it is connected.

Replace the servo amplifier, and then check the repeatability.

Replace the servo motor, and then check the repeatability.

Check the noise, ambient temperature, vibration, etc.

It is not compatible with the servo amplifier.

the servo amplifier.

It is not compatible. Replace the servo

It is not repeatable. Replace the servo

It has a failure. Repair or replace the

It is not connected. Connect it correctly.

It is not repeatable. Replace the servo

It has a failure. Take

Replace it with a compatible servo motor.

Check (2).

amplifier with one whose software version is compatible with the servo motor.

motor.

amplifier.

cable.

amplifier.

motor.

countermeasures against its cause.

[A] [B] [C]

1 - 17

1. SERVO AMPLIFIER TROUBLESHOOTING

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

Alarm content An error has occurred in the communication between an encoder and servo amplifier.

Detail

No.

20.2 Encoder normal

20.3 Encoder normal

20.5 Encoder normal

20.6 Encoder normal

20.7 Encoder normal

20.9 Encoder normal

20.A Encoder normal

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

Detail

No.

21.1 Encoder data

21.2 Encoder data

Detail name Cause Check method Check result Action Target

Check it with the check method for [AL. 20.1]. communication Receive data error 2

communication Receive data error 3

communication Transmission data error 1

communication Transmission data error 2

communication Transmission data error 3

communication Receive data error 4

communication Receive data error 5

Alarm content The encoder detected an error signal.

Detail name Cause Check method Check result Action Target

(1) The encoder detected error 1

It is repeatable. Check (2).

(2) The external conductor

It is connected. Check (3).

(3) An encoder is

It is repeatable. Check (4).

(4) Something near the

update error

It is repeatable. Check (2).

(2) The external conductor

It is connected. Check (3).

(3) Something near the

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

of the encoder cable is not connected to the ground plate of the connector.

malfunctioning.

device caused it.

(1) An encoder is

malfunctioning.

of the encoder cable is not connected to the ground plate of the connector.

device caused it.

Decrease the loop gain, and then check the repeatability.

Check if it is connected.

Replace the servo motor, and then check the repeatability.

Check the noise, ambient temperature, vibration, etc.

Replace the servo motor, and then check the repeatability.

Check if it is connected.

Check the noise, ambient temperature, etc.

It is not repeatable. Use the encoder

with low loop gain.

It is not connected. Connect it correctly.

It is not repeatable. Replace the servo

motor.

It has a failure. Take

countermeasures against its cause.

It is not repeatable. Replace the servo

motor.

It is not connected. Connect it correctly.

It has a failure. Take

countermeasures against its cause.

[A] [B] [C]

1 - 18

1. SERVO AMPLIFIER TROUBLESHOOTING

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

Alarm content The encoder detected an error signal.

Detail

No.

21.3 Encoder data

21.5 Encoder

21.6 Encoder

21.9 Encoder data

Alarm No.: 24 Name: Main circuit error

Detail

No.

24.1 Ground fault

24.2 Ground fault

Detail name Cause Check method Check result Action Target

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

hardware error 1

hardware error 2

Check it with the check method for [AL. 21.1]. error 2

Alarm content

Detail name Cause Check method Check result Action Target

detected at hardware

It does not occur. Check (2).

detection circuit

(2) A ground fault or short

It is not shorted. Check (3).

(3) A ground fault occurred

It is not shorted. Check (4).

(4) The servo amplifier

They are not in

(5) Something near the

detected at software detection function

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

(1) The servo amplifier is

malfunctioning.

occurred at the servo motor power cable.

at the servo motor.

power input cable and the servo motor power cable are shorted.

device caused it.

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

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

Check if only the servo motor power cable is shorted.

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

Shut off the power, and check if the servo amplifier power input cable and the servo motor power cable are in contact.

Check the noise, ambient temperature, etc.

).

It occurs. Replace the servo

amplifier.

It is shorted. Replace the servo

motor power cable.

It is shorted. Replace the servo

motor.

They are in contact. Correct the wiring.

Check (5).

contact.

It has a failure. Take

countermeasures against its cause.

[A] [B] [C]

1 - 19

1. SERVO AMPLIFIER TROUBLESHOOTING

Alarm No.: 25 Name: Absolute position erased

The absolute position data is faulty.

Alarm content

Detail

No.

25.1 Servo motor

Detail name Cause Check method Check result Action Target

encoder Absolute position erased

This is not the first

(2) The battery was

It is not replaced. Check (3).

(3) CN4 of the servo

It was not

(4) The power was turned

It was not turned off. Check (5).

(5) The battery voltage is

It is 3 V DC or more. Check (6).

(6) The voltage has

It is used. Check (7).

(7) A battery cable is

It has no failure. Check (8).

(8) There is a loose

It has no failure. Check (9).

(9) The servo amplifier is

It is repeatable. Check (10).

(10) An encoder is

Power was switched on for the first time in the absolute position detection system. The battery was replaced.

(1) Power was switched on

for the first time in the absolute position detection system.

replaced.

amplifier was disconnected during power-off.

off with the battery disconnected from CN4.

low. The battery is consumed.

dropped considerably in the encoder cable wired to the battery.

malfunctioning.

connection of the encoder cable on the servo motor side.

malfunctioning.

Check if this is the first time you have switched on the power since the absolute position detection system was set.

Check if the battery was replaced.

Check if the battery was disconnected during power-off.

Check if the power was turned off in such a state.

Check the battery voltage with a tester.

Check if a recommended wire is used for the encoder cable.

Check for the loose connection with a tester.

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

Replace the servo amplifier, and then check the repeatability.

Replace the servo motor, and then check the repeatability.

This is the first time. Check that the

battery is mounted correctly, and make a home position return.

Check (2).

time.

It was replaced. Check that the

battery is mounted correctly, and make a home position return.

It was disconnected. Check that the

battery is mounted correctly, and make a home position return.

Check (4).

disconnected.

It was turned off. Check that the

battery is mounted correctly, and make a home position return.

It is less than 3 V DC.

It is not used. Use a

It has a failure. Replace the battery

It has a failure. Repair or replace

It is not repeatable. Replace the servo

Replace the battery.

recommended wire.

cable.

the encoder cable.

amplifier.

motor.

[B] [C]

1 - 20

1. SERVO AMPLIFIER TROUBLESHOOTING

Alarm No.: 30 Name: Regenerative error

The permissible regenerative power of the built-in regenerative resistor or regenerative option was

Alarm content

Detail

No.

30.1 Regeneration

30.2 Regeneration

30.3 Regeneration

Detail name Cause Check method Check result Action Target

heat error

It is set correctly. Check (2).

(2) The regenerative

It is connected

(3) The combination of the

The combination is

(4) The power supply

It is 264 V AC or

(5) The regenerative load

signal error

feedback signal error

The alarm does not

(2) Something near the

exceeded.

A regenerative transistor in the servo amplifier is malfunctioning.

(1) The setting of the

regenerative resistor (regenerative option) is incorrect.

resistor (regenerative option) is not connected.

regenerative resistor (regenerative option) and servo amplifier is incorrect.

voltage is high.

ratio exceeded 100%.

(1) A detection circuit of

the servo amplifier is malfunctioning.

(1) A detection circuit of

the servo amplifier is malfunctioning.

device caused it.

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

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

Check if the combination of the regenerative resistor (regenerative option) and servo amplifier is specified.

Check if the voltage of the input power supply is over 264 V AC.

Check the regenerative load ratio when the alarm occurs.

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

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

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

The setting value is incorrect.

It is not connected correctly.

correctly.

The combination is incorrect.

correct.

It is over 264 V AC. Reduce the power

less.

It is 100% or more. Reduce the

It is overheating abnormally.

The alarm occurs. Replace the servo

occur.

It has a failure. Take

Set it correctly. [A]

Connect it correctly.

Check (3).

Use them in the correct combination.

Check (4).

supply voltage.

Check (5).

frequency of positioning. Increase the deceleration time constant. Reduce the load. Use a regenerative option if it is not being used. Review the regenerative option capacity.

Replace the servo amplifier.

amplifier.

Check (2).

countermeasures against its cause.

[B] [C]

1 - 21

1. SERVO AMPLIFIER TROUBLESHOOTING

Alarm No.: 31 Name: Overspeed

Alarm content The servo motor speed has exceeded the permissible instantaneous speed.

Detail

No.

31.1 Abnormal

Detail name Cause Check method Check result Action Target

(1) The command pulse motor speed

The command pulse

(2) The setting of the

The setting value is

(3) The command from the

It is less than the

(4) A larger speed

The servo motor

(5) The servo motor was at

It is less than the

(6) The servo system is

It is not oscillating. Check (7).

(7) The velocity waveform

It is not

(8) The connection of the

It is correct. Check (9).

(9) An encoder is

frequency is high.

electronic gear is incorrect.

controller is excessive.

command than the overspeed alarm level was inputted.

the maximum torque under acceleration.

unstable and oscillating.

has overshot.

servo motor is incorrect.

malfunctioning.

Check the command pulse frequency.

Check the setting value of the electronic gear.

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

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

Check if the torque under acceleration is the maximum torque.

Check if the servo motor is oscillating.

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

Check the wiring of U/V/W.

Check if the alarm occurs when the servo motor rotates at the permissible instantaneous speed or less.

The command pulse frequency is high.

frequency is low.

The setting value is incorrect.

correct.

It is over the permissible speed.

permissible speed.

The servo motor speed is higher than the overspeed alarm detection level.

speed is lower than the overspeed alarm detection level.

It is the maximum torque.

maximum torque.

It is oscillating. Adjust the servo

It is overshooting. Increase the

overshooting.

It is incorrect. Set it correctly.

It occurs when the servo motor rotates at the permissible instantaneous speed or less.

Check the operation pattern.

Check (2).

Review the setting.

Check (5).

Check the operation pattern.

Check (4).

Review the [Pr. PC08] setting.

Check (5).

Increase the acceleration/deceler ation time constant. Or reduce the load.

Check (6).

gain. Or reduce the load.

acceleration/deceler ation time constant.

Check (8).

Replace the servo motor.

[A] [C]

[B]

[A] [B] [C]

1 - 22

1. SERVO AMPLIFIER TROUBLESHOOTING

Alarm No.: 32 Name: Overcurrent

Alarm content A current higher than the permissible current was applied to the servo amplifier.

Detail

No.

32.1 Overcurrent

32.2 Overcurrent

32.3 Overcurrent

32.4 Overcurrent

Detail name Cause Check method Check result Action Target

(1) The servo amplifier is detected at hardware

It does not occur. Check (2).

detection circuit (during

(2) A ground fault or short

operation)

It is not shorted. Check (3).

(3) The servo motor is

A ground fault is not

(4) The dynamic brake is

It does not occur. Check (5).

(5) The connection

It is correct. Check (6).

(6) Something near the

detected at software detection

An oscillation is not

function (during operation)

(2) The servo amplifier is

It does not occur. Check (3).

(3) A ground fault or short

It is not shorted. Check (4).

(4) The servo motor is

A ground fault is not

(5) The connection

It is correct. Check (6).

(6) Something near the

detected at hardware detection circuit (during a stop)

detected at software detection function (during a stop)

malfunctioning.

occurred at the servo motor power cable.

malfunctioning.

destination of the encoder cable is incorrect.

device caused it.

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

malfunctioning.

occurred at the servo motor power cable.

malfunctioning.

destination of the encoder cable is incorrect.

device caused it.

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

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

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

Check if only the servo motor power cable is shorted.

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

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

Check if the encoder cable is connected correctly.

Check the noise, ambient temperature, etc.

is occurring.

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

Check if only the servo motor power cable is shorted.

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

Check if the encoder cable is connected correctly.

Check the noise, ambient temperature, etc.

).

It occurs. Replace the servo

amplifier.

It is shorted. Replace the servo

motor power cable.

A ground fault is occurring.

occurring.

It occurs. Replace the servo

It is not correct. Wire it correctly.

It has a failure. Take

An oscillation is occurring.

occurring.

It occurs. Replace the servo

It is shorted. Replace the servo

A ground fault is occurring.

occurring.

It is not correct. Connect it correctly.

It has a failure. Take

Replace the servo motor.

Check (4).

amplifier.

countermeasures against its cause.

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

Check (2).

amplifier.

motor power cable.

Replace the servo motor.

Check (5).

countermeasures against its cause.

[A] [B] [C]

1 - 23

1. SERVO AMPLIFIER TROUBLESHOOTING

r

Alarm No.: 33 Name: Overvoltage

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

Detail

No.

33.1 Main circuit

Detail name Cause Check method Check result Action Target

(1) The setting of the voltage error

It is set correctly. Check (2).

(2) The regenerative

It is connected

(3) Wire breakage of built-in

The resistance is

(4) The regeneration

It is repeatable. Check (5).

(5) The power supply

It is 264 V AC or

(6) Something near the

regenerative resistor (regenerative option) is incorrect.

resistor (regenerative option) is not connected.

regenerative resistor or regenerative option

capacity is insufficient.

voltage is high.

device caused it.

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

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

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

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

Check the input voltage.

Check the noise, ambient temperature, etc.

The setting value is incorrect.

It is not connected correctly.

correctly.

The resistance is abnormal.

normal.

It is not repeatable. When using a built-in

It is over 264 V AC. Lower the input

less.

It has a failure. Take

Set it correctly. [A]

Connect it correctly.

Check (3).

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

Check (4).

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

voltage.

Check (6).

countermeasures against its cause.

[B] [C]

1 - 24

1. SERVO AMPLIFIER TROUBLESHOOTING

Alarm No.: 34 Name: SSCNET receive error 1

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

Detail

No.

34.1 SSCNET

34.2 SSCNET

34.3 SSCNET

34.4 Hardware error

Detail name Cause Check method Check result Action Target

(1) The SSCNET III cable receive data error

It is connected. Check (2).

(2) The tip of the SSCNET

It is repeatable. Check (3).

(3) The SSCNET III cable

It has no failure. Check (4).

(4) A vinyl tape is stacked

It is not used. They

(5) The servo amplifier is

It is repeatable. Check (6).

(6) The servo amplifier

It is repeatable. Check (7).

(7) The controller is

It is repeatable. Check (8).

(8) Something near the

connector connection error

communication data error

signal detection

is disconnected.

III cable gets dirty.

is broken or severed.

to the SSCNET III cable. Or a wire insulator containing migrating plasticizer is adhered to the cable.

malfunctioning.

previous or next to the axis where the alarm occurred in the servo amplifier is malfunctioning.

malfunctioning.

device caused it.

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

Check the SSCNET III cable connection.

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

Check if the SSCNET III cable is malfunctioning.

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

Replace the servo amplifier, and then check the repeatability.

Replace the servo amplifiers previous and next to the axis where the alarm occurred in the servo amplifier, and then check the repeatability.

Replace the controller, and then check the repeatability.

Check the noise, ambient temperature, etc.

It is disconnected. Turn off the servo

amplifier, and then connect the SSCNET III cable.

It is not repeatable. Take measures to

keep the cable tip clean.

It has a failure. Replace the

SSCNET III cable.

It is used. They are in contact.

are not in contact.

It is not repeatable. Replace the servo

It is not repeatable. Replace the

It has a failure. Take

Take countermeasures against its cause.

Check (5).

amplifier.

controller.

countermeasures against its cause.

[B]

1 - 25

1. SERVO AMPLIFIER TROUBLESHOOTING

Alarm No.: 35 Name: Command frequency error

Alarm content The input command pulse frequency is too high.

Detail

No.

35.1 Command

Detail name Cause Check method Check result Action Target

(1) The command pulse frequency error

The command pulse

(2) The setting of

It is within the

(3) The inputted frequency

The command pulse

(4) The command from the

It is lower than the

(5) The controller is

It is repeatable. Check (6).

(6) Something near the

frequency is high.

"Command input pulse train filter selection" in [Pr. PA13] is not correct.

of the manual pulse generator is high.

controller is excessive.

malfunctioning.

device caused it.

Check the command pulse frequency.

Check if the command pulse frequency is within the setting range of the filter.

Check the inputted frequency of the manual pulse generator.

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

Replace the controller, and then check the repeatability.

Check the noise, ambient temperature, etc.

The command pulse frequency is high.

frequency is low.

It is out of setting range.

setting range.

The command pulse frequency is high.

frequency is low.

It is over the permissible speed.

permissible speed.

It is not repeatable. Replace the

It has a failure. Take

Check the operation pattern.

Check (2).

Correct the filter setting.

Check (6).

Reduce the inputted frequency of the manual pulse generator.

Check (6).

Check the operation pattern.

Check (5).

controller.

countermeasures against its cause.

[A] [C]

[B]

[A] [B] [C]

1 - 26

1. SERVO AMPLIFIER TROUBLESHOOTING

Alarm No.: 36 Name: SSCNET receive error 2

Alarm content

Detail

No.

36.1 Continuous

Detail name Cause Check method Check result Action Target

communication data error

It is connected. Check (2).

(2) The tip of the SSCNET

It is repeatable. Check (3).

(3) The SSCNET III cable

It has no failure. Check (4).

(4) A vinyl tape is stacked

It is not used. They

(5) The servo amplifier is

It is repeatable. Check (6).

(6) The servo amplifier

It is repeatable. Check (7).

(7) The controller is

It is repeatable. Check (8).

(8) Something near the

An error occurred in SSCNET III/H communication. (Intermittent communication error with about 70 ms

interval)

(1) The SSCNET III cable

was disconnected.

III cable got dirty.

is broken or severed.

to the SSCNET III cable. Or a wire insulator containing migrating plasticizer is adhered to the cable.

malfunctioning.

previous or next to the axis where the alarm occurred in the servo amplifier is malfunctioning.

malfunctioning.

device caused it.

Check the SSCNET III cable connection.

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

Check if the SSCNET III cable is malfunctioning.

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

Replace the servo amplifier, and then check the repeatability.

Replace the servo amplifiers previous and next to the axis where the alarm occurred in the servo amplifier, and then check the repeatability.

Replace the controller, and then check the repeatability.

Check the noise, ambient temperature, etc.

It is disconnected. Turn off the servo

amplifier, and then connect the SSCNET III cable.

It is not repeatable. Take measures to

keep the cable tip clean.

It has a failure. Replace the

SSCNET III cable.

It is used. They are in contact.

are not in contact.

It is not repeatable. Replace the servo

It is not repeatable. Replace the

It has a failure. Take

Take countermeasures against its cause.

Check (5).

amplifier.

controller.

countermeasures against its cause.

[B]

1 - 27

1. SERVO AMPLIFIER TROUBLESHOOTING

Alarm No.: 37 Name: Parameter error

Alarm content

Detail

No.

37.1 Parameter

37.2 Parameter

37.3 Point table

Detail name Cause Check method Check result Action Target

setting range error

It is within the

(2) A parameter setting

A setting value is

(3) The parameter setting

combination error

setting error

A setting value is

(2) A point table setting

Parameter setting is incorrect. Point table setting is incorrect.

(1) A parameter was set

out of setting range.

contradicts another.

has changed due to a servo amplifier malfunction.

(1) A parameter setting

contradicts another.

(1) The setting of point

tables is incorrect.

has changed due to a servo amplifier malfunction.

Check the parameter error No. and setting value.

Replace the servo amplifier, and then check the repeatability.

Check the parameter error No. and setting value.

Check if the setting of point tables is within the setting range.

Check the point table error No. with the parameter error No./point table error No. display on the display of the servo amplifier. Or check the setting value with the point table display of MR Configurator2.

Replace the servo amplifier, and then check the repeatability.

It is out of setting range.

setting range.

A setting value is incorrect.

correct.

It is not repeatable. Replace the servo

A setting value is incorrect.

correct.

It is not repeatable. Replace the servo

Set it within the range.

Check (2).

Correct the setting value.

Check (3).

amplifier.

Correct the setting value.

Check (2).

amplifier.

[A] [B] [C]

[A]

1 - 28

1. SERVO AMPLIFIER TROUBLESHOOTING

Alarm No.: 39 Name: Program error

Alarm content A program used for the program operation is incorrect.

Detail

No.

39.1 Program error (1) A checksum of the

39.2 Instruction

39.3 Register No.

39.4 Non-

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

Detail

No.

3A.1 Inrush current

Detail name Cause Check method Check result Action Target

Check if an error

program did not match

It has no failure. Check (2).

(2) A program has

argument

It was executed. Check (2).

external error

(2) A command argument is

It has no failure. Check (3).

(3) A program has

error

It has no failure. Check (2).

(2) A program has

correspondence command error

It has no failure. Check (2).

(2) A program has

Alarm content The inrush current suppression circuit error was detected.

Detail name Cause Check method Check result Action Target

suppression circuit error

at power-on. (The program has an error.)

changed due to a servo amplifier malfunction.

(1) A program has never

been written since program initialization.

using a value out of specifications.

changed due to a servo amplifier malfunction.

(1) A specified number of

the general purpose register used for a command is a value out of specifications.

changed due to a servo amplifier malfunction.

(1) A used command is not

correspondent to the program.

changed due to a servo amplifier malfunction.

(1) Inrush current

suppressor circuit is malfunctioning.

occurred (such as entered noise, poweroff) at program write.

Replace the servo amplifier, and then check the repeatability.

Check if a program was written.

Check if the command description has a failure.

Replace the servo amplifier, and then check the repeatability.

Check if the command description has a failure.

Replace the servo amplifier, and then check the repeatability.

Check if the command description has a failure.

Replace the servo amplifier, and then check the repeatability.

It has a failure. Rewrite the

program.

It is not repeatable. Replace the servo

amplifier.

It was not executed. Write the program.

It has a failure. Correct the

command description.

It is not repeatable. Replace the servo

amplifier.

It has a failure. Correct the

command description.

It is not repeatable. Replace the servo

amplifier.

It has a failure. Correct the

command description.

It is not repeatable. Replace the servo

amplifier.

It is not repeatable. Replace the servo

amplifier.

[A]

[A] [B] [C]

1 - 29

1. SERVO AMPLIFIER TROUBLESHOOTING

Alarm No.: 3E Name: Operation mode error

Alarm content The operation mode setting was changed.

Detail

No.

3E.1 Operation mode

3E.6 Operation mode

Alarm No.: 45 Name: Main circuit device overheat

Detail

No.

45.1 Main circuit

Detail name Cause Check method Check result Action Target

(1) An incompatible error

It is compatible with

(2) The controller was

switch error

It was changed by a

Alarm content The inside of the servo amplifier overheated.

Detail name Cause Check method Check result Action Target

device overheat error

It is 55 ˚C or lower. Check (2).

(2) The close mounting is

It is within

(3) Turning on and off were

It did not occur. Check (4).

(4) A cooling fan, heat sink,

It is repeatable. Check (5).

(5) The servo amplifier is

controller with SSCNET III/H was connected to the servo amplifier.

connected as SSCNET III.

(1) A method of positioning

data memorized in the servo amplifier (point table method/program method) is different from the actual positioning mode (point table method/program method).

(1) The ambient

temperature has exceeded 55 ˚C.

out of specifications.

repeated under the overload status.

or openings is clogged with foreign matter.

malfunctioning.

Check the model of the controller.

Check the controller setting.

Check if the positioning mode (point table method/program method) was changed.

Positioning mode: [Pr. PA01] "_ _ _ x"

Check the ambient temperature.

Check the specifications of close mounting.

Check if the overload status occurred many times.

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

Replace the servo amplifier, and then check the repeatability.

It is not compatible with SSCNET III/H.

SSCNET III/H.

It is set as SSCNET III.

It was changed. (with a purpose)

mistake.

It is over 55 ˚C. Lower the ambient

It is out of specifications.

specifications.

It occurred. Check the operation

It is not repeatable. Clean it periodically.

It is not repeatable. Replace the servo

Use a compatible controller.

Check (2).

Change the SSCNET III setting to SSCNET III/H.

After changing the positioning mode, initialize the point table method/program method.

Set the positioning mode back to the correct setting.

temperature.

Use it within the range of specifications.

Check (3).

pattern.

amplifier.

[B]

[A] [C]

[A] [B] [C]

1 - 30

1. SERVO AMPLIFIER TROUBLESHOOTING

Alarm No.: 46 Name: Servo motor overheat

Alarm content The servo motor overheated.

Detail

No.

46.1 Abnormal

46.5 Abnormal

46.6 Abnormal

Alarm No.: 47 Name: Cooling fan error

Detail

No.

47.2 Cooling fan

Detail name Cause Check method Check result Action Target

(1) The ambient temperature of servo motor 1

It is 40 ˚C or lower. Check (2).

(2) The servo motor is

The effective load

(3) The thermal sensor in

temperature of servo motor 3

temperature of servo motor 4

Alarm content

Detail name Cause Check method Check result Action Target

speed reduction error

Nothing has been

(2) The cooling fan has

temperature of the servo motor has exceeded 40 ˚C.

overloaded.

the encoder is malfunctioning.

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

(1) A current was applied to

the servo amplifier in excess of its continuous output current.

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

(1) Foreign matter was

caught in the cooling fan.

reached its end of life.

Check the ambient temperature of the servo motor.

Check the effective load ratio.

Check the servo motor temperature when the alarm occurs.

Check the effective load ratio.

Check if foreign matter is caught in the cooling fan.

Check the cooling fan speed.

It is over 40 ˚C. Lower the ambient

temperature.

The effective load ratio is high.

ratio is low.

The servo motor temperature is low.

The effective load ratio is high.

Something has been caught.

caught.

The cooling fan speed decreases to the alarm occurrence level or less.

Reduce the load or review the operation pattern.

Check (3).

Replace the servo motor.

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

Remove the foreign matter.

Check (2).

Replace the servo amplifier.

[A] [B] [C]

1 - 31

1. SERVO AMPLIFIER TROUBLESHOOTING

Alarm No.: 50 Name: Overload 1

Alarm content Load exceeded overload protection characteristic of servo amplifier.

Detail

No.

50.1 Thermal

50.2 Thermal

50.3 Thermal

Detail name Cause Check method Check result Action Target

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

It is not

(2) The connection of the

It is correct. Check (3).

(3) The electromagnetic

It is released. Check (4).

(4) A current was applied to

The effective load

(5) The connection

It is correct. Check (6).

(6) The servo system is

It is not resonating. Check (7).

(7) The servo amplifier is

It is repeatable. Check (8).

(8) An encoder is

overload error 2 during operation

overload error 4 during operation

cable was disconnected.

servo motor is incorrect.

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

the servo amplifier in excess of its continuous output current.

destination of the encoder cable is incorrect.

unstable and resonating.

malfunctioning.

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

Check the servo motor power cable.

Check the wiring of U/V/W.

Check if the electromagnetic brake is released during operation.

Check the effective load ratio.

Check if the encoder cable is connected correctly.

Check if it is resonating.

Replace the servo amplifier, and then check the repeatability.

Replace the servo motor, and then check the repeatability.

It is disconnected. Repair or replace the

servo motor power cable.

Check (2).

disconnected.

It is incorrect. Connect it correctly.

It is not released. Release the

electromagnetic brake.

The effective load ratio is high.

ratio is low.

It is not correct. Connect it correctly.

It is resonating. Adjust gains.

It is not repeatable. Replace the servo

Reduce the load. Or use a larger capacity motor.

Check (5).

amplifier.

motor.

[A] [B] [C]

1 - 32

1. SERVO AMPLIFIER TROUBLESHOOTING

Alarm No.: 50 Name: Overload 1

Alarm content Load exceeded overload protection characteristic of servo amplifier.

Detail

No.

50.4 Thermal

50.5 Thermal

50.6 Thermal

Detail name Cause Check method Check result Action Target

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

It did not collide. Check (2).

(2) The servo motor power

It is not

(3) Hunting occurs during

The hunting is not

(4) The electromagnetic

It is released. Check (5).

(5) A current was applied to

The effective load

(6) The connection

It is correct. Check (7).

(7) The servo system is

It is not resonating. Check (8).

(8) The servo amplifier is

It is repeatable. Check (9).

(9) The encoder or the

overload error 2 during a stop

overload error 4 during a stop

against the machine.

cable was disconnected.

servo-lock.

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

the servo amplifier in excess of its continuous output current.

destination of the encoder cable is incorrect.

unstable and resonating.

malfunctioning.

servo motor is malfunctioning.

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

Check if it collided. It collided. Check the operation

pattern.

Check the servo motor power cable.

Check if the hunting is occurring.

Check if the electromagnetic brake is released.

Check the effective load ratio.

Check if the encoder cable is connected correctly.

Check if it is resonating.

Replace the servo amplifier, and then check the repeatability.

Replace the servo motor, and then check the repeatability.

It is disconnected. Repair or replace the

servo motor power cable.

Check (3).

disconnected.

The hunting is occurring.

occurring.

It is not released. Release the

The effective load ratio is high.

ratio is low.

It is not correct. Connect it correctly.

It is resonating. Adjust gains.

It is not repeatable. Replace the servo

Adjust gains.

Check (4).

electromagnetic brake.

Reduce the load. Or use a larger capacity motor.

Check (6).

amplifier.

motor.

[A] [B] [C]

1 - 33

1. SERVO AMPLIFIER TROUBLESHOOTING

Alarm No.: 51 Name: Overload 2

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

Detail

No.

51.1 Thermal

51.2 Thermal

Detail name Cause Check method Check result Action Target

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

It is not

(2) The connection of the

It is correct. Check (3).

(3) The connection of the

It is correct. Check (4).

(4) The torque is

The torque is not

(5) The servo amplifier is

It is repeatable. Check (6).

(6) The encoder or the

overload error 3 during a stop

It did not collide. Refer to (2).

(2) The servo motor power

(3) The connection of the

(4) The connection of the

(5) The torque is

(6) The servo amplifier is

(7) An encoder is

cable was disconnected.

servo motor is incorrect.

encoder cable is incorrect.

insufficient.

malfunctioning.

servo motor is malfunctioning.

(1) A moving part collided

against the machine.

cable was disconnected.

servo motor is incorrect.

encoder cable is incorrect.

saturated.

malfunctioning.

Check the servo motor power cable.

Check the wiring of U/V/W.

Check if the encoder cable is connected correctly.

Check the peak load ratio.

Replace the servo amplifier, and then check the repeatability.

Replace the servo motor, and then check the repeatability.

Check if it collided. It collided. Check the operation

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

It is disconnected. Repair or replace

the servo motor power cable.

Check (2).

disconnected.

It is incorrect. Connect it correctly.

The torque is saturated.

saturated.

It is not repeatable. Replace the servo

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

Check (5).

amplifier.

motor.

pattern.

[A] [B] [C]

1 - 34

1. SERVO AMPLIFIER TROUBLESHOOTING

Alarm No.: 52 Name: Error excessive

Alarm content Droop pulses have exceeded the alarm occurrence level.

Detail

No.

52.1 Excess droop

Detail name Cause Check method Check result Action Target

(1) The servo motor power pulse 1

It is not

(2) The connection of the

It is correct. Check (3).

(3) The connection of the

It is correct. Check (4).

(4) The torque limit has

The limiting torque

(5) A moving part collided

It did not collide. Check (6).

(6) The electromagnetic

It is released. Check (7).

(7) The torque is

The torque is not

(8) Power supply voltage

The bus voltage is

(9) Acceleration/decelera-

It is repeatable. Check (10).

(10) The position loop gain

It is repeatable. Check (11).

(11) The error excessive

It is set correctly. Check (12).

cable was disconnected.

servo motor is incorrect.

encoder cable is incorrect.

been enabled.

against the machine.

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

insufficient.

dropped.

tion time constant is too short.

is small.

alarm level was not set correctly.

Check the servo motor power cable.

Check the wiring of U/V/W.

Check if the encoder cable is connected correctly.

Check if the limiting torque is in progress.

Check if it collided. It collided. Check the operation

Check if the electromagnetic brake is released.

Check the peak load ratio.

Check the bus voltage value.

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

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

Check the setting of the error excessive alarm level.

[A], [C]: [Pr. PC24],

[Pr. PC43]

[B]: [Pr. PC01],

[Pr. PC06]

It is disconnected. Repair or replace

the servo motor power cable.

Check (2).

disconnected.

It is incorrect. Connect it correctly.

The limiting torque is in progress.

is not in progress.

It is not released. Release the

The torque is saturated.

saturated.

The bus voltage is low.

high.

It is not repeatable. Increase the

It is not set correctly. Set it correctly.

Increase the torque limit value.

Check (5).

pattern.

electromagnetic brake.

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

Check (8).

Check the power supply voltage and power supply capacity.

Check (9).

acceleration/deceler ation time constant.

position loop gain ([Pr. PB08]).

[A] [B] [C]

1 - 35

1. SERVO AMPLIFIER TROUBLESHOOTING

Alarm No.: 52 Name: Error excessive

Alarm content Droop pulses have exceeded the alarm occurrence level.

Detail

No.

52.1 Excess droop

Detail name Cause Check method Check result Action Target

(12) Servo motor shaft was

pulse 1

It is not rotated by

(13) The encoder or the

It is repeatable. Check (14).

rotated by external force.

servo motor is malfunctioning.

Measure the actual position under the servo-lock status.

Replace the servo motor, and then check the repeatability.

It is rotated by external force.

external force.

It is not repeatable. Replace the servo

Review the machine.

Check (13).

motor.

[A] [B] [C]

(14) The servo amplifier is

malfunctioning.

52.3 Excess droop pulse 2

52.4 Error excessive during 0 torque limit

52.5 Excess droop pulse 3

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

(1) The torque limit value

is 0.

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

Replace the servo amplifier, and then check the repeatability.

Check the torque limit value.

It is not repeatable. Replace the servo

The torque limit value is 0.

Alarm No.: 54 Name: Oscillation detection

Alarm content An oscillation of the servo motor was detected.

Detail

No.

54.1 Oscillation

Detail name Cause Check method Check result Action Target

(1) The servo system is

detection error

The torque ripple is

(2) The resonance

The resonance

(3) An encoder is

unstable and oscillating.

frequency has changed due to deterioration.

malfunctioning.

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

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

Replace the servo motor, and then check the repeatability.

The torque ripple is vibrating.

not vibrating.

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

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

It is not repeatable. Replace the servo

amplifier.

Do not input a command while the torque limit value is

0.

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

Check (2).

Change the setting value of the machine resonance suppression filter.

Check (3).

motor.

[A] [B] [C]

1 - 36

1. SERVO AMPLIFIER TROUBLESHOOTING

Alarm No.: 56 Name: Forced stop error

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

Detail

No.

56.2 Over speed

56.3 Estimated

Alarm No.: 61 Name: Operation error

Detail

No.

61.1 Point table

Detail name Cause Check method Check result Action Target

(1) The forced stop during forced stop

It is repeatable. Check (2).

(2) The torque limit has

The limiting torque

(3) The servo system is

The torque ripple is

(4) An encoder is

distance over during forced stop

It is repeatable. Check (2).

(2) The torque limit has

The limiting torque

(3) An encoder is

Alarm content An operation of the positioning function failed.

Detail name Cause Check method Check result Action Target

setting range error

deceleration time constant is short. [A], [C]: [Pr. PC51] [B]: [Pr. PC24]

been enabled.

unstable and oscillating.

malfunctioning.

(1) The forced stop

deceleration time constant is short. [A], [C]: [Pr. PC51] [B]: [Pr. PC24]

been enabled.

malfunctioning.

(1) "1" or "3" was set to the

sub function of the last point table (31).

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

Check if the limiting torque is in progress.

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

Replace the servo motor, and then check the repeatability.

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

Check if the limiting torque is in progress.

Replace the servo motor, and then check the repeatability.

Check if "1" or "3" was set.

It is not repeatable. Adjust the

deceleration time constant.

The limiting torque is in progress.

is not in progress.

The torque ripple is vibrating.

not vibrating.

It is not repeatable. Replace the servo

It is not repeatable. Adjust the

The limiting torque is in progress.

is not in progress.

It is not repeatable. Replace the servo

It was set. Correct the settings. [A]

Review the torque limit value.

Check (3).

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

Check (4).

motor.

deceleration time constant.

Review the torque limit value.

Check (3).

motor.

[A] [B] [C]

1 - 37

1. SERVO AMPLIFIER TROUBLESHOOTING

Alarm No.: 69 Name: Command error

The command position exceeded 32 bits (-2147483648 to 2147483647) when the software limit is

activated.

Alarm content

Detail

No.

69.1 Forward

Detail name Cause Check method Check result Action Target

rotation-side software limit detection Command excess error

(2) The command position

It was set correctly. Check (3).

(3) The controller is

It is repeatable. Check (4).

The command position exceeded 30 bits (-536870912 to 536870911) from the value that was set when the software limit was activated.

After the detection of LSP (Forward rotation stroke end) or LSN (Reverse rotation stroke end), the

command position exceeded 30 bits (-536870912 to 536870911) from the detected position.

(1) The command position

exceeded 32 bits when the software limit is activated.

The command

exceeded 30 bits from the value that was set when the software limit was activated.

malfunctioning.

Check if the command position is correct.

Check if the parameter settings of the software limit ([Pr. PT15] to [Pr. PT18]) to the command position are correct.

Replace the controller, and then check the repeatability.

The command position was set to 32 bits or more.

position was set correctly.

It was set within the command position.

It is not repeatable. Replace the

Set the command position correctly.

Check (2).

Set [Pr. PT15] to [Pr. PT18] correctly.

controller.

[C]

(4) Something near the

device caused it.

69.2 Reverse rotation-side software limit detection Command excess error

69.3 Forward rotation stroke end detection Command

It was set correctly. Check (2).

excess error

(2) The forward rotation

It is connected. Check (3).

(3) The controller is

It is repeatable. Check (4).

(4) Something near the

Check it with the check method for [AL. 69.1].

(1) The command position

exceeded 30 bits from the detected position after the detection of LSP (Forward rotation stroke end).

stroke limit switch is not connected to LSP (Forward rotation stroke end).

malfunctioning.

device caused it.

Check the noise, ambient temperature, etc.

Check the command position.

Check if the limit switch is connected correctly.

Replace the controller, and then check the repeatability.

Check the noise, ambient temperature, etc.

It has a failure. Take

countermeasures against its cause.

The command position was set to 30 bits or more.

It is not connected. Connect it correctly.

It is not repeatable. Replace the

It has a failure. Take

Check the operation pattern.

controller.

countermeasures against its cause.

[C]

1 - 38

1. SERVO AMPLIFIER TROUBLESHOOTING

Alarm No.: 69 Name: Command error

The command position exceeded 32 bits (-2147483648 to 2147483647) when the software limit is

activated.

Alarm content

Detail

No.

69.4 Reverse rotation

Detail name Cause Check method Check result Action Target

stroke end detection Command

It was set correctly. Check (2).

excess error

(2) The reverse rotation

It is connected. Check (3).

(3) The controller is

It is repeatable. Check (4).

(4) Something near the

The command position exceeded 30 bits (-536870912 to 536870911) from the value that was set when the software limit was activated.

After the detection of LSP (Forward rotation stroke end) or LSN (Reverse rotation stroke end), the

command position exceeded 30 bits (-536870912 to 536870911) from the detected position.

(1) The command position

exceeded 30 bits from the detected position after the detection of LSN (Reverse rotation stroke end).

stroke limit switch is not connected to LSN (Reverse rotation stroke end).

malfunctioning.

device caused it.

Check the command position.

Check if the limit switch is connected correctly.

Replace the controller, and then check the repeatability.

Check the noise, ambient temperature, etc.

The command position was set to 30 bits or more.

It is not connected. Connect it correctly.

It is not repeatable. Replace the

It has a failure. Take

Check the operation pattern.

controller.

countermeasures against its cause.

[C]

1 - 39

1. SERVO AMPLIFIER TROUBLESHOOTING

Alarm No.: 86 Name: Network communication error

Alarm content An error occurred in the network communication.

Detail

No.

86.1 Network

86.4 Network

86.5 Network

Detail name Cause Check method Check result Action Target

(1) A network cable was communication error 1

(2) The wiring of the

The wiring is

(3) A network cable was

It has no failure. Check (4).

(4) The network was

It was performed. Check (5).

(5) Data transmission from

It is not interrupted. Check (6).

(6) The setting of the

It is correct. Check (7).

(7) Something near the

It has no failure. Check (8).

(8) The servo amplifier is

It is repeatable. Check (9).

(9) The controller is

communication error 4

communication error 5

disconnected.

It is connected. Check (2).

network cable was incorrect.

disconnected.

disconnected by a wrong procedure.

the controller was interrupted for a certain period of time.

controller is incorrect.

device caused it.

malfunctioning.

Check it with the check method for [AL. 86.1].

Check if the network cable is connected correctly.

Check if the wiring of network cable is correct.

Check if the network cable is malfunctioning.

Check if the network was disconnected according to the kind of network.

Check if data transmission from the controller is not interrupted.

Check the controller setting.

Check the noise, ambient temperature, etc. For details of the noise reduction techniques, refer to "Noise reduction techniques" of each servo amplifier instruction manual.

Replace the servo amplifier, and then check the repeatability.

Replace the controller, and then check the repeatability.

It is not connected. Turn off the servo

amplifier, and then connect the network cable correctly.

The wiring is incorrect.

correct.

It has a failure. Replace the network

It was not performed.

It is interrupted. Review the

It is incorrect. Review the

It has a failure. Take

It is not repeatable. Replace the servo

It is not repeatable. Replace the

Wire it correctly.

Check (3).

cable.

Perform it.

controller communication setting.

controller setting.

countermeasures against its cause.

amplifier.

controller.

[C]

1 - 40

1. SERVO AMPLIFIER TROUBLESHOOTING

Alarm No.: 8A

Alarm content

Detail

No.

8A.1 USB

8A.2 Modbus RTU

Detail name Cause Check method Check result Action Target

communication time-out

It was transmitted. Check (2).

error/serial communication

(2) A communication cable

time-out error

It is repeatable. Check (3).

(3) The servo amplifier is

communication time-out error

It was transmitted. Check (2).

(2) A communication cable

It is repeatable. Check (3).

(3) The servo amplifier is

Alarm No.: 8C Name: Network module communication error

Alarm content An error occurred in the communication with the internal network module.

Detail

No.

8C.1 Network module

8C.2 Network module

8C.3 Network module

8C.4 Network module

8C.5 Network module

8C.6 Network module

8C.7 Network module

Detail name Cause Check method Check result Action Target

communication error 1

(2) Something near the

communication error 2

communication error 3

communication error 4

communication error 5

communication error 6

communication error 7

Name: USB communication time-out error/serial communication time-out error/Modbus RTU communication

time-out error

Communication between the servo amplifier and a personal computer or a controller stopped for the

specified time or longer.

An error occurred in USB communication, serial communication (Mitsubishi Electric general-purpose AC

servo protocol), or Modbus RTU communication.

(1) Communication

commands have not been transmitted.

was disconnected.

malfunctioning.

(1) Communication

commands have not been transmitted.

was disconnected.

malfunctioning.

(1) The servo amplifier is

malfunctioning.

It is repeatable. Check (2).

device caused it.

Check it with the check method for [AL. 8C.1].

Check if a command was transmitted from the personal computer, etc.

Replace the communication cable, and then check the repeatability.

Replace the servo amplifier, and then check the repeatability.

Check if a command was transmitted from the controller, etc.

Replace the communication cable, and then check the repeatability.

Replace the servo amplifier, and then check the repeatability.

Check the noise, ambient temperature, etc.

It was not transmitted.

It is not repeatable. Replace the

It is not repeatable. Replace the servo

It was not transmitted.

It is not repeatable. Replace the

It is not repeatable. Replace the servo

It has a failure. Take

Transmit a command.

communication cable.

amplifier.

Transmit a command.

communication cable.

amplifier.

countermeasures against its cause.

[A] [B] [C]

[A]

[C]

1 - 41

1. SERVO AMPLIFIER TROUBLESHOOTING

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

A communication error occurred between the servo amplifier and a personal computer or a controller.

Alarm content

Detail

No.

8E.1 USB

8E.2 USB

8E.3 USB

8E.4 USB

Detail name Cause Check method Check result Action Target

communication

It is repeatable. Check (2).

receive error/serial

(2) A communication cable

communication receive error

It is correct. Check (3).

(3) The servo amplifier is

communication checksum error/serial communication checksum error

communication character error/serial

The transmitted

communication character error

(2) The communication

It is conforming. Check (3).

(3) The setting of the

communication command error/serial

The transmitted

communication command error

(2) The communication

It is conforming. Check (3).

(3) The setting of the

An error occurred in USB communication, serial communication (Mitsubishi Electric general-purpose AC

servo protocol), or Modbus RTU communication.

(1) The setting of the

personal computer, etc. is incorrect.

is malfunctioning.

malfunctioning.

(1) The setting of the

personal computer, etc. is incorrect.

(1) The transmitted

character is out of specifications.

protocol is failure.

personal computer, etc. is incorrect.

(1) The transmitted

command is out of specifications.

protocol is failure.

personal computer, etc. is incorrect.

Check the setting of the personal computer, etc.

Check the communication cable, and then check the repeatability.

Replace the servo amplifier, and then check the repeatability.

Check the setting of the personal computer, etc.

Check the character code at the time of transmission.

Check if transmission data conforms to the communication protocol.

Check the setting of the personal computer, etc.

Check the command at the time of transmission.

Check if transmission data conforms to the communication protocol.

Check the setting of the personal computer, etc.

It is incorrect. Correct the settings. [A]

It is not repeatable. Replace the

communication cable.

It is not repeatable. Replace the servo

amplifier.

It is incorrect. Correct the settings.

The transmitted character is out of specifications.

character is within specifications.

It is not conforming. Modify the

It is incorrect. Correct the settings.

The transmitted command is out of specifications.

command is within specifications.

It is not conforming. Modify the

It is incorrect. Correct the settings.

Correct the transmission data.

Check (2).

transmission data according to the communication protocol.

Correct the transmission data.

Check (2).

transmission data according to the communication protocol.

[B] [C]

1 - 42

1. SERVO AMPLIFIER TROUBLESHOOTING

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

A communication error occurred between the servo amplifier and a personal computer or a controller.

Alarm content

Detail

No.

8E.5 USB

8E.6 Modbus RTU

8E.7 Modbus RTU

8E.8 Modbus RTU

Detail name Cause Check method Check result Action Target

communication data number error/serial

The transmitted

communication data number error

(2) The communication

It is conforming. Check (3).

(3) The setting of the

communication receive error

It is correct. Check (2).

(2) A communication cable

It is repeatable. Check (3).

(3) The servo amplifier is

communication message frame error

It is conforming. Check (2).

(2) The setting of the

communication CRC error

Alarm No.: 888/88888 Name: Watchdog

Alarm content A part such as CPU is malfunctioning.

Detail

No.

88._/

8888._

Detail name Cause Check method Check result Action Target

Watchdog (1) A part in the servo

An error occurred in USB communication, serial communication (Mitsubishi Electric general-purpose AC

servo protocol), or Modbus RTU communication.

(1) The transmitted data

number is out of specifications.

protocol is failure.

personal computer, etc. is incorrect.

(1) The setting of the

controller, servo amplifier, etc. is incorrect.

is malfunctioning.

malfunctioning.

(1) The communication

protocol is failure.

controller, servo amplifier, etc. is incorrect.

Check it with the check method for [AL. 8E.7].

amplifier is failure.

Check the data number at the time of transmission.

Check if transmission data conforms to the communication protocol.

Check the setting of the personal computer, etc.

Check the setting of the controller, servo amplifier, etc. (such as communication protocol selection, baud rate, parity).

Check the communication cable, and then check the repeatability.

Replace the servo amplifier, and then check the repeatability.

Check if transmission data conforms the communication protocol.

Check the setting of the controller, servo amplifier, etc. (such as communication protocol selection, baud rate, parity).

Replace the servo amplifier, and then check the repeatability.

The transmitted data number is out of specifications.

data number is within specifications.

It is not conforming. Modify the

It is incorrect. Correct the settings.

It is incorrect. Review the settings. [A]

It is not repeatable. Replace the

It is not repeatable. Replace the servo

It is not conforming. Modify the

It is incorrect. Review the settings.

It is not repeatable. Replace the servo

Correct the transmission data.

Check (2).

transmission data according to the communication protocol.

communication cable.

amplifier.

transmission data according to the communication protocol.

amplifier.

[A] [B] [C]

1 - 43

1. SERVO AMPLIFIER TROUBLESHOOTING

1.5 Remedies for warnings

CAUTION

If [AL. E3 Absolute position counter warning] occurs, always make the home position setting again. Otherwise, it may cause an unexpected operation.

POINT

When any of the following alarms occurs, do not cycle the power of the servo amplifier repeatedly to restart. Doing so will cause a malfunction of the servo amplifier and servo motor. If the power of the servo amplifier is switched off/on during the alarms, allow more than 30 minutes for cooling before resuming operation.

[AL. 91 Servo amplifier overheat warning] [AL. E0 Excessive regeneration warning] [AL. E1 Overload warning 1]

[AL. EC Overload warning 2] Warnings (except [AL. F0 Tough drive warning]) are not recorded in the alarm history.

If [AL. E6], [AL. E7], or [AL. E9] occurs, the amplifier will be the servo-off status. If any other warning occurs, operation can be continued but an alarm may take place and proper operation may not be performed. Remove the cause of warning according to this section. Refer to the cause of warning with MR Configurator2.

1 - 44

1. SERVO AMPLIFIER TROUBLESHOOTING

Alarm No.: 90 Name: Home position return incomplete warning

Alarm content A home position return did not complete normally with the positioning function.

Detail

No.

90.1 Home position

(3) A positioning operation

[AL. 25] did not

(4) A software stroke

[AL. 98] or [AL. 99]

(5) S_ZP2 (Home position

90.2 Home position

(2) The proximity dog is

It is connected. Check (3).

(3) A stroke limit was

Detail name Cause Check method Check result Action Target

(1) An automatic operation return incomplete

A home position

(2) ZP (Home position

return abnormal termination

was executed while the home position return did not complete.

return completion) turned off after the home position return was executed.

was executed without home position setting with an absolute position after [AL. 25 Absolute position erased] occurred.

limit/stroke limit was detected.

return completion 2) turned off after the home position return was executed.

(1) A home position return

speed did not decelerate to a creep speed.

not connected to DOG.

detected after home position return is started.

Check if the home position return was not executed (ZP (Home position return completion) is off.).

Check if ZP (Home position return completion) is off.

Check if [AL. 25] occurred using alarm history.

In the profile mode, check if [AL. 98 Software stroke limit warning] or [AL. 99 Stroke limit warning] occurred when "_ _ _ 1" is set to [Pr. PD35].

Check if S_ZP2 is off. S_ZP2 is off. Check the conditions

Check if the proximity dog turned off before a home position return completed deceleration to a creep speed.

Check if the proximity dog is connected correctly.

Check if the stroke limit is connected correctly.

Or check if the stroke limit is reached.

A home position return was not executed.

return was executed.

ZP (Home position return completion) is off.

[AL. 25] occurred. Check the battery

occur.

[AL. 98] or [AL. 99] occurred in the profile mode.

did not occur.

The proximity dog turned off before the deceleration to a creep speed.

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

The stroke limit is not connected.

Or the stroke limit is reached.

Execute a home position return.

Check (2).

Check the conditions in which ZP (Home position return completion) is off.

voltage and battery cable for a failure and execute a home position return after removing the failure.

Check (4).

Move the machine within the limit range, and then execute a home position return. When the home position is fixed, enable servo-on again.

Check (5).

in which S_ZP2 turns off. (Refer to section

7.3.5 of "MR-JE-_C Servo Amplifier Instruction Manual (CC-Link IE Field Network Basic)".)

Review the dog position.

Or review the parameter values of the home position return speed, creep speed, and travel distance after proximity dog.

Connect the stroke limit correctly.

Or review the position of the stroke limit.

[A] [C]

[C]

[A] [C]

1 - 45

1. SERVO AMPLIFIER TROUBLESHOOTING

Alarm No.: 90 Name: Home position return incomplete warning

Alarm content A home position return did not complete normally with the positioning function.

Detail

No.

90.5 Z-phase

Alarm No.: 91 Name: Servo amplifier overheat warning

Detail

No.

91.1 Main circuit

Alarm No.: 92 Name: Battery cable disconnection warning

Detail

No.

92.1 Encoder

92.3 Battery

Detail name Cause Check method Check result Action Target

(1) The Z-phase signal was unpassed

The Z-phase signal

(2) A home position return

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

Detail name Cause Check method Check result Action Target

device overheat

It is 55 ˚C or lower. Check (2).

warning

(2) The close mounting is

Alarm content The battery voltage for absolute position detection system decreased.

Detail name Cause Check method Check result Action Target

battery cable

It is connected. Check (2).

disconnection warning

(2) A battery cable was

It has no failure. Check (3).

(3) The battery voltage is

It is 3.1 V DC or

(4) An encoder cable was

degradation

It is 3.0 V DC or

(2) The battery has

not detected normally.

was executed while the servo motor did not pass the Z-phase.

(1) The ambient

temperature of the servo amplifier has exceeded 55 ˚C.

out of specifications.

(1) The battery cable is not

connected to CN4.

disconnected.

low. The battery is consumed.

disconnected.

(1) The battery voltage is

low. The battery is consumed.

deteriorated.

Check if the Z-phase signal of the servo motor was detected normally.

Check if the motor passed the Z-phase signal until the proximity dog turned off after the home position return started.

Check the ambient temperature.

Check the specifications of close mounting.

Check if the battery cable is connected correctly.

Check if the battery cable is malfunctioning.

Check the battery voltage with a tester.

Check if the encoder cable is disconnected.

Check the battery voltage with a tester.

Replace the battery, and then check the repeatability.

The Z-phase signal was not detected.

was detected.

The Z-phase was not passed.

It is over 55 ˚C. Lower the ambient

It is out of specifications.

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

It has a failure. Replace or repair

It is less than 3.1 V DC.

more.

It is disconnected. Replace or repair

It is less than 3.0 V DC.

more.

It is not repeatable. Replace the battery.

Review the Z-phase signal and wirings.

Check (2).

Review the setting position of the home position return start and proximity dog.

temperature.

Use it within the range of specifications.

the cable.

Replace the battery.

Check (4).

the cable.

Replace the battery.

Check (2).

[A] [C]

[A] [B] [C]

[C]

1 - 46

1. SERVO AMPLIFIER TROUBLESHOOTING

Alarm No.: 96 Name: Home position setting warning

Alarm content Home position setting could not be made.

Detail

No.

96.1 In-position

96.2 Command

96.3 Servo off

Alarm No.: 97 Name: Positioning specification warning

Detail

No.

97.1 Program

Alarm No.: 98 Name: Software limit warning

Detail

No.

98.1 Forward

98.2 Reverse

Detail name Cause Check method Check result Action Target

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

input warning at home

A command is not

positioning

(2) Creep speed is high. Decrease the creep

warning at home positioning

Alarm content How to specify a positioning is incorrect for the positioning function.

Detail name Cause Check method Check result Action Target

operation disabled warning

Alarm content A software limit set with the parameter was reached for the positioning function.

Detail name Cause Check method Check result Action Target

rotation-side software stroke

The setting was

limit reached

(2) A point table of the

The setting was

(3) A software limit was

rotation-side software stroke limit reached

turn on within the specified time during home positioning.

(1) A command is inputted

at home positioning.

(1) A home positioning

was executed during servo-off.

(1) When using the

positioning function, start a program with the program operation disabled.

(1) A software limit was set

within the actual operation range.

position data which exceeds the software limit was executed.

reached by using the JOG operation or manual pulse generator operation.

Check it with the check method for [AL. 98.1].

Check the droop pulses during home positioning.

Check if a command is inputted at home positioning.

speed, and then check the repeatability.

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

Check if the power of the servo amplifier was cycled after the program was changed.

Check if the parameter settings ([Pr. PT15] to [Pr. PT18]) to the operation range are correct.

Check if the target position of the point data to the operation range was correct.

Check if the JOG operation or manual pulse generator operation was executed properly to the operation range.

It exceeds the Inposition range.

A command is inputted.

inputted.

It is not repeatable. Decelerate the creep

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

The power of the servo amplifier was not cycled.

The setting was out of operation range.

within operation range.

The setting was out of operation range.

within operation range.

It reached the out of operation range.

Adjust gains to set droop pulses within the In-position range. Remove the cause of droop pulse occurrence, and make home position setting.

Input it after home positioning.

Check (2).

speed, and make home position setting.

and then execute the home positioning.

Cycle the power of the servo amplifier.

Set [Pr. PT15] to [Pr. PT18] correctly.

Check (2).

Set the point table correctly.

Check (3).

Execute the operation within the software limit.

Properly adjust the parameters such as JOG speed and multiplication of the manual pulse as necessary.

[A] [B] [C]

[A]

[A] [C]

1 - 47

1. SERVO AMPLIFIER TROUBLESHOOTING

Alarm No.: 99 Name: Stroke limit warning

Alarm content The stroke limit signal is off.

Detail

No.

99.1 Forward

99.2 Reverse

Alarm No.: 9B Name: Error excessive warning

Detail

No.

9B.1 Excess droop

Detail name Cause Check method Check result Action Target

(1) The forward rotation rotation stroke

It is connected. Check (2).

end off

(2) The forward rotation

rotation stroke

It is connected. Check (2).

end off

(2) The reverse rotation

Alarm content Droop pulses have exceeded the warning occurrence level.

Detail name Cause Check method Check result Action Target

pulse 1 warning

It is not

(2) The connection of the

It is correct. Check (3).

(3) The connection of the

It is correct. Check (4).

(4) The torque limit has

The limiting torque

(5) A moving part collided

It did not collide. Check (6).

(6) The torque is

The torque is not

(7) Power supply voltage

The bus voltage is

(8) Acceleration/decelerati

It is repeatable. Check (9).

(9) The position loop gain

It is repeatable. Check (10).

stroke limit switch is not connected.

stroke limit was exceeded during driving.

(1) The reverse rotation

stroke limit switch is not connected.

stroke limit was exceeded during driving.

(1) The servo motor power

cable was disconnected.

servo motor is incorrect.

encoder cable is incorrect.

been enabled.

against the machine.

insufficient.

dropped.

on time constant is too short.

is small.

Check if the limit switch is connected correctly.

Check if the forward rotation stroke limit switch turned off.

Check if the limit switch is connected correctly.

Check if the reverse rotation stroke limit switch turned off.

Check the servo motor power cable.

Check the wiring of U/V/W.

Check if the encoder cable is connected correctly.

Check if the limiting torque is in progress.

Check if it collided. It collided. Check the operation

Check the peak load ratio.

Check the bus voltage value.

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

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

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

It turned off. Check the operation

pattern.

It is not connected. Connect it correctly.

It turned off. Check the operation

pattern.

It is disconnected. Repair or replace

the servo motor power cable.

Check (2).

disconnected.

It is incorrect. Connect it correctly.

The limiting torque is in progress.

is not in progress.

The torque is saturated.

saturated.

The bus voltage is low.

high.

It is not repeatable. Increase the

Increase the torque limit value.

Check (5).

pattern.

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

Check (7).

Check the power supply voltage and power supply capacity.

Check (8).

acceleration/deceler ation time constant.

position loop gain ([Pr. PB08]).

[C]

[A] [B] [C]

1 - 48

1. SERVO AMPLIFIER TROUBLESHOOTING

Alarm No.: 9B Name: Error excessive warning

Alarm content Droop pulses have exceeded the warning occurrence level.

Detail

No.

9B.1 Excess droop

9B.3 Excess droop

9B.4 Error excessive

Alarm No.: 9F Name: Battery warning

Detail

No.

9F.1 Low battery (1) The battery cable is not

Alarm No.: E0 Name: Excessive regeneration warning

Detail

No.

E0.1 Excessive

Detail name Cause Check method Check result Action Target

(10) Servo motor shaft was pulse 1 warning

It is not rotated by

(11) An encoder is

pulse 2 warning

warning during 0 torque limit

Alarm content The battery voltage for absolute position detection system decreased.

Detail name Cause Check method Check result Action Target

It is connected. Check (2).

(2) The battery voltage is

Alarm content

Detail name Cause Check method Check result Action Target

regeneration warning

rotated by external force.

malfunctioning.

Check it with the check method for [AL. 9B.1].

(1) The torque limit value

is 0.

connected to CN4.

low. The battery is consumed.

The regenerative power may exceed the permissible regenerative power of the built-in regenerative

resistor or regenerative option.

(1) The regenerative

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

Measure the actual position under the servo-lock status.

Replace the servo motor, and then check the repeatability.

Check the torque limit value.

Check if the battery cable is connected correctly.

Check the battery voltage with a tester.

Check the effective load ratio.

It is rotated by external force.

external force.

It is not repeatable. Replace the servo

The torque limit value is 0.

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

It is less than 4.9 V DC.

It is 85% or more. Reduce the

Review the machine.

Check (11).

motor.

Do not input a command while the torque limit value is

0.

Replace the battery.

frequency of positioning.

Increase the deceleration time constant.

Reduce the load. Use a regenerative

option if it is not being used.

[A] [B] [C]

[C]

[A] [B] [C]

1 - 49

1. SERVO AMPLIFIER TROUBLESHOOTING

Alarm No.: E1 Name: Overload warning 1

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

Detail

No.

E1.1 Thermal

E1.2 Thermal

E1.3 Thermal

E1.4 Thermal

E1.5 Thermal

E1.6 Thermal

E1.7 Thermal

E1.8 Thermal

Detail name Cause Check method Check result Action Target

overload warning 1 during operation

overload warning 2 during operation

overload warning 3 during operation

overload warning 4 during operation

overload error 1 during a stop

overload error 2 during a stop

overload error 3 during a stop

overload error 4 during a stop

(1) The load was over 85%

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

(1) The load was over 85%

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

(1) The load was over 85%

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

(1) The load was over 85%

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

(1) The load was over 85%

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

(1) The load was over 85%

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

(1) The load was over 85%

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

(1) The load was over 85%

to the alarm level of [AL. 50.6 Thermal overload error 4 during a stop].

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

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

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

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

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

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

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

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

[B] [C]

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1. SERVO AMPLIFIER TROUBLESHOOTING

Alarm No.: E3 Name: Absolute position counter warning

The multi-revolution counter value of the absolute position encoder exceeded the maximum range.

Alarm content

Detail

No.

E3.1 Multi-revolution

E3.2 Absolute

E3.4 Absolute

E3.5 Encoder

Detail name Cause Check method Check result Action Target

counter travel distance excess warning

position counter warning

It has no failure. Check (2).

(2) An encoder is

positioning counter EEPROM writing frequency warning

absolute positioning counter warning

Alarm No.: E4 Name: Parameter warning

Alarm content A parameter value out of the setting range was about to be written during parameter writing.

Detail

No.

E4.1 Parameter

Detail name Cause Check method Check result Action Target

setting range error warning

Absolute position encoder pulses are faulty. An update cycle is short for writing the multi-revolution counter value of the absolute position encoder to

EEP-ROM.

(1) The travel distance

from the home position is 32768 rev or more in the absolute position system.

(1) Something near the

device caused it.

malfunctioning.

(1) A home position was

renewed (EEP-ROM write) twice or more in 10 minutes in the servo amplifier due to rotation to the same direction in short time in the point table method of the positioning mode or degree setting with the program method.

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

(1) A parameter was set

out of range with the servo system controller.

Check the value of the multi-revolution counter.

Check the noise, ambient temperature, etc.

Replace the servo motor, and then check the repeatability.

Check if the operation was within the following conditions between the number of gear teeth on machine side ([Pr. PA06] CMX) and servo motor speed (N).

When CMX ≤ 2000, N < 3076.7 r/min

When CMX > 2000, N < 3276.7 - (CMX × 0.1) r/min

When (CMX/CDV) is reduced to its lowest terms, CMX ≤ 15900

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

It is 32768 rev or more.

It has a failure. Take

It is not repeatable. Replace the servo

The operation was out of conditions.

It is out of setting range.

Review operation range. Execute the home position return again. After the power is surely cycled, perform home position return again.

countermeasures against its cause.

motor.

Set the command speed within the conditions.

Set the number of gear teeth on machine side within the conditions.

After the power is surely cycled, perform home position return again.

Set it within the range.

[C]

[B] [C]

[A] [C]

[B]

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1. SERVO AMPLIFIER TROUBLESHOOTING

Alarm No.: E6 Name: Servo forced stop warning

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

Detail

No.

E6.1 Forced stop

Alarm No.: E7 Name: Controller forced stop warning

Detail

No.

E7.1 Controller

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

Detail

No.

E8.1 Decreased

Detail name Cause Check method Check result Action Target

(1) EM2/EM1 (Forced

warning

It is on. Check (2).

(2) An external 24 V DC

It is inputted. Check (3).

(3) The servo amplifier is

Alarm content

Detail name Cause Check method Check result Action Target

forced stop input warning

(2) An alarm occurred in

(3) The forced stop signal

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

Detail name Cause Check method Check result Action Target

cooling fan speed warning

Nothing has been

(2) The cooling fan has

stop) turned off.

power supply has not been inputted.

malfunctioning.

Forced stop signal was entered into the controller or servo system controller. An alarm occurred in another servo amplifier.

(1) The forced stop signal

of the servo system controller was inputted.

another servo amplifier while the hot line forced stop function selection is enabled with [Pr. PA27].

of the controller was inputted via communications.

Target protocol: Modbus RTU Modbus/TCP

CC-Link IE Field Network Basic

SLMP

(1) Foreign matter was

caught in the cooling fan.

reached its end of life.

Check the status of EM2/EM1.

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

Replace the servo amplifier, and then check the repeatability.

Check if the servo system controller enters the forced stop status.

Check if an alarm occurs in another servo amplifier.

Check if the controller is in a forced stop status.

Check if foreign matter is caught in the cooling fan.

Check the total of power-on time of the servo amplifier.

It is off. Ensure safety and

turn on EM2/EM1 (Forced stop).

It is not inputted. Input the 24 V DC

power supply.

It is not repeatable. Replace the servo

amplifier.

It enters the forced stop status.

It occurs. Remove the cause

It is the forced stop status.

Something has been caught.

caught.

It exceeds the cooling fan life.

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

of the alarm that occurs in another servo amplifier.

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

Remove the foreign matter.

Check (2).

Replace the servo amplifier.

[A] [B] [C]

[B]

[A] [C]

[A] [B] [C]

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1. SERVO AMPLIFIER TROUBLESHOOTING

Alarm No.: E9 Name: Main circuit off warning

Alarm content

Detail

No.

E9.1 Servo-on signal

E9.2 Bus voltage

E9.3 Ready-on

Detail name Cause Check method Check result Action Target

on during main circuit off

(2) The servo amplifier is

drop during low speed operation

signal on during main circuit off

Alarm No.: EC Name: Overload warning 2

Alarm content Operations over the rated output were repeated while the servo motor shaft was not rotated.

Detail

No.

EC.1 Overload

Detail name Cause Check method Check result Action Target

warning 2

Alarm No.: ED Name: Output watt excess warning

Alarm content

Detail

No.

ED.1 Output watt

Detail name Cause Check method Check result Action Target

excess warning

Alarm No.: F0 Name: Tough drive warning

Alarm content The tough drive function was activated.

Detail

No.

F0.1 Instantaneous

F0.3 Vibration tough

Detail name Cause Check method Check result Action Target

power failure tough drive warning

drive warning

The servo-on command was inputted during power-off. The bus voltage dropped while the servo motor was rotating at 50 r/min or less.

(1) The bus voltage is less

than 215 V DC.

malfunctioning.

(1) The bus voltage

dropped while the servo motor was rotating at 50 r/min or less.

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

(1) The load is too large or

the capacity is not enough.

The status, in which the output wattage (speed × torque) of the servo motor exceeds the rated output,

continued steadily.

(1) The status, in which the

output wattage (speed × torque) of the servo motor exceeds 120% of the rated output, continued steadily.

(1) The power supply

voltage dropped.

(1) The setting value of the

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

Check the bus voltage. It is less than 215 V

DC.

Check the bus voltage value.

Check the bus voltage. It is less than 200 V

Check the effective load ratio.

Check the servo motor speed and torque.

Check it with the check method for [AL. 10.1]. [A]

Check if it was changed frequently.

The power supply voltage is 160 V AC or more, but the bus voltage is less than 200 V DC.

DC.

The effective load ratio is high.

The output wattage is 120% of the rating.

It was changed frequently.

Review the wiring. Check the power supply capacity.

Replace the servo amplifier.

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

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

Reduce the servo motor speed. Reduce the load.

Set the machine resonance suppression filter. Check the machine status for screw looseness or others.

[A] [B] [C]

[B] [C]

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1. SERVO AMPLIFIER TROUBLESHOOTING

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

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

Detail

No.

F2.1 Drive recorder -

F2.2 Drive recorder -

Alarm No.: F3 Name: Oscillation detection warning

Detail

No.

F3.1 Oscillation

Alarm No.: F4 Name: Positioning warning

Detail

No.

F4.4 Target position

F4.6 Acceleration

F4.7 Deceleration

F4.8 Control

Detail name Cause Check method Check result Action Target

(1) The Flash-ROM is Area writing time-out warning

Data miswriting warning

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

Detail name Cause Check method Check result Action Target

detection warning

Alarm content Target position or acceleration time constant/deceleration time constant was set out of setting range.

Detail name Cause Check method Check result Action Target

setting range error warning

time constant setting range error warning

command input error warning

malfunctioning.

(1) Data was not written to

the drive recorder area.

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

(1) The target position was

set out of range.

(1) The acceleration time

constant was set out of range.

(1) The deceleration time

constant was set out of range.

(1) The unit was set to

degree and the relative position command was inputted.

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

Check if clearing the alarm history in the drive recorder disables this alarm with MR Configurator2.

Check the setting value of the target position.

Check the value set in [Pr. PC01] Acceleration time constant.

Check the value set in [Pr. PC02] Deceleration time constant.

Check the status of [Pr. PT01] and Controlword bit 6.

It is repeatable. Replace the servo

amplifier.

It is not disabled. Replace the servo

amplifier.

It is out of setting range.

Controlword bit 6 is on with [Pr. PT01] set to "_ 2 _ _".

Set the target position correctly, and cancel the warning (turn on C_ORST).

Set the acceleration time constant correctly, and cancel the warning (turn on C_ORST).

Set the deceleration time constant correctly, and cancel the warning (turn on C_ORST).

Turn off Controlword bit 6 and cancel the warning (turn on C_ORST).

[A] [B] [C]

[B] [C]

[C]

1 - 54

1. SERVO AMPLIFIER TROUBLESHOOTING

Alarm No.: F5 Name: Simple cam function - Cam data miswriting warning

Alarm content The cam data written by MR Configurator2 is not written to a Flash-ROM.

Detail

No.

F5.1 Cam data -

F5.2 Cam data -

F5.3 Cam data

Detail name Cause Check method Check result Action Target

(1) The Flash-ROM is Area writing time-out warning

Miswriting warning

checksum error

(2) When the cam control

It has no failure. Check (3).

(3) The Flash-ROM is

malfunctioning.

(1) The cam data was not

written.

(1) When the power is

switched on after the cam data is written, a checksum of the cam data does not match. (Error occurred in cam data.)

command is turned on after the temporal writing of cam data, a checksum of the cam data does not match. (Error occurred in cam data.)

malfunctioning.

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

After the power is cycled, perform writing, and check the repeatability again.

When the cam data is initialized, perform writing, and check the repeatability again. (Refer to section

7.2.7 [Pr. PT34] of "MR-JE-_A Servo Amplifier Instruction Manual (Positioning Mode)".)

Check if an error occurred (such as entered noise, poweroff) at cam data write.

Check if an error occurred (such as entered noise) at temporal writing of cam data.

Replace the servo amplifier, and then check the repeatability.

It is repeatable. Replace the servo

amplifier.

It is repeatable. Replace the servo

amplifier.

It has a failure. After writing the cam

data again, cycle the power.

It has no failure. Check (2).

It has a failure. After performing the

temporal writing of cam data again, turn on the cam control command.

It is not repeatable. Replace the servo

amplifier.

[A]

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1. SERVO AMPLIFIER TROUBLESHOOTING

Alarm No.: F6 Name: Simple cam function - Cam control warning

Alarm content

Detail

No.

F6.1 Cam axis one

F6.2 Cam axis feed

F6.3 Cam

F6.4 Cam control

F6.5 Cam No.

Detail name Cause Check method Check result Action Target

cycle current value restoration failed

current value restoration failed

unregistered error

(2) The cam data of the

It was written. Check (3).

(3) Cam data has changed

data setting range error

external error

The cam axis position restoration at a time of cam control start was a failure. The cam control is not normal.

(1) The cam axis one cycle

current value corresponding to the feed current value at cam control start cannot be restored.

(It occurs in a reciprocating motion pattern of the cam.)

(1) The difference

(command unit) between the restored cam axis feed current value and the command position at cam control start is bigger than "in-position range".

(1) Cam data has never

been written.

specified cam No. was not written.

due to a servo amplifier malfunction.

(1) An out of range value is

set to the cam control data.

(1) An out of range value

is set to the cam No.

Check if the feed current value is within the stroke in a reciprocating motion pattern of the cam.

Check if the difference (command unit) between the restored cam axis feed current value and the command position at cam control start is in the "in-position range".

Check if the cam data was written.

Check if the cam data of the specified cam No. was written.

Replace the servo amplifier, and then check the repeatability.

Check the setting of the cam control data.

Check the setting of the cam No.

The feed current value is the outside of the stroke.

The difference of the command position (command unit) is not within "in-position range".

It was not written. Write the cam data.

It was written. Check (2).

It was not written. Write the cam data

It is not repeatable. Replace the servo

The setting is incorrect.

Move the feed current value to within the stroke in a reciprocating motion pattern of the cam.

Or set the cam standard position within the stroke in a reciprocating motion pattern of the cam.

Calculate the cam axis feed current value to be restored, move the command position to the position, and then start the cam control.

(For the calculation method, refer to section 6.1.7 (2) of "MR-JE-_A Servo Amplifier Instruction Manual (Positioning Mode)".)

Or set a larger setting value to "inposition range" when the setting value is extremely small, such as 0.

of the specified cam No.

amplifier.

Set it correctly.

[A]

1 - 56

1. SERVO AMPLIFIER TROUBLESHOOTING

Alarm No.: F6 Name: Simple cam function - Cam control warning

Alarm content

Detail

No.

F6.6 Cam control

Detail name Cause Check method Check result Action Target

inactive

The power was

(2) After the cam control

The cam control

(3) The cam control

The cam control

(4) The cam control

The home position

(5) It became servo-off

It is servo-on. Check (6).

(6) A home position is

The home position

(7) It is stopped at a

A software limit is

(8) It is stopped at a stroke

A stroke limit is not

The cam axis position restoration at a time of cam control start was a failure. The cam control is not normal.

(1) After cam data was

written, the cam control command was turned on without cycling the power.

command was turned on, the servo-on was turned on.

command was turned on during servo motor driving, and the servo motor stopped.

command was turned on at the time of incompletion of home position return.

during cam control.

erased during cam control.

software limit during cam control.

limit during cam control.

Check if the power was cycled after the cam data was written.

Check if the cam control command was turned on during servo-on.

Check if the cam control command was turned on while the travel completion was on.

Check if the home position return completion is on.

Check if it is servooff.

Check if the home position return completion is off.

Check if a software limit is reached.

Check if a stroke limit is reached.

The power was not cycled.

cycled.

The cam control command was not turned on during servo-on.

command was turned on during servo-on.

The cam control command was not turned on while the travel completion was on.

command was turned on while the travel completion was on.

The home position return completion is off.

return completion is on.

It is servo-off. After servo-on, turn

The home position return completion is off.

return completion is on.

A software limit is reached.

not reached.

A stroke limit is reached.

reached.

Cycle the power. [A]

Check (2).

Turn on the cam control command during servo-on.

Check (3).

Turn on the cam control command while the travel completion was on.

Check (4).

Make a home position return, and turn on the cam control command.

Check (5).

on the cam control command again.

After the home position return completion, turn on the cam control command again.

Check (7).

After it is retracted from the position of a software limit, turn on the cam control command again.

Check (8).

After it is retracted from the position of a stroke limit, turn on the cam control command again.

Check (9).

1 - 57

1. SERVO AMPLIFIER TROUBLESHOOTING

1.6 Trouble which does not trigger an alarm/warning

POINT

When the servo amplifier, servo motor, or encoder malfunctions, the following status may occur.

The following shows some examples of causes which do not trigger an alarm or warning. Remove each cause by referring to this section.

Description Cause Checkpoint Action Target

The display shows "AA". The power of the servo

system controller was turned off.

A SSCNET III cable was

disconnected.

Check if the connectors

The power of the previous

axis servo amplifier was turned off.

The amplifier-less operation

function of the servo system controller is enabled.

The display shows "Ab". A controller, which is not

compatible with the servo amplifier, has been connected.

The setting of the axis No. is

incorrect.

The axis No. does not match

with the axis No. set to the servo system controller.

Information about the servo

series is not set in the simple motion module.

The communication cycle

does not match.

A SSCNET III cable was

disconnected.

Check if the connectors

The power of the previous

axis servo amplifier is off.

The amplifier-less operation

function of the servo system controller is enabled.

The servo amplifier is

malfunctioning.

Replace the servo amplifier,

Check the power of the servo system controller.

Check if "AA" is displayed in the corresponding axis and following axes.

(CNIA, CNIB) are unplugged.

Check if "AA" is displayed in the corresponding axis and following axes.

Check if the amplifier-less operation function of the servo system controller is enabled.

Check if a controller, which is not compatible with the servo amplifier, is connected.

Check that another servo amplifier is not assigned to the same axis No.

Check the setting and axis No. of the servo system controller.

Check the value set in servo series (Pr. 100) in the simple motion module.

Check if the communication cycle on the servo system controller side is 0.222 ms.

Check if "Ab" is displayed in the corresponding axis and following axes.

(CNIA, CNIB) are unplugged.

Check if "Ab" is displayed in the corresponding axis and following axes.

Check if the amplifier-less operation function of the servo system controller is enabled.

Check if "Ab" is displayed in the corresponding axis and following axes.

and then check the repeatability.

Switch on the power of the servo system controller.

Replace the SSCNET III cable of the corresponding axis.

Connect them correctly.

Check the power of the servo amplifier.

Disable the amplifier-less operation function.

Connect a compatible controller.

Set it correctly.

Replace the SSCNET III cable of the corresponding axis.

Connect them correctly.

Check the power of the servo amplifier.

Disable the amplifier-less operation function.

Replace the servo amplifier of the corresponding axis.

Replace the servo amplifier. [C]

[B]

1 - 58

1. SERVO AMPLIFIER TROUBLESHOOTING

Description Cause Checkpoint Action Target

The display shows "b##". (Note)

Check the [Pr. PC60] setting. Cancel the test operation

The system is in the ready-

Check if the servo ready

An Ethernet cable was

Replace the cable, and then

The display shows "dEF". Initializing the point

The display turned off. The external I/O terminal is

Power has not been inputted. Check if the power of the

The power supply voltage

The servo motor does not operate.

The servo motor power cable

An alarm or warning is

The system is in the test

The motor-less operation is

The torque is insufficient due

An unintended torque limit is

Note. ## indicates the axis No./identification No.

The test operation mode is enabled.

off state.

disconnected.

table/program is in progress.

shorted.

dropped.

The connection of the servo motor is incorrect.

is connected to the servo amplifier of a different axis.

occurring.

operation mode.

enabled.

to large load.

enabled.

Check the [Pr. PC05] setting. Cancel the test operation

mode.

Check if the servo ready state is off with the servo system controller.

state is off with the controller.

Check if the cable is disconnected from the connector (CN1).

check the repeatability.

Initializing of the point table/program was set in the parameter ([Pr. PT34] = 5001) and the power was cycled.

When the display is turned on by disconnecting the following connectors, check if the disconnected cable wires are shorted.

[A]: CN1, CN2, CN3 [B]: CN2, CN3 [C]: CN2, CN3

servo amplifier is off.

Check if the power supply voltage dropped.

Check the wiring of U/V/W. Connect it correctly. [A]

Check if the encoder cable and the servo motor power cable are connected to the same servo amplifier.

Check if an alarm or warning is occurring.

Check if the lower right point of the display is blinking.

[A], [C]: Check the [Pr. PC60]

setting.

[B]: Check the [Pr. PC05]

setting.

Check instantaneous torque using the status display (only [A]) or MR Configurator2, and check if the load exceeds the maximum torque or torque limit value.

Check if the torque limit is enabled.

Turn on the servo-on signals for all axes.

Turn on the servo-on signal. [C]

Connect it correctly.

Replace the Ethernet cable.

It takes about 20 s for starting up the servo amplifier at initialization. Please wait until the display changes.

Review the wiring of I/O signals.

Turn on the power.

Increase the power supply voltage.

Connect the encoder cable and the servo motor power cable correctly.

Check the contents of the alarm/warning, and remove its cause.

Cancel the test operation mode.

Disable the motor-less operation.

Reduce the load or use a larger capacity servo motor.

Cancel the torque limit.

[B]

[C]

[B]

[A]

[A] [B] [C]

[B] [C]

1 - 59

1. SERVO AMPLIFIER TROUBLESHOOTING

Description Cause Checkpoint Action Target

The servo motor does not operate.

A machine is interfering with

For a servo motor with an

LSP (Forward rotation stroke

SON (Servo-on) is not on. Check the SON (Servo-on)

RES (Reset) is on. Check the RES (Reset)

The setting of the control

The command pulse is not

The wiring of the command

The setting of the command

Both of ST1 (Forward

Both of RS1 (Forward

The value selected in the

An analog signal is not

The setting of the electronic

Power is not supplied to

The setting of the torque limit is incorrect.

the servo motor.

electromagnetic brake, the brake has not been released.

end) and LSN (Reverse rotation stroke end) are not on.

mode is incorrect.

inputted in the position control mode.

pulse train signal is incorrect in the position control mode.

pulse input form is incorrect in the position control mode.

rotation start) and ST2 (Reverse rotation start) are on or off in the speed control mode or the positioning mode.

rotation selection) and RS2 (Reverse rotation selection) are on or off in the torque control mode.

speed control mode or the torque control mode is low.

inputted correctly.

gear is incorrect.

OPC (power input for opencollector sink interface).

Check if the torque limit value is "0".

[A], [C]: [Pr. PA11] and [Pr.

PA12], or analog input

[B]: Setting on the controller

side

Check if a machine is interfering.

Check the power supply of the electromagnetic brake.

Check if [AL. 99] is occurring. Turn on LSP and LSN. [A]

state.

Check the [Pr. PA01] setting. Set it correctly.

Check if the pulse train is outputted on the controller side.

Check the cumulative command pulses using the status display or MR Configurator2. Input the pulse train command and check if the display changes.

Check if the pulse train form outputted with the controller and the setting of [Pr. PA13] are matched.

Check the status of ST1 (Forward rotation start) and ST2 (Reverse rotation start).

Check the status of RS1 (Forward rotation selection) and RS2 (Reverse rotation selection).

Check SP1 (Speed selection

1), SP2 (Speed selection 2), and SP3 (Speed selection 3), and then check if the selected internal speed is correct.

Check the values of the analog speed command and the analog torque command using the status display or MR Configurator2.

Check the electronic gear setting.

Between DICOM and OPC of the CN1 connector of the servo amplifier is not connected.

Set it correctly. [A]

[B] [C]

Remove the interference.

Turn on the electromagnetic brake power.

Turn on SON (Servo-on).

Turn off RES (Reset).

Review the setting on the controller side.

Review the wiring. When the signal is used in open collector type, input 24 V DC to OPC.

Review the [Pr. PA13] setting.

Turn on ST1 (Forward rotation start) or ST2 (Reverse rotation start).

Turn on RS1 (Forward rotation selection) or RS2 (Reverse rotation selection).

Review the selections of SP1 (Speed selection 1), SP2 (Speed selection 2), SP3 (Speed selection 3), and setting of internal speed.

Input the analog signal correctly.

Set a proper value of the electronic gear.

Connect between DICOM and OPC.

[C]

1 - 60

1. SERVO AMPLIFIER TROUBLESHOOTING

Description Cause Checkpoint Action Target

The servo motor does not operate.

Wiring or the command pulse

Power is not supplied to the

An error is occurring on the

The servo parameter setting

The position command has

RX (n + 3) F (cyclic

The controller was stopped

An error occurred in the

The servo motor speed does not accelerate. Or the servo motor speed accelerates too much.

The power supply voltage

For a servo motor with an

The selection of SP1 (Speed

The setting of point tables is incorrect.

multiplication setting is incorrect.

MR-HDP01 manual pulse generator.

servo system controller side.

is incorrect on the servo system controller side.

not been inputted correctly.

communication ready) is off (00h).

(STOP status). (CC-Link IE Field Network Basiccompatible controller only) (CC-Link IE Field Network Basic protocol version 1 or earlier)

controller. (CC-Link IE Field Network Basic-compatible controller only)

The setting of the speed command, speed limit, or electronic gear is not correct.

The connection of the servo motor is incorrect.

dropped.

electromagnetic brake, the brake has not been released.

selection 1), SP2 (Speed selection 2), or SP3 (Speed selection 3) is incorrect in the speed control mode or the torque control mode.

Check the point table setting. Review the point table

When using an MR-HDP01 manual pulse generator, check the wiring and the command pulse multiplication setting (assignment of TP0, TP1 and [Pr. PT03] setting).

A power supply is not connected to +5 V to 12 V and 0 V of MR-HDP01.

Check if an error is occurring on the servo system controller side.

Check the servo parameter setting on the servo system controller side.

Check cumulative command pulses using MR Configurator2, and check if numerical values are changed by inputting the command.

Check if the controller does not set RX (n + 3) F (cyclic communication ready) to off (00h).

Check if the controller is stopped (STOP status).

Check if an error occurs in the controller.

Check the settings of the speed command, speed limit, and electronic gear.

Check the wiring of U/V/W. Connect it correctly.

Check if the power supply voltage dropped.

Check the power supply of the electromagnetic brake.

Check SP1 (Speed selection

1), SP2 (Speed selection 2), and SP3 (Speed selection 3), and then check if the selected speed is correct.

setting.

Review the wiring and the command pulse multiplication setting.

Connect a power supply to +5 V to 12 V and 0 V of MRHDP01.

Remove the error of the servo system controller.

Review the servo parameter setting on the servo system controller side.

Review the setting of the servo system controller or the servo program.

Set RX (n + 3) F (cyclic communication ready) to on (01h).

Run the controller (RUN status). For the protocol version compatible with the controller, contact the controller manufacturer.

Remove the error in accordance with the controller instruction manual.

Review the settings of the speed command, speed limit, and electronic gear.

Increase the power supply voltage.

Turn on the electromagnetic brake power.

Review the settings of SP1 (Speed selection 1), SP2 (Speed selection 2), SP3 (Speed selection 3), and speed.

[A]

[B]

[C]

[A] [B] [C]

[A] [C]

1 - 61

1. SERVO AMPLIFIER TROUBLESHOOTING

Description Cause Checkpoint Action Target

The servo motor vibrates with low frequency.

The command from the

Torque during

The servo gain is low. Or the

An unusual noise is occurring at the servo motor.

A bearing is at the end of its

For a servo motor with an

The estimated value of the load to motor inertia ratio by auto tuning is incorrect. When the load to motor inertia ratio is set by manual, the setting value is incorrect.

controller is unstable.

acceleration/deceleration is overshooting exceeding the limit of the servo motor when the motor stops.

response of auto tuning is low.

The servo gain is low. Or the response of auto tuning is low.

life.

electromagnetic brake, the brake has not been released.

electromagnetic brake, the brake release timing is not correct.

If the servo motor may be driven with safety, repeat acceleration and deceleration several times to complete auto tuning. Check if the load to motor inertia ratio is proper compared with the actual ratio for the manual setting.

Check the command from the controller.

Check the effective load ratio during acceleration/deceleration, and check if torque exceeds the maximum torque.

Check if the trouble is solved by increasing the auto tuning response ([Pr. PA09]).

If the servo motor can be driven safely, remove the load and check only the servo motor for a noise.

If the servo motor can be removed from the machine, remove the servo motor power cable to release the brake, and check a noise by rotating the servo motor with the hands.

Check the power supply of the electromagnetic brake.

Check the brake release timing.

Execute auto tuning or onetouch tuning to reset the load to motor inertia ratio. Set the load to motor inertia ratio correctly for the manual setting.

Review the command from the controller.

Check if the cable for a command has any failure, such as a disconnection.

Reduce the effective load ratio by increasing acceleration/deceleration time or reducing load.

Adjust gains.

Adjust gains. [A]

When a noise occurs, the bearing is at the end of its life. Replace the servo motor. When no noise occurs, maintain the machine.

Turn on the electromagnetic brake power.

Review the brake release timing. Please consider that the electromagnetic brake has release delay time.

[A] [B] [C]

[B] [C]

1 - 62

1. SERVO AMPLIFIER TROUBLESHOOTING

Description Cause Checkpoint Action Target

The servo motor vibrates. The servo gain is too high. Or

the response of auto tuning is too high.

The machine is vibrating

(resonating).

The load side is vibrating. If the servo motor can be

Feedback pulses are being

miscounted due to entered noise into an encoder cable.

There is a backlash between

the servo motor and machine (such as a gear and coupling).

The rigidity of the servo motor

mounting part is low.

The connection of the servo

motor is incorrect.

An unbalanced torque of the

machine is large.

The eccentricity due to a core

gap is large.

A load for the shaft of the

servo motor is large.

An external vibration

propagated to the servo motor.

Check if the trouble is solved by reducing the auto tuning response ([Pr. PA09]).

If the servo motor can be driven safely, check if the trouble is solved by one-touch tuning or adaptive tuning.

driven safely, check if the trouble is solved by advanced vibration suppression control II.

Check cumulative feedback pulses using the status display (only [A]) or MR Configurator2, and check if its numerical value is skipped.

Check if there is a backlash on the machine part.

Check the mounting part of the servo motor.

Check the wiring of U/V/W. Connect it correctly.

Check if the vibration varies depending on the speed.

Check the mounting accuracy of the servo motor and machine.

Check the load for the shaft of the servo motor.

Check the vibration from outside.

Adjust gains. [A]

[B] [C]

Adjust the machine resonance suppression filter.

Execute the advanced vibration suppression control II.

Please take countermeasures against noise by laying the encoder cable apart from power cables, etc.

Adjust the backlash on the coupling and machine part.

Increase the rigidity of the mounting part by methods, such as increasing the board thickness and reinforcing the part with ribs.

Adjust the balance of the machine.

Review the accuracy.

Adjust the load for the shaft to within the specifications of the servo motor.

For the shaft permissible load, refer to "HG-KN_S100/HG-SN_-S100 Servo Motor Instruction Manual".

Prevent the vibration from the external vibration source.

1 - 63

1. SERVO AMPLIFIER TROUBLESHOOTING

Description Cause Checkpoint Action Target

The rotation accuracy is low. (The rotation speed is

unstable.)

An unintended torque limit is

The setting of the torque limit

For a servo motor with an

The command from the

The machine vibrates unsteadily when it stops.

The servo motor starts rotating upon the power-on of the servo amplifier.

The servo motor starts rotating upon servo-on.

An analog signal has been

The zero point of an analog

For a servo motor with an

The connection of the servo

The servo gain is low. Or the response of auto tuning is low.

The torque is insufficient due to large load.

enabled.

is incorrect.

electromagnetic brake, the brake has not been released.

controller is unstable.

The servo gain is low. Or the response of auto tuning is low.

SON (Servo-on) has been on at power-on.

inputted from the beginning.

signal deviates.

electromagnetic brake, the brake release timing is not correct.

motor is incorrect.

Check if the trouble is solved by increasing the auto tuning response ([Pr. PA09]).

Check instantaneous torque using the status display (only [A]) or MR Configurator2, and check if the load exceeds the maximum torque or torque limit value.

Check if TLC (Limiting torque) is on using the status display or MR Configurator2.

Check if the torque limit value is too low.

[A]: [Pr. PA11] and [Pr.

PA12], or analog input

[B]: Setting on the controller

side

[C]: [Pr. PA11] and [Pr.

PA12], or analog input

Check the power supply of the electromagnetic brake.

Check the ripple of the command frequency with MR Configurator2.

Check if the trouble is solved by increasing the auto tuning response ([Pr. PA09]).

Check if SON (Servo-on) and RD (Ready) are on using the status display or MR Configurator2.

Check the status of the analog speed command or the analog torque command using the status display or MR Configurator2.

Check if the servo motor rotates while 0 V is inputted to the analog signal.

Check the brake release timing.

Check the wiring of U/V/W. Connect it correctly.

Adjust gains. [A]

[B] [C]

Reduce the load or use a larger capacity servo motor.

Cancel the torque limit.

Set it correctly.

Turn on the electromagnetic brake power.

Review the command from the controller. Check if the cable for a command has any failure, such as a disconnection.

Adjust gains. [A]

Review the sequence of SON (Servo-on).

Review the timing of inputting analog signals.

Execute the VC automatic offset or adjust the offset of the analog signal with [Pr. PC37] or [Pr. PC38].

Review the brake release timing.

[B] [C]

[A] [C]

[A] [B] [C]

1 - 64

1. SERVO AMPLIFIER TROUBLESHOOTING

Description Cause Checkpoint Action Target

The home position deviates at the home position return.

The in-position range is too

The proximity dog switch is

The program on the

The position deviates during operation after the home position return.

An alarm or warning is

The servo gain is low. Or the

For the geared servo motor,

The in-position range is too

The command pulses were

The cable for a command is

For the dog type home position return, the point where the dog turns off and the point where a Z-phase pulse is detected (CR input position) are too close.

large.

faulty. Or the mounting of the proximity dog switch is incomplete.

controller side is incorrect.

The position command and actual machine position are different.

occurring.

response of auto tuning is low.

the reduction ratio is not calculated correctly.

large.

miscounted due to noise.

connected loosely or disconnected.

Check if a fixed amount (in one revolution) deviates.

Check the setting of the inposition range in [Pr. PA10].

Check if the proximity dog signal is inputted correctly.

Check the program on the controller side, such as home position address settings or sequence programs.

Check if "cumulative feedback pulses × travel distance per pulse" matches the actual machine position.

Check if "cumulative feedback pulses × feed length multiplication" matches the actual machine position.

Check if an alarm or warning is occurring.

Check if the trouble is solved by increasing the auto tuning response ([Pr. PA09]).

Check the following settings. [A]: Number of command

input pulses per revolution ([Pr. PA05]) or electronic gear ([Pr. PA06] and [Pr. PA07])

[B]: Number of pulses per

revolution, travel distance (setting on the controller side)

[C]: Number of command

input pulses per revolution ([Pr. PA05]) or electronic gear ([Pr. PA06] and [Pr. PA07])

Check the setting of the inposition range in [Pr. PA10].

Check if the command value of the controller and the number of cumulative command pulses are matched.

Adjust the dog position. [A]

[B] [C]

Set a narrower in-position range.

Repair or replace the proximity dog switch. Adjust the mounting of the proximity dog switch.

Review the programs on the controller side.

Review the position command and electronic gear setting.

Check the contents of the alarm/warning, and remove its cause.

Adjust gains.

Review the calculation of the reduction ratio.

Set a narrower in-position range.

Please take countermeasures against noise for the cable for a command.

Review the shield procedure of the command cable.

Repair the cable for a command.

[A] [B] [C]

[A] [C]

1 - 65

1. SERVO AMPLIFIER TROUBLESHOOTING

Description Cause Checkpoint Action Target

The position deviates during operation after the home position return.

The cable for a command is

SON (Servo-on) turned off

CR (Clear) or RES (Reset)

The setting of point tables

The program, start timing, etc.

Wiring of the MR-HDP01

A mechanical slip occurred.

For the absolute position detection system, a restoration position deviates at restoration of power.

The servo amplifier power

The frequency of the pulse train command is too high.

too long.

during operation.

turned on during operation.

and start timing is incorrect.

are incorrect.

manual pulse generator or setting of "manual pulse generator multiplication" ([Pr. PT03], TP0 (manual pulse generator multiplication 1), TP1 (manual pulse generator multiplication 2)) is incorrect.

Or the backlash of the machine part is large.

The servo motor was rotated at a speed exceeding the maximum permissible speed at a power failure (6000 r/min) by an external force during servo amplifier power-off. (The acceleration time was

0.2 s or less.)

was turned on while the servo motor was rotated at a speed exceeding 3000 r/min by an external force.

Check if the pulse train command frequency is within the range of specifications.

It is 500 kpulses/s or less for the open-collector type. It is 4 Mpulses/s or less for the differential line driver type.

Check the ripple of the command pulse with an oscilloscope.

Check if SON (Servo-on) turns off during operation using the status display or MR Configurator2.

Check if CR (Clear) or RES (Reset) turns on during operation using the status display or MR Configurator2.

Check if a time period from after switching timings of point table setting value and point table No. until a start timing is 3 ms or more.

Check if a time period from after switching timings of BCD input program and point table No. until a start timing is 3 ms or more, etc.

The input value from the MRHDP01 manual pulse generator and the command position do not match.

Check the machine part if slip or backlash occurs.

Check if the servo motor was accelerated suddenly to 6000 r/min by an external force.

Check if the servo amplifier power was turned on while the servo motor was rotated at a speed exceeding 3000 r/min by an external force.

Review the pulse train command frequency. Select a filter according to the pulse train command frequency from "Command input pulse train filter selection" in [Pr. PA13].

Shorten the wiring length. It must be 10 m or shorter for the differential line driver type and 2 m or shorter for the open-collector type.

Review the wiring or sequence so that SON (Servo-on) does not turn off during operation.

Review the wiring or sequence so that CR (Clear) or RES (Reset) does not turn on during operation.

Review the point table setting. Review the start timing.

Review the controller programs.

Review the wiring. Set the multiplication setting

correctly.

Adjust the machine part. [A]

Extend the acceleration time. [B]

Review the power-on timing.

[A] [C]

[A]

[B] [C]

[C]

1 - 66

1. SERVO AMPLIFIER TROUBLESHOOTING

Description Cause Checkpoint Action Target

Overshoot/undershoot occurs.

The capacity is insufficient, or

The setting of the torque limit

The backlash of the machine

Communication with the servo amplifier fails using MR Configurator2.

(For details, refer to Help of MR Configurator2.)

The driver is not set correctly. In the device manager on the

They are off-line. Check if they are off-line. Set them to on-line.

A communication cable is

For a servo motor with an electromagnetic brake, the brake went out.

The coasting distance of the servo motor became longer.

An external relay is

The electromagnetic brake

The program operation is not in progress.

The program stops in a state

The servo gain is low or too high.

The response of auto tuning is low or too high.

the maximum torque is insufficient due to too large load.

is incorrect.

part is large.

The communication setting is incorrect.

The model being connected differs from the model set in the model selection.

malfunctioning.

The electromagnetic brake has a failure due to the end of its life. For the life of the electromagnetic brake, refer to "HG-KN_-S100/HG-SN_S100 Servo Motor Instruction Manual".

The load was increased and the permissible load to motor inertia ratio was exceeded.

malfunctioning. Or the wiring of MBR (Electromagnetic brake interlock) is incorrect.

has a failure due to the end of its life. For the life of the electromagnetic brake, refer to "HG-KN_-S100/HG-SN_S100 Servo Motor Instruction Manual".

The command speed of the positioning operation is low.

of waiting for an external signal to turn on.

Check the velocity waveform with a graph on MR Configurator2, and check if overshoot/undershoot is occurring.

Check the instantaneous torque using the status display, and check if the maximum torque exceeds the torque limit value.

Check if there is a backlash on the machine part.

Check the communication settings, such as the baud rate and ports.

Check if the model selection is set correctly.

personal computer, check if "MITSUBISHI MELSERVO USB Controller" is being displayed under the USB (Universal Serial Bus) controller.

Check if the communication cable has any failure such as damage.

Remove the servo motor and all the wiring from the machine, and check if the servo motor shaft can be rotated by the hands.

(If it is rotated by the hands, the brake has a failure.)

Check if the load was increased.

Check if the external relay or wiring connected to MBR (Electromagnetic brake interlock) is malfunctioning.

Remove the servo motor and all the wiring from the machine, and check if the servo motor shaft can be rotated by the hands.

(If it is rotated by the hands, the brake has a failure.)

An abnormal value such as 0 [r/min] has been specified for the servo motor speed.

The program input number set with the SYNC command does not match with the actual inputted signal.

Adjust the response of auto tuning and execute the gain adjustment again.

Reduce the effective load ratio by increasing acceleration/deceleration time or reducing load.

Review the torque limit setting.

Adjust the backlash on the coupling and machine part.

Set the communication settings correctly.

Set the model selection correctly.

Delete an unknown device or other devices, cycle the power of the servo amplifier, and then set the driver again according to Found New Hardware Wizard.

Replace the communication cable.

Replace the servo motor. [A]

Reduce the load. [A]

Replace the external relay. Or review the wiring.

Replace the servo motor.

Review the program. [A]

Review the program or signal to use.

[A] [B] [C]

[B] [C]

1 - 67

1. SERVO AMPLIFIER TROUBLESHOOTING

Description Cause Checkpoint Action Target

A point table was executed, but the operation did not start.

Automatic continuous

The electromagnetic brake cannot be released.

Modbus RTU communication is not established.

The communication setting is

Check if "Modbus RTU

The servo amplifier is not

A communication cable is

RS-422 communication (Mitsubishi Electric generalpurpose AC servo protocol) is not established.

Check if "RS-422

A communication cable is

A positioning to the same position is repeated.

The wiring is incorrect. Check the SBC output signal. Review the output signals. [B]

A signal of an output device is has not been outputted correctly.

The servo amplifier is not set to Modbus RTU communication protocol.

not set correctly.

Check if "Modbus RTU

compatible with Modbus RTU communication.

malfunctioning.

The servo amplifier is not set to RS-422 communication protocol.

The communication setting is not set correctly.

malfunctioning.

The operation start with the same point table number is repeated.

operation "8, 9, 10, 11" is selected in the sub function of the point table operation, and a positioning to the same point is endlessly repeated.

Check if the output device cable is wired correctly. Or check if the load of the output device is within the specifications.

Check if "communication protocol selection" in [Pr. PC71] is correctly set.

Check if [Pr. PC70 Modbus RTU communication station number setting] is set correctly.

communication baud rate selection" in [Pr. PC71] is set correctly.

communication parity selection" in [Pr. PF45] is set correctly.

Check if the servo amplifier was manufactured in May 2015 or later.

Check if the communication cable has any failure such as damage.

Check if "communication protocol selection" in [Pr. PC71] is set correctly.

Check if [Pr. PC20 Station number setting] is set correctly.

communication baud rate selection" in [Pr. PC21] is set correctly.

Check if the communication cable has any failure such as damage.

Review the setting of the point table or the operation procedure.

Review the wiring or load.

Select Modbus RTU communication protocol.

Check [Pr. PC70 Modbus RTU communication station number setting] and the station No. specified in a Query message from the controller if they are matched together.

Check "Modbus RTU communication baud rate selection" and the communication baud rate setting of the controller if they are matched together.

Check "Modbus RTU communication parity selection" and the parity setting of the controller if they are matched together.

Use a servo amplifier manufactured in May 2015 or later.

Replace the communication cable.

Select RS-422 communication protocol.

Check [Pr. PC20 Station number setting] and the station No. specified by the controller if they are matched together.

Check "RS-422 communication baud rate selection" and the communication baud rate setting of the controller if they are matched together.

Replace the communication cable.

[A]

1 - 68

1. SERVO AMPLIFIER TROUBLESHOOTING

Description Cause Checkpoint Action Target

No communication is performed using CC-Link IE Field Network Basic, SLMP, or Modbus/TCP.

Check if [Pr. PN15 Subnet

The IP address filter is not

Check if [Pr. PN28 IP

The designated operation IP

Check if [Pr. PN35

An Ethernet cable is

When CC-Link IE Field Network Basic is used, the servo motor stopped while the control command is on.

An Ethernet cable was

An Ethernet cable is

The IP address is not set correctly.

set correctly.

address is not set correctly.

malfunctioning.

An alarm or warning is occurring.

The link device (cyclic communication ready) is off.

disconnected.

malfunctioning.

Check if [Pr. PN11 IP address setting 1] to [Pr. PN14 IP address setting 4] are set correctly.

mask setting 1] to [Pr. PN18 Subnet mask setting 4] are set correctly.

Check if [Pr. PN24 IP address filter 1] to [Pr. PN27 IP address filter 4] are set correctly.

address filter 2 range selection] to [Pr. PN30 IP address filter 4 range selection] are set correctly.

Check if [Pr. PN31 Designated operation IP address 1] to [Pr. PN34 Designated operation IP address 4] are set correctly.

Designated operation IP address filter 3 range selection] and [Pr. PN36 Designated operation IP address filter 4 range selection] are set correctly.

Check if the Ethernet cable has any failure such as damage.

Check if an alarm or warning is occurring.

Check if the controller does not turn off the cyclic communication ready command.

Check if the cable is disconnected from the connector (CN1).

Check if the Ethernet cable has any failure such as damage.

Check if the parameter setting values match the designated IP address of the controller.

Check if the parameter setting values are set correctly.

Check if the parameter setting values match the address of external devices.

Check if the parameter setting values are set correctly.

Check if the parameter setting values match the IP address of the controller that transmits commands.

Check if the parameter setting values are set correctly.

Replace the Ethernet cable.

Check the contents of the alarm/warning, and remove its cause.

Turn on the cyclic communication ready command.

Connect it correctly.

Replace the Ethernet cable.

[C]

1 - 69

1. SERVO AMPLIFIER TROUBLESHOOTING

MEMO

1 - 70

2. DRIVE RECORDER

2.1 How to use the drive recorder

POINT

The drive recorder does not operate in the following conditions.

The graph function of MR Configurator2 is in use. The machine analyzer function is in use. [Pr. PF21] is set to "- 1". The controller is not connected (except in the test operation mode).

When the following alarms occur, the drive recorder does not operate.

[AL. 10.1 Voltage drop in the power] [AL. 12 Memory error 1 (RAM)] [AL. 15 Memory error 2 (EEP-ROM)] [AL. 16 Encoder initial communication error 1] [AL. 17 Board error] [AL. 19 Memory error 3 (Flash-ROM)] [AL. 1A Servo motor combination error] [AL. 1E Encoder initial communication error 2] [AL. 1F Encoder initial communication error 3] [AL. 25 Absolute position erased] [AL. 37 Parameter error]

[AL. 888/88888 Watchdog] When the graph is displayed with MR Configurator2, the drive recorder function is disabled. After the graph function is completed, passing time set with [Pr. PF21] or cycling the power of the servo amplifier enables the drive recorder function again. For MR-JE-_A, enabling/disabling the drive recorder function can be confirmed with the display (in the diagnostic mode).

When an alarm occurs in the servo amplifier, conditions of the servo amplifier (such as the motor speed and droop pulses) before/after alarm occurrence are recorded. You can refer to the recorded data with MR Configurator2. The drive recorder records sixteen data at alarm occurrences in the past. After that, recording a new data deletes the oldest one.

2 - 1

2. DRIVE RECORDER

(1) Trigger setting of the drive recorder

To operate the drive recorder only for a specified alarm, set "Drive recorder arbitrary alarm trigger setting" ([Pr. PA23]). For the settings, refer to explanations for [Pr. PA23] in each instruction manual. When "Drive recorder arbitrary alarm trigger setting" ([Pr. PA23]) is set to "0 0 0 0" (initial value), the drive recorder operates for alarms expect the ones described in above POINT.

(2) Recordable data by drive recorder

When "Drive recorder arbitrary alarm trigger setting" ([Pr. PA23]) is set to "0 0 0 0" (initial value), the drive recorder records data described in the standard column in table 2.1 to 2.3 for all alarms. When you set an alarm in table 2.1 to 2.3 to [Pr. PA23], each data described in the alarm column is recorded. When you set an alarm unlisted in table 2.1 to 2.3, data described in the standard column are recorded. Refer to table 2.4 for descriptions of each signal.

(3) When the servo amplifier power is turned off during data storage (immediately after alarm occurrence),

data at alarm occurrence may not be recorded normally. When the following alarms occur, data at alarm occurrence may not be recorded depending on its circumstances.

[AL. 13 Clock error] [AL. 14 Control process error] [AL. 34 SSCNET receive error 1] [AL. 36 SSCNET receive error 2] [AL. 8C Network module communication error]

2 - 2

2. DRIVE RECORDER

Data 1 Data 2 Data 3 Data 4 Data 5 Data 6 Data 7 Data 8

Analog Motor

Standard

Digital SON EM2/EM1 ALM2 INP MBR RD STO

Analog Motor

AL. 10

Digital SON EM2/EM1 ALM2 INP MBR RD STO

Analog Motor

AL. 20

Digital SON EM2/EM1 ALM2 INP MBR RD STO

Analog Motor

AL. 21

Digital SON EM2/EM1 ALM2 INP MBR RD STO

Analog Motor

AL. 24

Digital SON EM2/EM1 ALM2 INP MBR RD STO

Analog Motor

AL. 30

Digital SON EM2/EM1 ALM2 INP MBR RD STO

Analog Motor

AL. 31

Digital SON EM2/EM1 ALM2 INP MBR RD STO

Analog Motor

AL. 32

Digital SON EM2/EM1 ALM2 INP MBR RD STO

Analog Motor

AL. 33

Digital SON EM2/EM1 ALM2 INP MBR RD STO

Analog Motor

AL. 35

Digital SON EM2/EM1 ALM2 INP MBR RD STO

Analog Motor

AL. 46

Digital SON EM2/EM1 ALM2 INP MBR RD STO

Analog Motor

AL. 50

Digital SON EM2/EM1 ALM2 INP MBR RD STO

Analog Motor

AL. 51

Digital SON EM2/EM1 ALM2 INP MBR RD STO

Analog Motor

AL. 52

Digital SON EM2/EM1 ALM2 INP MBR RD STO

speed

Note. This signal is not used for MR-JE servo amplifiers.

Torque Current

Torque ABS

Torque Current

command

counter

command

Table 2.1 MR-JE-_A

Droop pulses (1 pulse)

Position within onerevolution

Droop pulses (1 pulse)

Command pulse frequency

Bus voltage

Speed command

Command pulse frequency

Internal temperature of encoder

Droop pulses (100 pulses)

Speed command

Current command

Bus voltage

Position within onerevolution

Effective load ratio

Bus voltage

Droop pulses (1 pulse)

Temperature of motor thermistor

Overload alarm margin

Speed command

Bus voltage

Encoder error counter 1

U-phase current feedback

Regenerative load ratio

Speed command

U-phase current feedback

Regenerative load ratio

Speed command

Bus voltage

Effective load ratio

(Note) Effective

load ratio

(Note) Encoder

error counter 2

(Note) Encoder

error counter 2

(Note) V-phase

current feedback

(Note) Effective

load ratio

(Note) Bus

voltage

(Note) V-phase

current feedback

(Note) Effective

load ratio

(Note) Bus

voltage

(Note) Effective

load ratio

(Note) Effective

load ratio

(Note) Effective

load ratio

(Note) Error

excessive alarm margin

(Note)

Sampling time [ms]

0.888 227

IPF

0.888 227

IPF

0.888 227

IPF

0.888 227

IPF

0.888 227

IPF

56.8 14563

IPF

0.888 227

IPF

0.444 113

IPF

3.5 910

IPF

0.888 227

IPF

56.8 14563

IPF

56.8 14563

IPF

56.8 14563

IPF

3.5 910

TLC

Measure-

ment time

[ms]

2 - 3

2. DRIVE RECORDER

Data 1 Data 2 Data 3 Data 4 Data 5 Data 6 Data 7 Data 8

Analog Motor

Standard

Digital CSON EMG ALM2 INP MBR RD STO

Analog Motor

AL. 10

Digital CSON EMG ALM2 INP MBR RD STO

Analog Motor

AL. 20

Digital CSON EMG ALM2 INP MBR RD STO

Analog Motor

AL. 21

Digital CSON EMG ALM2 INP MBR RD STO

Analog Motor

AL. 24

Digital CSON EMG ALM2 INP MBR RD STO

Analog Motor

AL. 30

Digital CSON EMG ALM2 INP MBR RD STO

Analog Motor

AL. 31

Digital CSON EMG ALM2 INP MBR RD STO

Analog Motor

AL. 32

Digital CSON EMG ALM2 INP MBR RD STO

Analog Motor

AL. 33

Digital CSON EMG ALM2 INP MBR RD STO

Analog Motor

AL. 35

Digital CSON EMG ALM2 INP MBR RD STO

Analog Motor

AL. 46

Digital CSON EMG ALM2 INP MBR RD STO

Analog Motor

AL. 50

Digital CSON EMG ALM2 INP MBR RD STO

Analog Motor

AL. 51

Digital CSON EMG ALM2 INP MBR RD STO

Analog Motor

AL. 52

Digital CSON EMG ALM2 INP MBR RD STO

speed

Note. This signal is not used for MR-JE servo amplifiers.

Torque Current

Torque ABS

Torque Current

command

counter

command

Table 2.2 MR-JE-_B

Droop pulses (1 pulse)

Position within onerevolution

Droop pulses (1 pulse)

Command pulse frequency

Bus voltage

Speed command

Command pulse frequency

Internal temperature of encoder

Droop pulses (100 pulses)

Speed command

Current command

Bus voltage

Position within onerevolution

Effective load ratio

Bus voltage

Droop pulses (1 pulse)

Temperature of motor thermistor

Overload alarm margin

Speed command

Bus voltage

Encoder error counter 1

U-phase current feedback

Regenerative load ratio

Speed command

U-phase current feedback

Regenerative load ratio

Speed command

Bus voltage

Effective load ratio

(Note) Effective

load ratio

(Note) Encoder

error counter 2

(Note) Encoder

error counter 2

(Note) V-phase

current feedback

(Note) Effective

load ratio

(Note) Bus

voltage

(Note) V-phase

current feedback

(Note) Effective

load ratio

(Note) Bus

voltage

(Note) Effective

load ratio

(Note) Effective

load ratio

(Note) Effective

load ratio

(Note) Error

excessive alarm margin

(Note)

Sampling time [ms]

0.888 227

IPF

0.888 227

IPF

0.888 227

IPF

0.888 227

IPF

0.888 227

IPF

56.8 14563

IPF

0.888 227

IPF

0.444 113

IPF

3.5 910

IPF

0.888 227

IPF

56.8 14563

IPF

56.8 14563

IPF

56.8 14563

IPF

3.5 910

TLC

Measure-

ment time

[ms]

2 - 4

2. DRIVE RECORDER

Data 1 Data 2 Data 3 Data 4 Data 5 Data 6 Data 7 Data 8

Analog Motor

Standard

Digital SON EM2/EM1 ALM2 INP MBR RD STO

Analog Motor

AL. 10

Digital SON EM2/EM1 ALM2 INP MBR RD STO

Analog Motor

AL. 20

Digital SON EM2/EM1 ALM2 INP MBR RD STO

Analog Motor

AL. 21

Digital SON EM2/EM1 ALM2 INP MBR RD STO

Analog Motor

AL. 24

Digital SON EM2/EM1 ALM2 INP MBR RD STO

Analog Motor

AL. 30

Digital SON EM2/EM1 ALM2 INP MBR RD STO

Analog Motor

AL. 31

Digital SON EM2/EM1 ALM2 INP MBR RD STO

Analog Motor

AL. 32

Digital SON EM2/EM1 ALM2 INP MBR RD STO

Analog Motor

AL. 33

Digital SON EM2/EM1 ALM2 INP MBR RD STO

Analog Motor

AL. 35

Digital SON EM2/EM1 ALM2 INP MBR RD STO

Analog Motor

AL. 46

Digital SON EM2/EM1 ALM2 INP MBR RD STO

Analog Motor

AL. 50

Digital SON EM2/EM1 ALM2 INP MBR RD STO

Analog Motor

AL. 51

Digital SON EM2/EM1 ALM2 INP MBR RD STO

Analog Motor

AL. 52

Digital SON EM2/EM1 ALM2 INP MBR RD STO

speed

Note. This signal is not used for MR-JE servo amplifiers.

Torque Current

Torque ABS

Torque Current

command

counter

command

Table 2.3 MR-JE-_C

Droop pulses (1 pulse)

Position within onerevolution

Droop pulses (1 pulse)

Command pulse frequency

Bus voltage

Speed command

Command pulse frequency

Internal temperature of encoder

Droop pulses (100 pulses)

Speed command

Current command

Bus voltage

Position within onerevolution

Effective load ratio

Bus voltage

Droop pulses (1 pulse)

Temperature of motor thermistor

Overload alarm margin

Speed command

Bus voltage

Encoder error counter 1

U-phase current feedback

Regenerative load ratio

Speed command

U-phase current feedback

Regenerative load ratio

Speed command

Bus voltage

Effective load ratio

(Note) Effective

load ratio

(Note) Encoder

error counter 2

(Note) Encoder

error counter 2

(Note) V-phase

current feedback

(Note) Effective

load ratio

(Note) Bus

voltage

(Note) V-phase

current feedback

(Note) Effective

load ratio

(Note) Bus

voltage

(Note) Effective

load ratio

(Note) Effective

load ratio

(Note) Effective

load ratio

(Note) Error

excessive alarm margin

(Note)

Sampling time [ms]

0.888 227

IPF

0.888 227

IPF

0.888 227

IPF

0.888 227

IPF

0.888 227

IPF

56.8 14563

IPF

0.888 227

IPF

0.444 113

IPF

3.5 910

IPF

0.888 227

IPF

56.8 14563

IPF

56.8 14563

IPF

56.8 14563

IPF

3.5 910

TLC

Measure-

ment time

[ms]

2 - 5

2. DRIVE RECORDER

Table 2.4 Signal explanations

Signal name Description Unit

Motor speed The servo motor speed is displayed. [r/min]

Torque The servo motor torque is displayed.

Analog

Current command This indicates the current command applying to the servo motor. [0.1%]

Droop pulses (1 pulse)

Droop pulses (100 pulses)

Speed command This indicates the speed command applying to the servo motor. [r/min]

Bus voltage This indicates the bus voltage at the converter of the servo amplifier. [V]

Effective load ratio The continuous effective load torque is displayed. This indicates the effective value for

ABS counter The travel distance from the home position is displayed as multi-revolution counter value

Position within one-

revolution

Encoder error

counter 1

Encoder error

counter 2

U-phase current

feedback

V-phase current

feedback

Regenerative load

ratio

Command pulse

frequency

Internal temperature

of encoder

Temperature of motor

thermistor

Overload alarm

margin

Error excessive alarm

margin

CSON This indicates the status of the servo-on signal from the controller.

SON This indicates the SON status of the external input signal.

Digital

EMG This indicates the status of the emergency stop input.

EM2/EM1 This indicates the EM2/EM1 status of the external input signal.

ALM2 This turns on when an alarm is detected in the servo amplifier. This changes faster than

INP This indicates the INP status of the external output signal.

MBR This indicates the MBR status of the external output signal.

RD This indicates the RD status of the external output signal.

STO (Note) This indicates the STO status of the external input signal.

IPF This turns on when an instantaneous power failure occurs.

The value of torque occurring is displayed in real time by considering a rated torque as 100%.

This indicates the number of droop pulses in the deviation counter in units of 1 pulse. [pulse]

This indicates the number of droop pulses in the deviation counter in units of 100 pulses. [100 pulses]

past 15 seconds.

of the absolution position encoder in the absolution position detection system.

The position within one revolution is displayed in units of encoder pulses. [16 pulses]

This indicates the cumulative number of errors during a communication with the encoder. [times]

The same as encoder error counter 1 [times]

This indicates the U-phase current value applying to the servo motor in internal units.

This indicates the V-phase current value applying to the servo motor in internal units.

The ratio of regenerative power to permissible regenerative power is displayed in percentage.

This indicates the command pulse frequency. [1.125 kpps]

The encoder inside temperature detected by the encoder is displayed. [°C]

The thermistor temperature is displayed for the rotary servo motor with a thermistor. [°C]

This indicates margins to the levels which trigger [AL. 50 Overload 1] and [AL. 51 Overload 2] in percentage. When the value becomes 0%, the overload alarm occurs.

This indicates a margin to the level which triggers the error excessive alarm in units of encoder pulses. When the value becomes 0 pulse, the error excessive alarm occurs.

ALM of the external output signal.

Note. This signal is not used for MR-JE servo amplifiers.

[0.1%]

[rev]

[0.1%]

[pulse]

2 - 6

2. DRIVE RECORDER

2.2 How to display drive recorder information

Select "Diagnosis" and then "Drive Recorder" from the menu bar of MR Configurator2. The window shown in the right-hand image is displayed.

(a) Click Waveform-Display to display the

graph preview window which shows data before and after alarm occurrence. For operating the graph preview window, refer to Help of MR Configurator2.

(b) Click Alarm onset data-Display to display

each data at alarm occurrence.

(a)

(c)

(b)

(c) Click History Clear to delete all data at alarm occurrence recorded in the servo amplifier. After

clicking History Clear, cycle the power of the servo amplifier. This restart takes longer time than usual due to the deletion of data.

2 - 7

2. DRIVE RECORDER

MEMO

2 - 8

APPENDIX

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

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

Servo amplifier Servo motor encoder

[AL. 9F]

Detection point

[AL. 25], [AL. 92]

Detection point

Battery

CN4

Step-down

circuit

(6 V 3.4 V)

CN2

Position/speed detection circuit

App. - 1

REVISIONS

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

Revision Date *Manual Number Revision

Nov. 2014 SH(NA)030166ENG-A First edition

Mar. 2015 SH(NA)030166ENG-B The contents of Modbus RTU and simple cam are added.

Section 1.2 [AL. 8A.2], [AL. 8E.6], [AL. 8E.7], and [AL. 8E.8] are added.

Section 1.3 [AL. F5_] and [AL. F6_] are added.

Section 1.4 [AL. 30.1] (4) is partially changed.

[AL. 8A] is partially changed.

[AL. 8A.2] is added.

[AL. 8E] is partially changed.

[AL. 8E.6] and [AL. 8E.7] are added.

[AL. 96.1] and [AL. 96.2] are partially changed.

[AL. E7] is partially changed.

[AL. F5] and [AL. F6] are added.

Section 1.6 A part of "The servo motor does not operate." is changed.

A part of "The servo motor speed does not accelerate. Or the

servo motor speed accelerates too much." is changed.

A part of "The position deviates during operation after the

home position return." is changed.

A part of "Communication with the servo amplifier fails using

MR Configurator2." is changed.

"Modbus RTU communication is not established." is added.

"RS-422 communication (Mitsubishi general-purpose AC

servo protocol) is not established." is added.

Mar. 2017 SH(NA)030166ENG-C The contents of MR-JE-C are added.

3. Additional instructions

(1) Wiring Partially added.

(3) Corrective actions Partially added.

«About the manual» Model names are added.

Section 1.1 Model names are added and partially changed.

Section 1.2 Partially added.

Section 1.3 Partially added.

Section 1.4 [C] is added to the target column and partially added.

Section 1.5 [C] is added to the target column and partially added.

Section 1.6 [C] is added to the target column and partially added.

Section 2.1 Table is added and partially changed.

Aug. 2017 SH(NA)030166ENG-D The contents of MR-JE-C are added.

3. Additional instructions Partially changed.

Section 1.2 Partially changed.

Section 1.4 Partially changed.

Section 1.5 Partially changed.

Section 1.6 Partially changed.

This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.

2014 MITSUBISHI ELECTRIC CORPORATION

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droit Technologies

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MELSERVO and CC-Link IE are trademarks or registered trademarks of Mitsubishi Electric Corporation in Japan and/or other countries. Ethernet is a registered trademark of Fuji Xerox Co., Ltd. in Japan. All other product names and company names are trademarks or registered trademarks of their respective companies.

Warranty

1. Warranty period and coverage We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment hereinafter referred to as the "Product"

arisen during warranty period at no charge due to causes for which we are responsible through the distributor from which you purchased the Product or our service provider. However, we will charge the actual cost of dispatching our engineer for an on-site repair work on request by customer in Japan or overseas countries. We are not responsible for any on-site readjustment and/or trial run that may be required after a defective unit are repaired or replaced.

[Term]

The term of warranty for Product is twelve (12) months after your purchase or delivery of the Product to a place designated by you or eighteen (18) months from the date of manufacture whichever comes first (“Warranty Period”). Warranty period for repaired Product cannot exceed beyond the original warranty period before any repair work.

[Limitations]

(1) You are requested to conduct an initial failure diagnosis by yourself, as a general rule.

It can also be carried out by us or our service company upon your request and the actual cost will be charged. However, it will not be charged if we are responsible for the cause of the failure.

(2) This limited warranty applies only when the condition, method, environment, etc. of use are in compliance with the terms and

conditions and instructions that are set forth in the instruction manual and user manual for the Product and the caution label affixed to the Product.

(3) Even during the term of warranty, the repair cost will be charged on you in the following cases;

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

2. Term of warranty after the stop of production

(1) We may accept the repair at charge for another seven (7) years after the production of the product is discontinued. The

(2) Please note that the Product (including its spare parts) cannot be ordered after its stop of production.

3. Service in overseas countries

4. Exclusion of loss in opportunity and secondary loss from warranty liability

(1) Damages caused by any cause found not to be the responsibility of Mitsubishi.

(2) Loss in opportunity, lost profits incurred to the user by Failures of Mitsubishi products.

(3) Special damages and secondary damages whether foreseeable or not, compensation for accidents, and compensation for

(4) Replacement by the user, maintenance of on-site equipment, start-up test run and other tasks.

5. Change of Product specifications

6. Application and use of the Product

(1) For the use of our General-Purpose AC Servo, its applications should be those that may not result in a serious damage even if any

(2) Our General-Purpose AC Servo is designed and manufactured as a general purpose product for use at general industries.

SH(NA)030166ENG-D

hardware or software problem

(ii) a failure caused by any alteration, etc. to the Product made on your side without our approval

(iii) a failure which may be regarded as avoidable, if your equipment in which the Product is incorporated is equipped with a

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

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

maintained and replaced

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

(vi) a failure caused by external factors such as inevitable accidents, including without limitation fire and abnormal fluctuation of

voltage, and acts of God, including without limitation earthquake, lightning and natural disasters

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

of the Product from our company

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

announcement of the stop of production for each model can be seen in our Sales and Service, etc.

Our regional FA Center in overseas countries will accept the repair work of the Product. However, the terms and conditions of the repair work may differ depending on each FA Center. Please ask your local FA center for details.

Regardless of the gratis warranty term, Mitsubishi shall not be liable for compensation to:

damages to products other than Mitsubishi products.

Specifications listed in our catalogs, manuals or technical documents may be changed without notice.

failure or malfunction occurs in General-Purpose AC Servo, and a backup or fail-safe function should operate on an external system to General-Purpose AC Servo when any failure or malfunction occurs.

Therefore, applications substantially influential on the public interest for such as atomic power plants and other power plants of electric power companies, and also which require a special quality assurance system, including applications for railway companies and government or public offices are not recommended, and we assume no responsibility for any failure caused by these applications when used In addition, applications which may be substantially influential to human lives or properties for such as airlines, medical treatments,

railway service, incineration and fuel systems, man-operated material handling equipment, entertainment machines, safety machines, etc. are not recommended, and we assume no responsibility for any failure caused by these applications when used. We will review the acceptability of the abovementioned applications, if you agree not to require a specific quality for a specific application. Please contact us for consultation.

MODEL

MR-JE INSTRUCTIONMANUAL (TROUBLESHOOTING)

MODEL CODE

This Instruction Manual uses recycled paper. SH(NA)030166ENG-D(1708)MEE Printed in Japan Specifications are subject to change without notice.

1CW710

HEAD OFFICE: TOKYO BLDG MARUNOUCHI TOKYO 100-8310

Mitsubishi Electric MELSERVO-JE Instruction Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Safety Instructions

CONTENTS

1. SERVO AMPLIFIER TROUBLESHOOTING

1.1 Explanations of the lists

1.2 Alarm list

1.3 Warning list

1.4 Remedies for alarms

1.5 Remedies for warnings

1.6 Trouble which does not trigger an alarm/warning

2. DRIVE RECORDER

2.1 How to use the drive recorder

2.2 How to display drive recorder information

APPENDIX

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

REVISIONS

Warranty