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

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