Mitsubishi Electric MELSERVO-J4, MR-CV, MR-J4-B(-RJ), MR-CR55K(4), MR-J4-B-RJ010 Instruction Manual

General-Purpose AC Servo

MELSERVO-J4 Servo amplifier

INSTRUCTION MANUAL (TROUBLE SHOOTING)

M

Safety Instructions

Please read the instructions carefully before using the equipment.

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

WARNING

CAUTION

Note that the CAUTION level may lead to a serious consequence according to conditions. Please follow the instructions of both levels because they are important to personnel safety. What must not be done and what must be done are indicated by the following diagrammatic symbols.

Indicates that incorrect handling may cause hazardous conditions,

resulting in death or severe injury.

Indicates that incorrect handling may cause hazardous conditions,

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

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

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

In this Instruction Manual, instructions at a lower level than the above, instructions for other functions, and so on are classified into "POINT". After reading this Instruction Manual, keep it accessible to the operator.

A - 1

1. To prevent electric shock, note the following

WARNING

Before wiring or inspection, turn off the power and wait for 15 minutes or more (20 minutes or more for converter unit) until the charge lamp turns off. Then, confirm that the voltage between P+ and N(between L+ and L- for converter unit) is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, always confirm whether the charge lamp is off or not from the front of the servo amplifier (converter unit). Do not operate switches with wet hands. Otherwise, it may cause an electric shock.

2. To prevent fire, note the following

CAUTION

When you use an MR-J4 multi-axis servo amplifier, connecting an encoder for wrong axis to the CN2A, CN2B, or CN2C connector may cause a fire.

3. To prevent injury, note the following

CAUTION

The servo amplifier (drive unit), converter unit heat sink, regenerative resistor, servo motor, etc. may become hot while power is on or for some time after power-off. Take safety measures, e.g. provide covers, to avoid accidentally touching the parts (cables, etc.) by hand.

4. Additional instructions

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

(1) Wiring

CAUTION

Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly. To avoid a malfunction of the servo motor, connect the wires to the correct phase terminals (U/V/W) of the servo amplifier (drive unit) and the servo motor. Connect the servo amplifier (drive unit) power output (U/V/W) to the servo motor power input (U/V/W) directly. Do not let a magnetic contactor, etc. intervene. Otherwise, it may cause a malfunction.

Servo amplifier

(drive unit)

U

V

W

Servo motor

U

V

W

M

Servo amplifier

(drive unit)

U

V

W

Servo motor

U

V

W

M

Configure a circuit to turn off EM2 or EM1 when the main circuit power is turned off to prevent an unexpected restart of the servo amplifier (drive unit).

A - 2

(2) Usage

CAUTION

Before resetting an alarm, make sure that the run signal of the servo amplifier (drive unit) is off in order to prevent a sudden restart. Otherwise, it may cause an accident. Use the servo amplifier (drive unit) and converter unit with the specified servo motor.

(3) Corrective actions

CAUTION

Ensure safety by confirming the power off, etc. before performing corrective actions. Otherwise, it may cause an accident. When it is assumed that a hazardous condition may occur due to a power failure or product malfunction, use a servo motor with an electromagnetic brake or external brake to prevent the condition. Configure an electromagnetic brake circuit which is interlocked with an external emergency stop switch.

Contacts must be opened when CALM (Common malfunction) or MBR (Electromagnetic brake interlock) turns off.

Contacts must be opened with the emergency stop switch.

Servo motor

B

Electromagnetic brake

When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before restarting operation. Provide an adequate protection to prevent unexpected restart after an instantaneous power failure.

RA

24 V DC

A - 3

«About the manual»

This Instruction Manual covers the following models. These include servo amplifiers (drive units) which have optional units.

MR-J4-_A/MR-J4-_A4/MR-J4-_A1/MR-J4-_A-RJ/MR-J4-_A4-RJ/MR-J4-_A1-RJ MR-J4-_B/MR-J4-_B4/MR-J4-_B1/MR-J4-_B-RJ/MR-J4-_B4-RJ/MR-J4-_B1-RJ MR-J4W_-_B MR-J4-_B-RJ010/MR-J4-_B4-RJ010 MR-J4-03A6/MR-J4-03A6-RJ/MR-J4W2-0303B6 MR-J4-_GF/MR-J4-_GF4/MR-J4-_GF-RJ/MR-J4-_GF4-RJ MR-J4-DU_A/MR-J4-DU_A4/MR-J4-DU_A-RJ/MR-J4-DU_A4-RJ MR-J4-DU_B/MR-J4-DU_B4/MR-J4-DU_B-RJ/MR-J4-DU_B4-RJ MR-CV_ MR-CR55K/MR-CR55K4

The symbols in the target column mean as follows. [A]: MR-J4-_A/MR-J4-_A4/MR-J4-_A1/MR-J4-_A-RJ/MR-J4-_A4-RJ/MR-J4-_A1-RJ/MR-J4-DU_A/

MR-J4-DU_A4/MR-J4-DU_A-RJ/MR-J4-DU_A4-RJ/MR-J4-03A6/MR-J4-03A6-RJ

[B]: MR-J4-_B/MR-J4-_B4/MR-J4-_B1/MR-J4-_B-RJ/MR-J4-_B4-RJ/MR-J4-_B1-RJ/

MR-J4-DU_B/MR-J4-DU_B4/MR-J4-DU_B-RJ/MR-J4-DU_B4-RJ [WB]: MR-J4W_-_B/MR-J4W2-0303B6 [RJ010]: MR-J4-_B-RJ010/MR-J4-_B4-RJ010 [GF]: MR-J4-_GF/MR-J4-_GF4/MR-J4-_GF-RJ/MR-J4-_GF4-RJ [Other]: For manufacturer adjustment

A - 4

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

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. [AL. 8D.1 CC-Link IE communication error 1] and [AL. 8D.2 CC-Link IE communication error 2] are not recorded in the alarm history. For MR-J4-_GF_(RJ), these alarms are recorded by setting [Pr. PN06] to "_ _ _ 1".

When an error occurs during operation, the corresponding alarm or warning is displayed. When an alarm is displayed, refer to section 1.4 and take the appropriate action. When an alarm occurs, ALM will turn off. When an warning is displayed, refer to section 1.5 and take the appropriate action.

1.1 Explanation for the lists

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

Indicates each 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 its cause has been removed, the alarm can be deactivated in any of the methods marked

in the alarm deactivation column. Warnings are automatically canceled after the cause of occurrence is removed. Alarms are deactivated with alarm reset, CPU reset, or cycling the power.

(a) MR-J4-_A_(-RJ)/MR-J4-DU_A_(-RJ)

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

Cycling the power Turning the power off and then turning it on again.

Alarm deactivation Explanation

2. Pushing the "SET" button while the display of the servo amplifier is the current alarm display status

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

(b) MR-J4-_B_(-RJ010)/MR-J4W_-_B/MR-J4-DU_B_(-RJ)/MR-J4-_GF_(-RJ)

Alarm reset 1. Reset command from controller

CPU reset Resetting the controller itself

Cycling the power Turning the power off and then turning it on again.

Alarm deactivation Explanation

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

(4) Processing system (only for MR-J4W_-_B_)

Processing system of alarms is as follows. Each axis: Alarm is detected for each axis. Common: Alarm is detected as the whole servo amplifier.

1 - 1

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

(5) Stop system (only for MR-J4W_-_B_)

This means target axis to stop when the alarm occurs. Each axis: Only alarming axis will stop. All axes: All axes will stop.

(6) Alarm code (only MR-J4-_A_(-RJ)/MR-J4-DU_A_(-RJ))

To output alarm codes, set [Pr. PD34] to "_ _ _ 1" when using an MR-J4-_A_(-RJ)/MR-J4-DU_A_(-RJ). Alarm codes are outputted by on/off of bit 0 to bit 2. Warnings ([AL. 90] to [AL. F3]) do not have alarm codes. The alarm codes in the following table will be outputted when they occur. The alarm codes will not be outputted in normal condition. When using an MR-D01 extension IO unit, you can output alarm codes by setting [Pr. Po12] to "_ _ _ 1". Alarm codes are outputted by on/off of bit 0 to bit 3.

1 - 2

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

1.2 Alarm list

Stop

No. Name

Alarm

10 Undervoltage

11 Switch setting error

11.2

12.1 RAM error 1 DB

12.2 RAM error 2 DB

12.4 RAM error 4 DB

12.5 RAM error 5 DB

12.6 RAM error 6 DB

13.2 Clock error 2 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 14.6 Control process error 6 DB

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.B Control process error 11 DB

Memory error 1

12

13 Clock error

15

16.1

16.2

16.3

16.5

16.6

16

16.B

16.C

16.D

16.E

16.F

(RAM)

Control process

error

Memory error 2

(EEP-ROM)

Encoder initial

communication

error 1

Detail

No.

Voltage drop in the control

10.1 circuit power

Voltage drop in the main circuit

10.2 power

Axis number setting error/

11.1 Station number setting error

Disabling control axis setting error

12.3 RAM error 3 DB

13.1 Clock error 1 DB

14.5 Control process error 5 DB

15.1 EEP-ROM error at power on DB

EEP-ROM error during

15.2 operation

Home position information read

15.4 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

Detail name

method

(Note

2, 3)

EDB

SD

DB

Alarm deactivation

Alarm

reset

CPU reset

Process-

Cycling

system

the

(Note 9)

power

Common All axes

Common All axes 0 0 0 0

Common All axes

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Stop

ing

system

(Note 9)

Each

Alarm code (Note 8)

ACD3

(Bit 3)

0 0 1 0

0 0 0 0

axis

0 1 1 0

ACD2

(Bit 2)

ACD1

(Bit 1)

ACD0

(Bit 0)

1 - 3

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

Stop

No. Name

17.1 Board error 1 DB

17.3 Board error 2 DB

Alarm

17.4 Board error 3 DB

17 Board error

17.6 Board error 5 DB

17.7 Board error 7 DB

17.8 Board error 6 (Note 6) EDB

17.9 Board error 8 DB

19 19.2 Flash-ROM error 2 DB

19.3 Flash-ROM error 3 DB

1B Converter error 1B.1 Converter unit error DB

Memory error 3

(Flash-ROM)

1A.1

1A

1E

1F

20

21 21.4 Encoder non-signal error EDB

Servo motor

combination error

1A.4

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

21.1 Encoder data error 1 EDB

21.2 Encoder data update error EDB

Encoder normal

communication

error 2

21.5 Encoder hardware error 1 EDB

21.6 Encoder hardware error 2 EDB

21.9 Encoder data error 2 EDB

Detail

No.

17.5 Board error 4 DB

19.1 Flash-ROM error 1 DB

Servo motor combination error 1

Servo motor control mode

1A.2

combination error

Servo motor combination error 2

1E.1 Encoder malfunction DB

1E.2 Load-side encoder malfunction DB

1F.1 Incompatible encoder DB

1F.2 Incompatible load-side 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

20.5

communication - Transmission data error 1

Encoder normal

20.6

communication - 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

21.3 Encoder data waveform error EDB

Detail name

method

(Note

2, 3)

DB

EDB

Alarm deactivation

Alarm

reset

CPU reset

Process-

Cycling

system

the

(Note 9)

power

Common All axes

Common All axes 0 0 0 0

Common All axes

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Stop

ing

system

(Note 9)

0 0 1 0

ACD3

(Bit 3)

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Alarm code (Note 8)

ACD2

ACD1

ACD0

(Bit 2)

(Bit 1)

(Bit 0)

0 0 0 0

0 1 1 0

1 - 4

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

Stop

No. Name

Alarm

24 Main circuit error

33 Overvoltage 33.1 Main circuit voltage error EDB

Absolute position

25

27.1

27.2

27.3

27

27.5

27.6

27.7

28

2A.1 Linear encoder error 1-1 EDB

2A.2 Linear encoder error 1-2 EDB

2A.3 Linear encoder error 1-3 EDB

2A

2A.6 Linear encoder error 1-6 EDB

2A.7 Linear encoder error 1-7 EDB

2A.8 Linear encoder error 1-8 EDB

2B

30.1 Regeneration heat error DB

30 Regenerative error 30.2 Regeneration signal error DB

30.3

31 Overspeed 31.1 Abnormal motor speed SD

32.1

32 Overcurrent

32.4

erased

Initial magnetic

pole detection error

Linear encoder

error 2

Linear encoder

error 1

Encoder counter

error

Detail

No.

Ground fault detected by

24.1 hardware detection circuit

Ground fault detected by

24.2 software detection function

Servo motor encoder -

25.1 Absolute position erased

Scale measurement encoder -

25.2 Absolute position erased

Initial magnetic pole detection Abnormal termination

Initial magnetic pole detection Time out error

Initial magnetic pole detection Limit switch error

Initial magnetic pole detection -

27.4 Estimated error

Initial magnetic pole detection Position deviation error

Initial magnetic pole detection Speed deviation error

Initial magnetic pole detection Current error

Linear encoder - Environment

28.1 error

2A.4 Linear encoder error 1-4 EDB

2A.5 Linear encoder error 1-5 EDB

2B.1 Encoder counter error 1 EDB

2B.2 Encoder counter error 2 EDB

Regeneration feedback signal error

Overcurrent detected at hardware detection circuit (during operation)

Overcurrent detected at

32.2

software detection function (during operation)

Overcurrent detected at

32.3

hardware detection circuit (during a stop)

Overcurrent detected at software detection function (during a stop)

Detail name

method

(Note

2, 3)

DB

EDB

DB

Alarm deactivation

Alarm

reset

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

CPU reset

Cycling

the

power

Process-

system

(Note 9)

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Common All axes

Common All axes 0 0 0 1

Common All axes

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Common All axes 1 0 0 1

Stop

ing

system

(Note 9)

All axes

ACD3

(Bit 3)

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Alarm code (Note 8)

ACD2

ACD1

ACD0

(Bit 2)

(Bit 1)

(Bit 0)

1 1 0 0

1 1 1 0

0 1 1 0

1 1 1 0

0 1 0 1

0 1 0 0

1 - 5

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

Stop

No. Name

Alarm

34.4 Hardware error signal detection SD

37.3 Point table setting error DB

39.3 Register No. error DB

3E.6 Operation mode switch error DB

SSCNET receive

34

35

36

37 Parameter error

39 Program error

3A

3D

3E

42

45

error 1

Command

frequency error

SSCNET receive

error 2

Inrush current

suppression circuit

error

Parameter setting

error for driver

communication

Operation mode

error

Servo control error

(for linear servo

motor and direct

drive motor)

Fully closed loop

control error

(for fully closed

loop control)

Main circuit device

overheat

Detail

No.

34.1 SSCNET receive data error SD

SSCNET connector connection

34.2 error

SSCNET communication data

34.3 error

SSCNET receive data error

34.5 (safety observation function)

SSCNET communication data

34.6

error (safety observation function)

35.1 Command frequency error SD

Continuous communication

36.1 data error

Continuous communication

36.2

data error (safety observation function)

37.1 Parameter setting range error DB

37.2 Parameter combination error DB

39.1 Program error DB

Instruction argument external

39.2 error

Non-correspondence instruction

39.4 error

Inrush current suppression

3A.1

circuit error

Parameter combination error

3D.1

for driver communication on slave

Parameter combination error

3D.2

for driver communication on master

3E.1 Operation mode error DB

Servo control error by position

42.1 deviation

Servo control error by speed

42.2 deviation

Servo control error by

42.3 torque/thrust deviation

Fully closed loop control error

42.8 by position deviation

Fully closed loop control error

42.9 by speed deviation

Fully closed loop control error

42.A

by position deviation during command stop

Main circuit device overheat

45.1 error 1

Main circuit device overheat

45.2 error 2

Detail name

method

(Note

2, 3)

SD

DB

EDB

DB

EDB (Note 4) (Note 4)

SD

Alarm deactivation

Alarm

reset

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

CPU reset

(Note 5)

Cycling

the

power

Process-

system

(Note 9)

Common All axes

Each

axis

Common All axes

Each

axis

Each

axis

Each

axis

Each

axis

Common All axes 0 0 0 0

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Common All axes

Stop

ing

system

(Note 9)

1 0 0 0

ACD3

(Bit 3)

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Alarm code (Note 8)

ACD2

ACD1

ACD0

(Bit 2)

(Bit 1)

(Bit 0)

1 1 0 1

1 0 0 0

0 0 0 0

0 1 1 0

0 0 1 1

1 - 6

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

Stop

No. Name

46.1

Alarm

46.2

46

46.4 Thermistor circuit error SD

46.5

46.6

47 Cooling fan error

47.2

50.1

50.2

50 Overload 1

50.4

50.5

50.6

51 Overload 2

51.2

52.1 Excess droop pulse 1 SD

52 Error excessive

52.4

52.5 Excess droop pulse 3 EDB

54

56 Forced stop error

56.3

61 Operation error 61.1 Point table setting range error DB

63.1 STO1 off DB

63 STO timing error 63.2 STO2 off DB

63.5 STO by functional safety unit DB

64.1 STO input error DB

64

Servo motor

overheat

Oscillation

detection

Functional safety

unit setting error

64.3 Operation mode setting error DB

Detail

No.

Abnormal temperature of servo motor 1

Abnormal temperature of servo motor 2

46.3 Thermistor disconnected error SD

Abnormal temperature of servo motor 3

Abnormal temperature of servo motor 4

47.1 Cooling fan stop error SD

Cooling fan speed reduction error

Thermal overload error 1 during operation

Thermal overload error 2 during operation

Thermal overload error 4

50.3 during operation

Thermal overload error 1 during a stop

Thermal overload error 2 during a stop

Thermal overload error 4 during a stop

Thermal overload error 3

51.1 during operation

Thermal overload error 3 during a stop

52.3 Excess droop pulse 2 SD

Error excessive during 0 torque limit

54.1 Oscillation detection error EDB

56.2 Over speed during forced stop EDB

Estimated distance over during forced stop

Compatibility mode setting

64.2 error

Detail name

method

(Note

2, 3)

SD

DB

SD

DB

SD

EDB

DB

Alarm deactivation

Alarm

reset

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

CPU reset

Cycling

the

power

Process-

system

(Note 9)

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Common All axes

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Common All axes

Common All axes 0 1 1 0

Stop

ing

system

(Note 9)

0 1 0 1

1 0 0 0

ACD3

(Bit 3)

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Alarm code (Note 8)

ACD2

ACD1

ACD0

(Bit 2)

(Bit 1)

(Bit 0)

0 0 1 1

0 1 0 1

0 0 1 1

0 1 1 0

1 - 7

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

No. Name

65.1

Alarm

65.2

65.3

65 65.5

65.6

65.7

65.8

65.9

66.1

66 66.3

66.7

66.9

67.1

67 67.3

67.4

67.7

68

69.2

69.3

69.4

69.5

69.6

Functional safety

unit connection

error

Encoder initial

communication

error (safety observation

function)

Encoder normal

communication

error 1

(safety observation

function)

STO diagnosis

error

69 Command error

Detail

No.

Functional safety unit communication error 1

Functional safety unit communication error 2

Functional safety unit communication error 3

Functional safety unit

65.4 communication error 4

Functional safety unit communication error 5

Functional safety unit communication error 6

Functional safety unit communication error 7

Functional safety unit shut-off signal error 1

Functional safety unit shut-off signal error 2

Encoder initial communication Receive data error 1 (safety observation function)

Encoder initial communication -

66.2

Receive data error 2 (safety observation function)

Encoder initial communication Receive data error 3 (safety observation function)

Encoder initial communication Transmission data error 1 (safety observation function)

Encoder initial communication Process error 1 (safety observation function)

Encoder normal communication - Receive data error 1 (safety observation function)

Encoder normal communication - Receive data

67.2 error 2 (safety observation

function)

Encoder normal communication - Receive data error 3 (safety observation function)

Encoder normal communication - Receive data error 4 (safety observation function)

Encoder normal communication - Transmission data error 1 (safety observation function)

68.1 Mismatched STO signal error DB

Forward rotation-side software

69.1

limit detection - Command excess error

Reverse rotation-side software limit detection - Command excess error

Forward rotation stroke end detection - Command excess error

Reverse rotation stroke end detection - Command excess error

Upper stroke limit detection Command excess error

Lower stroke limit detection Command excess error

Detail name

Stop

method

(Note

2, 3)

SD

DB

SD

Alarm deactivation

Alarm

CPU

reset

Process-

Cycling

system

the

(Note 9)

power

Common Common 0 0 0 0

Stop

ing

system

(Note 9)

0 0 0 0

0 1 1 0

ACD3

(Bit 3)

Alarm code (Note 8)

ACD2

ACD1

ACD0

(Bit 2)

(Bit 1)

(Bit 0)

1 - 8

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

No. Name

70.1

Alarm

70.2

70.3

70.5

70.6

70.A

70.B

70.C

70.D

70.E

70.F

Load-side encoder

70

71.1

71.2

71.3

71

71.7

71.9

71.A

initial

communication

error 1

Load-side encoder

normal

communication

error 1

Detail

No.

Load-side encoder initial communication - Receive data error 1

Load-side encoder initial communication - Receive data error 2

Load-side encoder initial communication - Receive data error 3

Load-side encoder initial communication - Transmission data error 1

Load-side encoder initial communication - Transmission data error 2

Load-side encoder initial

70.7

communication - Transmission data error 3

Load-side encoder initial communication - Process error 1 DB

Load-side encoder initial communication - Process error 2 DB

Load-side encoder initial communication - Process error 3 DB

Load-side encoder initial communication - Process error 4 DB

Load-side encoder initial communication - Process error 5 DB

Load-side encoder initial communication - Process error 6 DB

Load-side encoder normal communication - Receive data error 1

Load-side encoder normal communication - Receive data error 2

Load-side encoder normal communication - Receive data error 3

Load-side encoder normal

71.5

communication - Transmission data error 1

Load-side encoder normal

71.6

communication - Transmission data error 2

Load-side encoder normal communication - Transmission data error 3

Load-side encoder normal communication - Receive data error 4

Load-side encoder normal communication - Receive data error 5

Detail name

Stop

method

(Note

2, 3)

DB

EDB

Alarm deactivation

Alarm

reset

CPU reset

Cycling

the

power

Process-

ing

system

(Note 9)

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Stop

system

(Note 9)

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

ACD3

(Bit 3)

Alarm code (Note 8)

ACD2

ACD1

ACD0

(Bit 2)

(Bit 1)

(Bit 0)

0 1 1 0

1 - 9

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

Stop

No. Name

72.1 Load-side encoder data error 1 EDB

Alarm

72.2

Load-side encoder

72 72.4

72.5

72.6

72.9 Load-side encoder data error 2 EDB

74.1 Option card error 1 DB

74.2 Option card error 2 DB

74 Option card error 1 74.3 Option card error 3 DB

74.4 Option card error 4 DB

74.5 Option card error 5 DB

75 Option card error 2

75.4 Option card disconnected DB

79.1

79.2

79

79.4 Servo amplifier error SD

79.5 Input device error SD

79.6 Output device error SD

79.7 Mismatched input signal error SD

79.8 Position feedback fixing error DB

7A.2

7A

7A.3

7A.4

7B.1

7B

7B.3

7B.4

7C

7C.2

7D

7D.2 Speed observation error DB

82

normal

communication

error 2

Functional safety

unit diagnosis error

Parameter setting

error

(safety observation

function)

Encoder diagnosis

error

(safety observation

function)

Functional safety

unit communication

diagnosis error

(safety observation

function)

Safety observation

error

Master-slave

operation error 1

Detail

No.

Load-side encoder data update error

Load-side encoder data

72.3 waveform error

Load-side encoder non-signal error

Load-side encoder hardware error 1

Load-side encoder hardware error 2

75.3 Option card connection error EDB

Functional safety unit power voltage error

Functional safety unit internal error

Abnormal temperature of

79.3 functional safety unit

Parameter verification error

7A.1

(safety observation function)

Parameter setting range error (safety observation function)

Parameter combination error (safety observation function)

Functional safety unit combination error (safety observation function)

Encoder diagnosis error 1 (safety observation function)

Encoder diagnosis error 2

7B.2

(safety observation function)

Encoder diagnosis error 3 (safety observation function)

Encoder diagnosis error 4 (safety observation function)

Functional safety unit

7C.1

communication setting error (safety observation function)

Functional safety unit communication data error (safety observation function)

7D.1 Stop observation error DB

82.1 Master-slave operation error 1 EDB

Detail name

method

(Note

2, 3)

EDB

DB

SD

DB

SD

Alarm deactivation

Alarm

(Note 7)

(Note 3)

(Note 7)

CPU

reset

Cycling

power

the

Process-

system

(Note 9)

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Stop

ing

system

(Note 9)

ACD3

(Bit 3)

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Alarm code (Note 8)

ACD2

ACD1

ACD0

(Bit 2)

(Bit 1)

(Bit 0)

0 1 1 0

1 1 1 1

1 0 0 0

0 1 1 0

0 0 0 0

1 1 1 1

1 - 10

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

Stop

No. Name

Alarm

8D.1

8D.2

8D.5 Master station setting error 2 DB

8D 8D.6

8D.7

8D.8

8D.9 Synchronization error 1 SD

8D.A Synchronization error 2 SD

8E.1

88888 Watchdog 8888._ Watchdog DB

Network module

84

initialization error

Network module

85

86

8A

8E.2

8E

8E.6

8E.7

8E.8

error

Network

communication

error

USB

communication

time-out error/serial

communication

time-out

error/Modbus-RTU

communication

time-out error

CC-Link IE

communication

error

USB

communication

error/serial

communication

error/Modbus-RTU

communication

error

Detail

No.

Network module undetected

84.1 error

Network module initialization

84.2 error 1

Network module initialization

84.3 error 2

85.1 Network module error 1 SD

85.2 Network module error 2 SD

85.3 Network module error 3 SD

86.1 Network communication error 1 SD

86.2 Network communication error 2 SD

86.3 Network communication error 3 SD

USB communication time-out

8A.1

error/serial communication time-out error

Modbus-RTU communication

8A.2

time-out error

CC-Link IE communication error 1

CC-Link IE communication error 2

8D.3 Master station setting error 1 DB

CC-Link IE communication error 3

CC-Link IE communication error 4

CC-Link IE communication error 5

USB communication receive error/serial communication receive error

USB communication checksum 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 error/serial

8E.5

communication data number error

Modbus-RTU communication receive error

Modbus-RTU communication message frame error

Modbus-RTU communication CRC error

Detail name

method

(Note

2, 3)

DB

SD

Alarm deactivation

Alarm

CPU

reset

Process-

Cycling

system

the

(Note 9)

power

Common All axes

Stop

ing

system

(Note 9)

ACD3

(Bit 3)

Alarm code (Note 8)

ACD2

ACD1

ACD0

(Bit 2)

(Bit 1)

(Bit 0)

0 0 0 0

1 - 11

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

A

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: Stops with dynamic brake. (Coasts for the servo amplifier without dynamic brake.)

Coasts for MR-J4-03A6(-RJ) and MR-J4W2-0303B6. Note that EDB is applied when an alarm below occurs;

[AL. 30.1], [AL. 32.2], [AL. 32.4], [AL. 51.1], [AL. 51.2], [AL. 888]

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 will

be DB.

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

4. The alarm can be canceled by setting as follows:

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

6. This alarm will occur only in the J3 compatibility mode.

7. Reset this while all the safety observation functions are stopped.

8.

9. The processing and stop systems are applicable only for the multi-axis servo amplifiers (MR-J4W_-_B_). Refer to section 1.1

SD: Forced stop deceleration

For the fully closed loop control: set [Pr. PE03] to "1 _ _ _".

When a linear servo motor or direct drive motor is used: set [Pr. PL04] to "1 _ _ _".

larm codes are outputted only from MR-J4-_A_(-RJ)/MR-J4-DU_A_(-RJ). Refer to section 1.1 for details.

for details.

Series Servo motor

HG-KR HG-KR053/HG-KR13/HG-KR23/HG-KR43

HG-MR HG-MR053/HG-MR13/HG-MR23/HG-MR43

HG-SR HG-SR51/HG-SR52

HG-AK HG-AK0136/HG-AK0236/HG-AK0336

1 - 12

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

1.3 Warning list

Stop

No. Name

Home position

return incomplete

90 90.2

Warning

90.5 Z-phase unpassed

91

92

92.3 Battery degradation

93

95.1 STO1 off detection DB Common All axes

95.2 STO2 off detection DB Common All axes

95 STO warning

95.4

95.5

96.1

96

96.3

96.4

97

97.2 Next station position warning

98

98.2

99.1 Forward rotation stroke end off

99 Stroke limit warning

99.4 Upper stroke limit off (Note 7)

99.5 Lower stroke limit off (Note 7)

9A

9A.2 Optional unit BCD input data error

9B

9B.3 Excess droop pulse 2 warning

9B.4

9C Converter error 9C.1 Converter unit error

9D.1

9D

9D.3

9D.4

warning

Servo amplifier

overheat warning

(Note 1)

Battery cable

disconnection

warning

ABS data transfer

warning

Home position

setting warning

Positioning

specification

warning

Software limit

warning

Optional unit input data error warning

Error excessive

warning

CC-Link IE warning

1

Detail

No.

90.1 Home position return incomplete

Home position return abnormal termination

Main circuit device overheat

91.1 warning

Encoder battery cable

92.1 disconnection warning

ABS data transfer requirement

93.1

warning during magnetic pole detection

STO warning 1 (safety observation

95.3 function)

STO warning 2 (safety observation function)

STO warning 3 (safety observation function)

In-position warning at home positioning

Command input warning at home

96.2 positioning

Servo off warning at home positioning

Home positioning warning during magnetic pole detection

Program operation disabled

97.1 warning

Forward rotation-side software

98.1 stroke limit reached

Reverse rotation-side software stroke limit reached

99.2 Reverse rotation stroke end off

9A.1 Optional unit input data sign error

9B.1 Excess droop pulse 1 warning

Error excessive warning during 0 torque limit

Station number switch change warning

9D.2 Master station setting warning

Overlapping station number warning

Mismatched station number warning

Detail name

Process-

method

(Note 2,

system

3)

(Note 5)

Common

Each

DB

Each

(Note

4, 7)

(Note

4, 7)

Each

Stop

ing

system

(Note 5)

axis

1 - 13

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

Stop

No. Name

CC-Link IE warning

9E

Warning

9F Battery warning

9F.2 Battery degradation warning

E0

E1.1

E1.2

E1.3

E1 Overload warning 1

E1.5

E1.6

E1.7

E1.8

E2

E3.1

E3

E3.4

E3.5

E4 Parameter warning E4.1

E5

E5.2 ABSM off during ABS data transfer

E5.3 SON off during ABS data transfer

E6.2

E6

E6.3

Controller forced stop

E7

E8

E8.2 Cooling fan stop Common

E9.2

E9

E9.3

E9.4 Converter unit forced stop DB

EA

EB

EC Overload warning 2 EC.1 Overload warning 2

2

Excessive

regeneration

warning

Servo motor

overheat warning

Absolute position

counter warning

ABS time-out

warning

Servo forced stop

warning

Cooling fan speed

reduction warning

Main circuit off

warning

ABS servo-on

warning

The other axis error

warning

Detail

No.

9E.1 CC-Link IE communication warning

9F.1 Low battery

E0.1 Excessive regeneration warning Common

Thermal overload warning 1 during operation

Thermal overload warning 2 during operation

Thermal overload warning 3 during operation

Thermal overload warning 4 during

E1.4

operation

Thermal overload error 1 during a stop

Thermal overload error 2 during a stop

Thermal overload error 3 during a stop

Thermal overload error 4 during a stop

E2.1 Servo motor temperature warning

Multi-revolution counter travel distance excess warning

E3.2 Absolute position counter warning

Absolute positioning counter EEPROM writing frequency warning

Encoder absolute positioning counter warning

Parameter setting range error warning

E5.1 Time-out during ABS data transfer

E6.1 Forced stop warning SD Common All axes

SS1 forced stop warning 1 (safety observation function)

SS1 forced stop warning 2 (safety observation function)

E7.1 Controller forced stop warning SD Common All axes

Decreased cooling fan speed

E8.1

warning

Servo-on signal on during main

E9.1

circuit off

Bus voltage drop during low speed operation

Ready-on signal on during main circuit off

EA.1 ABS servo-on warning

EB.1 The other axis error warning DB

Detail name

Process-

method

(Note 2,

system

3)

(Note 5)

Each

SD

Common

DB Common All axes

Each

Stop

ing

system

(Note 5)

axis

(Note 6)

axis

1 - 14

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

A

Stop

No. Name

Output watt excess

ED

Warning

F0 Tough drive warning

F2

F2.2

F3

F4.6

F4 Positioning warning

F4.7

F4.9

F5

F5.2 Cam data - Area miswriting warning

F5.3 Cam data checksum error

F6.1

F6

F6.3 Cam unregistered error

F6.4

F6.5 Cam No. external error

F6.6 Cam control inactive

F7

F7.2 Friction failure prediction warning

F7.3

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

warning

Drive recorder -

Miswriting warning

Oscillation detection

warning

Simple cam

function - Cam data

miswriting warning

Simple cam

function - Cam

control warning

Machine diagnosis

warning

Detail

No.

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

F4.4

warning

Acceleration time constant setting range error warning

Deceleration time constant setting range error warning

Home position return type 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

Cam control data setting range error

F7.1 Vibration failure prediction warning

Total travel distance failure prediction warning

Detail name

Process-

method

(Note 2,

system

3)

(Note 5)

Each

Common

Each

2. The following shows two stop methods of DB and SD. DB: Stops with dynamic brake. (Coasts for the servo amplifier without dynamic brake.)

Coasts for MR-J4-03A6(-RJ) and MR-J4W2-0303B6.

SD: Forced stop deceleration

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

4. For MR-J4-_A_ servo amplifier, quick stop or slow stop can be selected using [Pr. PD30].

5. The processing and stop systems are applicable only for the multi-axis servo amplifiers (MR-J4W_-_B_). Refer to section 1.1 for details.

6.

s the initial value, it is applicable only for [AL. 24] and [AL. 32]. All-axis stop can be selected using [Pr.

PF02].

7. For MR-J4-_GF_ servo amplifier, quick stop or slow stop can be selected using [Pr. PD12]. (I/O mode only)

ing

axis

Stop

system

(Note 5)

1 - 15

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

1.4 Remedies for alarms

When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before restarting operation. Otherwise, it may cause injury.

CAUTION

If [AL. 25 Absolute position erased] occurs, always make home position setting again. Otherwise, it may cause an unexpected operation. As soon as an alarm occurs, make the Servo-off status and interrupt the main circuit power.

POINT

When any of the following alarms has occurred, do not cycle the power repeatedly to restart. Doing so will cause a malfunction of the servo amplifier and servo motor. Remove its cause and allow about 30 minutes for cooling before resuming the operation.

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

[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 - 16

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

Alarm No.: 10 Name: Undervoltage

Alarm content

Detail

No.

10.1 Voltage drop in

Detail name Cause Check method Check result Action Target

the control

It has no failure. Check (2).

circuit power

(2) The voltage of the

The voltage is

(3) The power was cycled

It has no problem. Check (4).

(4) An instantaneous

It has no problem. Check (5).

(5) When a power

The voltage of the control circuit power supply has dropped. The voltage of the main circuit power supply has dropped.

(1) The control circuit

power supply connection is incorrect.

control circuit power supply is low.

before the internal control circuit power supply stopped.

power failure has occurred for longer time than the specified time. The time will be 60 ms when [Pr. PA20] is "_ 0 _ _". The time will be the value set in [Pr. PF25] when [Pr. PA20] is "_ 1 _ _". The time will be 60 ms when [Pr. PX25] is "_ 0 _ _" and the J3 extension function is used. The time will be the value set in [Pr. PX28] when [Pr. PX25] is "_ 1 _ _".

An instantaneous power failure of 15 ms or longer has occurred on MR-J4-03A6(-RJ) or MR-J4W2-0303B6.

regeneration converter is used, the voltage of the control circuit power supply is distorted.

Check the connection of the control circuit power supply.

Check if the voltage of the control circuit power supply is lower than prescribed value.

200 V class: 160 V AC

400 V class: 280 V AC

100 V class: 83 V AC 24 V DC input: 17 V

DC

Check the power-on method if it has a problem.

Check if the power has a problem.

When power supply impedance is high, power supply voltage will be distorted due to current at power regeneration, and it may be recognized as undervoltage.

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

The voltage is the prescribed value or lower.

higher than the prescribed value.

It has a problem. Cycle the power

It has a problem. Review the power.

It has a problem. Review the setting

Review the voltage of the control circuit power supply.

Check (3).

after the sevensegment LED of the servo amplifier is turned off.

of "[AL. 10 Undervoltage] detection method selection" with the following parameters.

[A]: [Pr. PC27] [B] [WB] [RJ010]

[GF]: [Pr. PC20] Review the power.

[B] [WB] [RJ010] [GF]

1 - 17

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

Alarm No.: 10 Name: Undervoltage

Alarm content

Detail

No.

10.2 Voltage drop in

Detail name Cause Check method Check result Action Target

the main circuit power

It is connected. Check (2).

(2) The wiring between P3

It is connected. Check (3).

(3) For the drive unit, the

It has no failure. Check (4).

(4) For the drive unit, the

It has no failure. Check (5).

(5) The voltage of the main

The voltage is

(6) The alarm has

The voltage is equal

The voltage of the control circuit power supply has dropped. The voltage of the main circuit power supply has dropped.

(1) The main circuit power

supply wiring was disconnected.

For the drive unit, the main circuit power supply wiring of the converter unit was disconnected.

and P4 was disconnected.

For the drive unit, the wiring between P1 and P2 of the converter unit was disconnected.

magnetic contactor control connector of the converter unit was disconnected.

bus bar between the converter unit and drive unit was disconnected.

circuit power supply is low.

occurred during acceleration.

Check the main circuit power supply wiring.

Check the main circuit power supply wiring of the converter unit.

Check the wiring between P3 and P4.

Check the wiring between P1 and P2 of the converter unit.

Check the magnetic contactor control connector of the converter unit.

Check the bus bar between the converter unit and drive unit.

Check if the voltage of the main circuit power supply is the prescribed value or lower.

200 V class: 160 V AC

400 V class: 280 V AC

100 V class: 83 V AC 48 V DC setting: 35 V

DC 24 V DC setting: 15 V

DC

Check if the bus voltage during acceleration is lower than the prescribed value.

200 V class: 200 V DC

400 V class: 380 V DC

100 V class: 158 V DC

48 V DC setting: 35 V DC

24 V DC setting: 15 V DC

It is disconnected. Connect it correctly. [A]

It is disconnected. Connect it correctly.

The voltage is the prescribed value or lower.

higher than the prescribed value.

The voltage is lower than the prescribed value.

to or higher than the prescribed value.

Increase the voltage of the main circuit power supply.

Check (6).

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

Check (7).

[B] [WB] [RJ010] [GF]

1 - 18

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

Alarm No.: 10 Name: Undervoltage

Alarm content

Detail

No.

10.2 Voltage drop in

Detail name Cause Check method Check result Action Target

the main circuit power

(8) For the drive unit, the

The voltage of the control circuit power supply has dropped. The voltage of the main circuit power supply has dropped.

(7) The servo amplifier is

malfunctioning.

converter unit is malfunctioning.

Check the bus voltage value.

Replace the converter unit, and then check the repeatability.

The bus voltage is less than the prescribed value although the voltage of the main circuit power supply is within specifications.

200 V class: 200 V DC

400 V class: 380 V DC

100 V class: 158 V DC

48 V DC setting:

24 V DC setting:

It is not repeatable. Replace the

Replace the servo amplifier.

35 V DC

15 V DC

converter unit.

[A] [B] [WB] [RJ010]

1 - 19

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

Alarm No.: 11 Name: Switch setting error

The setting of the axis selection rotary switch or auxiliary axis number setting switch is incorrect.

Alarm content

Detail

No.

11.1 Axis number

11.2 Disabling

The setting is other

Detail name Cause Check method Check result Action Target

setting error

Both of the auxiliary

Station number

setting error

The station number

control axis setting error

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

Alarm content A part (RAM) in the servo amplifier is 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

Detail name Cause Check method Check result Action Target

It is not repeatable. Check (2).

(2) Something near the

The setting of the disabling control axis switch is incorrect. The setting of the station number selection rotary switch is incorrect.

(1) The setting of the axis

No. is incorrect.

(2) The station number is

set to a value other than "1" to "120" with the station number selection rotary switch.

(1) The setting of the

disabling control axis switch is incorrect.

amplifier is failure.

device caused it.

Check the settings of the auxiliary axis number setting switches (SW25/SW2-6) and axis selection rotary switch (SW1).

Check the settings of the station number selection rotary switches (SW2/SW3).

Check the setting of the disabling control axis switch.

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

Check the power supply for noise.

When both of the auxiliary axis number setting switches are on, check the axis selection rotary switch if "F" is selected for MRJ4W2, ("E" or "F" is selected for MRJ4W3).

axis number setting switches are off.

The setting of the station number selection rotary switch is set to "0" or "121" or more.

is set to a value from "1" to "120" with the station number selection rotary switch.

Check if the setting is as follows.

1) Only A-axis is disabled.

2) Only B-axis is disabled.

3) A-axis and B-axis are disabled.

4) A-axis and C-axis are disabled.

5) All axes are disabled.

than above.

It is repeatable. Replace the servo

It has a failure. Take

Set the axis No. correctly.

Replace the servo amplifier.

Set the station number correctly.

Replace the servo amplifier.

Set it correctly. [WB]

Replace the servo amplifier.

amplifier.

countermeasures against its cause.

[WB]

[GF]

[A] [B] [WB] [RJ010] [GF]

1 - 20

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

Alarm No.: 13 Name: Clock error

A part in the servo amplifier is failure.

Alarm content

Detail

No.

13.1 Clock error 1 (1) The MR-J3-T10 came

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

Detail name Cause Check method Check result Action Target

It did not occur. Check (2).

(2) A part in the servo

It is not repeatable. Check (3).

(3) A clock error

It does not occur. Check (4).

(4) The servo amplifier of

It is not

(5) Something near the

Alarm No.: 14 Name: Control process error

Alarm content

Detail

No.

14.1 Control

Detail name Cause Check method Check result Action Target

process error 1

It did not occur. Check (2).

(2) The parameter setting

It is correct. Check (3).

(3) Something near the

It has no failure. Check (4).

(4) The servo amplifier is

A clock error transmitted from the controller occurred. [RJ010]: MR-J3-T10 came off.

Check if [AL. 74 off during the CC-Link IE communication.

amplifier is failure.

transmitted from the controller occurred.

the next axis is malfunctioning.

device caused it.

The process did not complete within the specified time. [RJ010]: MR-J3-T10 came off. [GF]: A part (communication IC) in the servo amplifier is failure.

(1) The MR-J3-T10 came

off during the CC-Link IE communication.

is incorrect.

device caused it.

malfunctioning.

Option card error 1]

occurred with alarm

history.

Disconnect the cables

except for the control

circuit 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.

Check if [AL. 74

Option card error 1]

occurred with alarm

history.

Check if the

parameter setting is

incorrect.

Check the power

supply for noise.

Check if the connector

is shorted.

Replace the servo

amplifier, and then

check the

repeatability.

It is occurring. Check it with the

It is repeatable. Replace the servo

It occurs. Replace the

It is malfunctioning. Replace the servo

malfunctioning.

It has a failure. Take

It is occurring. Check it with the

It is incorrect. Set it correctly. [A]

It has a failure. Take

It is not repeatable. Replace the servo

check method for [AL. 74].

amplifier.

controller.

amplifier of the next axis.

Check (5).

countermeasures against its cause.

check method for [AL. 74].

countermeasures against its cause.

amplifier.

[RJ010]

[A] [B] [WB] [RJ010] [GF]

[B] [WB]

[A] [B] [WB] [RJ010] [GF]

[RJ010]

[B] [WB] [RJ010] [GF]

1 - 21

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

Alarm No.: 14 Name: Control process error

The process did not complete within the specified time.

Alarm content

Detail

No.

14.2 Control

14.3 Control

14.4 Control

14.5 Control

14.6 Control

14.7 Control

14.8 Control

14.9 Control

14.A Control

14.B Control

Detail name Cause Check method Check result Action Target

process error 2

It did not occur. Check (2).

(2) A synchronous signal

It is not repeatable. Check (3).

(3) Adaptive tuning mode

It has not been

(4) The parameter setting

It is correct. Check (5).

(5) Something near the

It has no failure. Check (6).

(6) The servo amplifier is

process error 3

process error 4

process error 5

process error 6

process error 7

process error 8

process error 9

process error 10

process error 11

[RJ010]: MR-J3-T10 came off. [GF]: A part (communication IC) in the servo amplifier is failure.

(1) The MR-J3-T10 came

off during the CC-Link IE communication.

error transmitted from the controller occurred.

or vibration suppression control tuning mode has been executed for multiple axes simultaneously.

is incorrect.

device caused it.

malfunctioning.

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

Check if [AL. 74

Option card error 1]

occurred with alarm

history.

Replace the

controller, and then

check the

repeatability.

Check the setting of

[Pr. PB01] or [Pr.

PB02].

With the J3 extension

function, Check the

setting of [Pr. PB01],

[Pr. PB02], or [Pr.

PX03].

Check if the

parameter setting is

incorrect.

Check the power

supply for noise.

Check if the

connector is shorted.

Replace the servo

amplifier, and then

check the

repeatability.

It is occurring. Check it with the

check method for [AL. 74].

It is repeatable. Replace the servo

amplifier.

It has been executed for multiple axes simultaneously.

executed for multiple axes simultaneously.

It is incorrect. Set it correctly. [A]

It has a failure. Take

It is not repeatable. Replace the servo

Execute it for each axis.

Check (4).

countermeasures against its cause.

amplifier.

[RJ010]

[B] [WB]

[WB]

[B] [WB] [RJ010] [GF]

1 - 22

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

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

Alarm content

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

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 did not occur. Check (2).

(2) EEP-ROM is

It does not occur. Check (3).

(3) A write error occurred

It takes less than an

(4) 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

A part (EEP-ROM) in the servo amplifier is failure. [RJ010]: MR-J3-T10 came off.

(1) EEP-ROM is

malfunctioning at power on.

device caused it.

times exceeded 100,000.

(1) The MR-J3-T10 came

off during the CC-Link IE communication.

malfunctioning during normal operation.

while adjustment results were processed.

device caused it.

(1) EEP-ROM is

malfunctioning at power on.

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 control

circuit 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 [AL. 74

Option card error 1]

occurred with alarm

history.

Check if the error

occurs when you

change parameters

during normal

operation.

Check if the alarm

occurs after an hour

from power on.

Check the power

supply for noise.

Check if the connector

is shorted.

Disconnect the cables

except for the control

circuit 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

has been used very

frequently.

It is repeatable. Replace the servo

amplifier.

It has a failure. Take

countermeasures against its cause.

It was changed. Replace the servo

amplifier. Change the process to use parameters, point tables, and programs less frequently after replacement.

It is occurring. Check it with the

check method for [AL. 74].

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 was changed. Replace the servo

Replace the servo amplifier.

Check (4).

countermeasures against its cause.

amplifier.

setting again.

countermeasures against its cause.

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

[A] [B] [WB] [RJ010] [GF]

[RJ010]

[A] [B] [WB] [RJ010]

[GF]

[A] [GF]

1 - 23

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

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

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) When you use a linear

The servo amplifier

(3) When you use a linear

The wiring is

(4) The servo amplifier is

It is repeatable. Check (5).

(5) An encoder is

It is repeatable. Check (6).

(6) Something near the

communication

- Receive data error 2

malfunctioning.

servo motor with an A/B/Z-phase differential output linear encoder, the servo amplifier is not compatible with the linear encoder.

servo motor with an A/B/Z-phase differential output linear encoder, the connection with the linear encoder is incorrect.

malfunctioning.

device caused it.

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

Check if the encoder

cable is disconnected

or shorted.

Check if the servo

amplifier (MR-J4-_-RJ)

is compatible with the

A/B/Z-phase

differential output

linear encoder.

Check if the wiring of

the linear encoder is

correct. (Check if it is

wired to PSEL.)

Replace the servo

amplifier, and then

check the

repeatability.

Replace the servo

motor or linear

encoder, and then

check the

repeatability.

Check the noise,

ambient temperature,

vibration, etc.

It has a failure. Replace or repair

the cable.

The servo amplifier is not compatible with it.

is compatible with it.

The wiring is incorrect.

correct.

It is not repeatable. Replace the servo

It has a failure. Take

Use a servo amplifier which is compatible with it.

Check (3).

Wire it correctly.

Check (4).

amplifier.

motor.

countermeasures against its cause.

[A] [B] [WB] [RJ010] [GF]

[A] [B] [GF]

[A] [B] [WB] [RJ010] [GF]

1 - 24

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

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.

16.3 Encoder initial

Detail name Cause Check method Check result Action Target

(1) An axis not used is not

communication

- Receive data

It is set as disabled-

error 3

(2) An encoder cable was

It is connected. Check (3).

(3) The parameter setting

The setting is

(4) An encoder cable is

It has no failure. Check (5).

set as disabled-axis.

disconnected.

of communication method is incorrect.

[A]: [Pr. PC22] [B] [WB] [RJ010] [GF]:

[Pr. PC04]

malfunctioning.

Check the setting of

the disabling control

axis switches (SW2-

2/SW2-3/SW2-4).

Check if the encoder

cable is connected

correctly.

Check the parameter

setting.

Check if the encoder

cable is disconnected

or shorted.

It is not set as disabled-axis.

axis.

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

The setting is incorrect.

correct.

It has a failure. Replace or repair

Set it as disabledaxis.

Check (2).

Set it correctly.

Check (4).

the cable.

[WB]

[B] [WB] [RJ010] [GF]

(5) When you use a linear

servo motor with an A/B/Z-phase differential

The wiring is

(6) The voltage of the

It has no failure. Check (7).

(7) The servo amplifier is

It is repeatable. Check (8).

(8) An encoder is

It is repeatable. Check (9).

(9) Something near the

16.5 Encoder initial communication

- Transmission data error 1

16.6 Encoder initial communication

- Transmission data error 2

16.7 Encoder initial communication

- Transmission data error 3

output linear encoder, the connection with the linear encoder is incorrect.

control circuit power supply has been unstable.

malfunctioning.

device caused it.

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

Check if the wiring of the linear encoder is correct. (Check if it is wired to PSEL.)

Check the voltage of the control circuit power supply.

Replace the servo amplifier, and then check the repeatability.

Replace the servo motor, and then check the repeatability.

Check the noise, ambient temperature, vibration, etc.

The wiring is incorrect.

correct.

An instantaneous power failure is occurring at the control circuit power supply.

It is not repeatable. Replace the servo

It has a failure. Take

Wire it correctly. [A]

Check (6).

Review the power and related parts.

amplifier.

motor.

countermeasures against its cause.

[B] [GF]

[A] [B] [WB] [RJ010] [GF]

1 - 25

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

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

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).

malfunctioning.

Replace the servo amplifier, and then check the repeatability.

Replace the servo motor, and then check the repeatability.

It is not repeatable. Replace the servo

amplifier.

It is not repeatable. Replace the servo

motor.

[A] [B] [WB] [RJ010] [GF]

(3) Something near the

device caused it.

16.B Encoder initial communication Process error 2

16.C Encoder initial communication Process error 3

16.D Encoder initial communication Process error 4

16.E Encoder initial communication Process error 5

16.F Encoder initial communication Process error 6

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

Check the noise, ambient temperature, vibration, etc.

It has a failure. Take

countermeasures against its cause.

Alarm No.: 17 Name: Board error

Alarm content A part in the servo amplifier is malfunctioning.

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

Detail name Cause Check method Check result Action Target

Check if the alarm

circuit is

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

malfunctioning.

device caused it.

recognition signal was not read properly.

device caused it.

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

device caused it.

occurs during the servo-on status.

Check the noise, ambient temperature, etc.

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

Check the noise, ambient temperature, etc.

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

Check the noise, ambient temperature, etc.

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.

[A] [B] [WB] [RJ010] [GF]

[B] [WB]

1 - 26

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

Alarm No.: 17 Name: Board error

Alarm content A part in the servo amplifier is malfunctioning.

Detail

No.

17.6 Board error 5 (1) The setting value of the

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

17.8 Board error 6 (1) Inrush current

17.9 Board error 8 (1) Something near the

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

Detail

No.

19.1 Flash-ROM

19.2 Flash-ROM

19.3 Flash-ROM

Detail name Cause Check method Check result Action Target

Disconnect the cables

control axis setting

It is not repeatable. Check (2).

(2) Something near the

It has no failure. Check (2).

(2) The servo amplifier is

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

Detail name Cause Check method Check result Action Target

error 1

It is not repeatable. Check (2).

(2) Something near the

error 2

error 3

switch (SW2) was not read properly.

device caused it.

suppressor circuit is malfunctioning.

device caused it.

malfunctioning.

(1) The Flash-ROM is

malfunctioning.

device caused it.

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

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

Check the noise, ambient temperature, etc.

Replace the servo amplifier, and then check the repeatability.

Check the noise, ambient temperature, etc.

Replace the servo amplifier, and then check the repeatability.

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

Check the noise, ambient temperature, etc.

It is repeatable. Replace the servo

amplifier.

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.

It is repeatable. Replace the servo

amplifier.

It has a failure. Take

countermeasures against its cause.

[B] [WB]

[GF]

[A] [B] [WB] [RJ010] [GF]

1 - 27

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

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

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

Detail

No.

1A.1 Servo motor

1A.2 Servo motor

1A.4 Servo motor

Alarm No.: 1B Name: Converter alarm

Detail

No.

1B.1 Converter unit

Detail name Cause Check method Check result Action Target

(1) The servo amplifier and combination error 1

The combination is

(2) The setting of [Pr. PA01]

The combination is

(3) [Pr. PA17] and [Pr.

It is set correctly. Check (4).

(4) The software version of

It is C8 or later. Check (5).

(5) An encoder is

control mode combination error

(2) When the fully closed

combination error 2

Alarm content An alarm occurred in the converter unit during the servo-on.

Detail name Cause Check method Check result Action Target

error

It is connected. Check (2).

the servo motor was connected incorrectly.

is not corresponding to the connected servo motor.

PA18] were not set according to the linear servo motor to be used.

the servo amplifier does not support the TM-RG2M/TM-RU2M series direct drive motor.

malfunctioning.

(1) The setting of [Pr. PA01]

is not corresponding to the connected servo motor.

loop control mode is selected, encoders of the servo motor side and the machine side are connected reversely.

(1) The servo amplifier is

malfunctioning.

(1) The protection

coordination cable is not correctly connected.

(2) An alarm occurred in

the converter unit during the servo-on.

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

Check the [Pr. PA01] setting. Rotary servo motor: "_ _ 0 _" Linear servo motor: "_ _ 4 _" Direct drive motor: "_ _ 6 _"

Check if [Pr. PA17] and [Pr. PA18] are set correctly.

Check if the software version of the servo amplifier supports the TM-RG2M/TM-RU2M series.

Replace the servo motor, and then check the repeatability.

Check the [Pr. PA01] setting. Rotary servo motor: "_ _ 0 _" Linear servo motor: "_ _ 4 _" Direct drive motor: "_ _ 6 _"

Check the connection destination of the encoder.

Replace the servo amplifier, and then check the repeatability.

Check the protection coordination cable connection.

Check the alarm of the converter unit, and take the action following the remedies for alarms of the converter unit.

The combination is incorrect.

correct.

The combination is incorrect.

correct.

It is not set correctly.

It is C7 or earlier. Replace the servo

It is not repeatable. Replace the servo

The combination is incorrect.

The connection destination of the encoder is incorrect.

It is not repeatable. Replace the servo

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

Use them in the correct combination.

Check (2).

Set [Pr. PA01] correctly. When using a linear servo motor, also check (3).

Check (4).

Set them correctly according to the linear servo motor to be used.

amplifier with a one whose software version supports the TM-RG2M/TMRU2M series.

motor.

Set [Pr. PA01] correctly.

Connect it correctly.

amplifier.

[A] [B] [WB] [RJ010] [GF]

[A] [B] [WB] [GF]

[A] [B] [WB] [RJ010] [GF]

[A] [B] [WB] [GF]

[B]

1 - 28

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

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

Alarm content An encoder is malfunctioning.

Detail

No.

1E.1 Encoder

1E.2 Load-side

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

Detail

No.

1F.1 Incompatible

Detail name Cause Check method Check result Action Target

(1) An encoder is malfunction

It is repeatable. Check (2).

(2) Something near the

encoder malfunction

It is repeatable. Check (2).

(2) Something near the

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

Detail name Cause Check method Check result Action Target

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

malfunctioning.

device caused it.

(1) A load-side encoder is

malfunctioning.

device caused it.

(1) A servo motor or linear

encoder, which is not compatible with the servo amplifier, was connected.

the servo amplifier does not support the servo motor or linear encoder.

malfunctioning.

Replace the servo motor, and then check the repeatability.

Check the noise, ambient temperature, vibration, etc.

Replace the load-side encoder, and then check the repeatability.

Check the noise, ambient temperature, vibration, etc.

Check the model the servo motor/linear encoder.

Check if the software version supports the servo motor/linear encoder.

Replace the servo motor or linear encoder, and then check the repeatability.

It is not repeatable. Replace the servo

motor.

It has a failure. Take

countermeasures against its cause.

It is not repeatable. Replace the load-

side encoder.

It has a failure. Take

countermeasures against its cause.

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

Replace it with a compatible one.

Check (2).

amplifier to one which software version supports the servo motor/linear encoder.

motor or linear encoder.

amplifier.

[A] [B] [WB] [RJ010] [GF]

[A] [B] [WB] [GF]

[A] [B] [WB] [RJ010] [GF]

1F.2 Incompatible

load-side encoder

It is compatible with

(2) The software version of

It is compatible. Check (3).

(3) A load-side encoder is

It is repeatable. Replace the servo

(1) A load-side encoder,

which is not compatible with the servo amplifier, was connected.

the servo amplifier does not support the load-side encoder.

malfunctioning.

Check the model of the load-side encoder.

Check if the software version of the servo amplifier supports the load-side encoder.

Replace the load-side encoder, and then check the repeatability.

It is not compatible with the servo amplifier.

the servo amplifier.

It is not compatible. Replace the servo

It is not repeatable. Replace the load-

Use a load-side encoder which is compatible with the servo amplifier.

Check (2).

amplifier to one which software version supports the load-side encoder.

side encoder.

amplifier.

1 - 29

[A] [B] [WB] [GF]

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

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

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

Detail

No.

20.1 Encoder

20.2 Encoder

20.3 Encoder

Detail name Cause Check method Check result Action Target

(1) An encoder cable is normal communication

- Receive data error 1

It has no failure. Check (2).

(2) The external conductor

It is connected. Check (3).

(3) The parameter setting

The setting is

(4) The servo amplifier is

It is repeatable. Check (5).

(5) An encoder is

It is repeatable. Check (6).

(6) Something near the

normal communication

- Receive data error 2

normal communication

- Receive data error 3

malfunctioning.

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

of communication method is incorrect.

[A]: [Pr. PC22] [B] [WB] [RJ010] [GF]:

[Pr. PC04]

malfunctioning.

device caused it.

Check it with the check method for [AL. 20.1].

Check if the encoder cable is disconnected or shorted. When you use an A/B/Z-phase differential output linear encoder, check the wiring of the linear encoder.

Check if it is connected.

Check the parameter setting.

Replace the servo amplifier, and then check the repeatability.

Replace the servo motor or linear encoder, and then check the repeatability.

Check the noise, ambient temperature, vibration, etc.

It has a failure. Repair or replace

the cable.

It is not connected. Connect it correctly.

The setting is incorrect.

correct.

It is not repeatable. Replace the servo

It has a failure. Take

Set it correctly.

Check (4).

amplifier.

motor or linear encoder.

countermeasures against its cause.

[A] [B] [WB] [RJ010] [GF]

1 - 30

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

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

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

Detail

No.

20.5 Encoder

20.6 Encoder

20.7 Encoder

Detail name Cause Check method Check result Action Target

(1) When you use an normal communication

- Transmission

It is not

data error 1

(2) An encoder cable is

(3) The external conductor

(4) When you use an

(5) The servo amplifier is

(6) An encoder is

(7) Something near the

normal communication

- Transmission

It is not

data error 2

(2) An encoder cable is

(3) The external conductor

(4) When you use an

(5) The servo amplifier is

(6) An encoder is

(7) Something near the

normal communication

- Transmission data error 3

A/B/Z-phase differential output linear encoder, the wiring of the linear encoder is incorrect.

malfunctioning.

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

A/B/Z-phase differential output linear encoder, the parameter setting is incorrect.

malfunctioning.

device caused it.

(1) When you use an

A/B/Z-phase differential output linear encoder, the wiring of the linear encoder is incorrect.

malfunctioning.

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

A/B/Z-phase differential output linear encoder, the parameter setting is incorrect.

malfunctioning.

device caused it.

Check it with the check method for [AL. 20.1].

Check if the A/Bphase pulse signals (PA, PAR, PB, and PBR) of the encoder cable are disconnected or shorted.

Check it with the check method for [AL. 20.1]. [A]

Check if the Z-phase pulse signals (PZ/PZR) of the encoder cable are disconnected or shorted.

Check it with the check method for [AL. 20.1]. [A]

It is disconnected or shorted.

disconnected or shorted.

It is disconnected or shorted.

disconnected or shorted.

Repair the encoder cable.

Check (2).

Repair the encoder cable.

Check (2).

[A] [B] [GF]

[B] [WB] [RJ010] [GF]

[A] [B] [GF]

[B] [WB] [RJ010] [GF]

1 - 31

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

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

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

Detail

No.

20.9 Encoder

20.A Encoder

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

Detail

No.

21.1 Encoder data

21.2 Encoder data

21.3 Encoder data

21.4 Encoder non-

Detail name Cause Check method Check result Action Target

Check it with the check method for [AL. 20.1]. normal communication

- Receive data error 4

normal 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

waveform error

signal error

It has no failure. 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.

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

(1) A signal of the encoder

has not been inputted.

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.

Check if the encoder cable is wired correctly.

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.

It has a failure. Review the wiring. [A]

It is not connected. Connect it correctly.

It has a failure. Take

countermeasures against its cause.

[A] [B] [WB] [RJ010] [GF]

[B] [WB] [GF]

1 - 32

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

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

Alarm content The encoder detected an error signal.

Detail

No.

21.5 Encoder

21.6 Encoder

21.9 Encoder data

Alarm No.: 24 Name: Main circuit error

Detail

No.

24.1 Ground fault

Detail name Cause Check method Check result Action Target

Check it with the check method for [AL. 21.2]. hardware error 1

hardware error 2

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

A ground fault occurred on the servo motor power lines.

Alarm content

Detail name Cause Check method Check result Action Target

detected by 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 main circuit power

They are not in

(5) Something near the

A ground fault occurred at the servo motor. Power supply voltage for inverter circuit control is low. (Only for MR-J4W2-0303B6)

(1) The servo amplifier is

malfunctioning.

occurred at the servo motor power cable.

at the servo motor.

supply cable and servo motor power cable were shorted.

device caused it.

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 main circuit power supply cable and 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] [WB] [RJ010] [GF]

1 - 33

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

Alarm No.: 24 Name: Main circuit error

A ground fault occurred on the servo motor power lines.

Alarm content

Detail

No.

24.2 Ground fault

Detail name Cause Check method Check result Action Target

detected by software detection function

The control circuit

(2) The servo amplifier is

It does not occur. Check (3).

(3) A ground fault or short

It is not shorted. Check (4).

A ground fault occurred at the servo motor. Power supply voltage for inverter circuit control is low. (Only for MR-J4W2-0303B6)

(1) For MR-J4W2-0303B6,

the servo-on command was inputted when the control circuit power supply voltage was below 20 V.

malfunctioning.

occurred at the servo motor power cable.

Check the control circuit power supply voltage when the servo-on command was inputted.

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

Check if only the servo motor power cable is shorted.

The control circuit power supply voltage was below 20 V.

power supply voltage was 20 V or higher.

It occurs. Replace the servo

It is shorted. Replace the servo

Input the servo-on command after the control circuit power supply voltage reaches 20 V or higher.

Check (2).

amplifier.

motor power cable.

[WB]

[A] [B] [WB] [RJ010] [GF]

(4) A ground fault occurred

at the servo motor.

It is not shorted. Check (5).

(5) The main circuit power

supply cable and servo

They are not in

(6) Something near the

motor power cable were shorted.

device caused it.

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

Shut off the power, and check if the main circuit power supply cable and servo motor power cable are in contact.

Check the noise, ambient temperature, etc.

).

It is shorted. Replace the servo

motor.

They are in contact. Correct the wiring.

Check (6).

contact.

It has a failure. Take

countermeasures against its cause.

1 - 34

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

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) 1) When an MR-

It was not removed. Check (3).

(3) 1) When an MR-

It was not turned off. MR-BAT6V1BJ

(4) The encoder cable was

It was not

Power was switched on for the first time in the absolute position detection system. After the scale measurement encoder was set to the absolute position detection system, the power was

switched on for the first time.

(1) Power was switched on

for the first time in the absolute position detection system.

BAT6V1SET(-A) battery or MRBT6VCASE battery case was used, CN4 of the servo amplifier was disconnected during control circuit power supply off.

2) When an MRBAT6V1BJ battery for junction battery cable was used, both CN4 of the servo amplifier and MRBAT6V1BJ battery for junction battery cable were disconnected from the MRBT6VCBL03M junction battery cable.

BAT6V1SET(-A) battery or MRBT6VCASE battery case was used, the power was turned off with the battery disconnected from CN4.

2) When an MRBAT6V1BJ battery for junction battery cable was used, the power was turned off with the battery disconnected from CN4 and MRBT6VCBL03M junction battery cable.

disconnected with the MR-BAT6V1BJ battery disconnected from MRBT6VCBL03M junction battery cable.

Check if this is the first time you switched on the power in the absolute position detection system.

Check if the battery was removed in this way when the control circuit power supply was off.

Check if the power was turned off in this state.

Check if the encoder cable was disconnected in this state.

This is the first time. Check that the

battery is mounted correctly, and make home position return.

Check (2).

time.

It was removed. Check that the

battery is mounted correctly, and make home position return.

It was turned off. Check that the

battery is mounted correctly, and make home position return.

battery for junction battery cable: Refer to (4).

MR-BAT6V1SET(-A) battery or MRBT6VCASE battery case: Refer to (6).

It was disconnected. Check that the MR-

BAT6V1BJ battery is connected to CN4 and MRBT6VCBL03M junction battery cable, and execute a home position return.

Check (5).

disconnected.

[A] [B] [WB] [RJ010] [GF]

[A] [B] [RJ010] [GF]

1 - 35

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

j

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

It is connected. Check (6).

(6) The battery voltage is

It is 3 V DC or more. Check (7).

(7) The voltage has

It is used. Check (8).

(8) A battery cable is

It has no failure. Check (9).

Power was switched on for the first time in the absolute position detection system. After the scale measurement encoder was set to the absolute position detection system, the power was

switched on for the first time.

(5) The MR-BT6VCBL03M

junction battery cable is not connected to the encoder cable.

low. The battery is consumed.

dropped greatly in the encoder cable wired to the battery.

malfunctioning.

Check if the MRBT6VCBL03M junction battery cable is connected to the encoder cable.

Check the battery voltage with a tester. When an MRBAT6V1BJ battery for junction battery cable was used, check the voltage of the connector (orange) for servo amplifier.

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

Check for the loose connection with a tester.

It is not connected. Connect the MR-

BT6VCBL03M

unction battery cable

to the encoder cable.

It is less than 3 V DC.

It is not used. Use a

It has a failure. Replace the battery

Replace the battery. [A]

recommended wire.

cable.

[A] [B] [RJ010] [GF]

[B] [WB] [RJ010] [GF]

(9) There is a loose

connection of the

It has no failure. Check (10).

(10) The absolute position

It is connected. Check (11).

(11) The servo amplifier is

It is repeatable. Check (12).

(12) An encoder is

encoder cable on the servo motor side.

storage unit was not connected for using a direct drive motor.

malfunctioning.

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

Check if the absolute position storage unit is connected correctly.

Replace the servo amplifier, and then check the repeatability.

Replace the servo motor, and then check the repeatability.

It has a failure. Repair or replace

the encoder cable.

It is not connected. Connect the absolute

position storage unit correctly.

It is not repeatable. Replace the servo

amplifier.

It is not repeatable. Replace the servo

motor.

[A] [B] [WB] [GF]

[A] [B] [WB] [RJ010] [GF]

1 - 36

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

Alarm No.: 25 Name: Absolute position erased

The absolute position data is faulty.

Alarm content

Detail

No.

25.2 Scale

Detail name Cause Check method Check result Action Target

measurement encoder Absolute position erased

This is not the first

(2) The battery was

It was not removed. Check (3).

(3) The power was turned

It was not turned off. Check (4).

(4) The battery voltage is

It is 3 V DC or more. Check (5).

(5) The voltage has

It is used. Check (6).

(6) A battery cable is

It has no failure. Check (7).

(7) There is a loose

It has no failure. Check (8).

(8) The servo amplifier is

It is repeatable. Check (9).

(9) The scale

Power was switched on for the first time in the absolute position detection system. After the scale measurement encoder was set to the absolute position detection system, the power was

switched on for the first time.

(1) After the scale

measurement encoder was set to the absolute position detection system, the power was switched on for the first time.

removed (replaced) when the control circuit power supply was off.

off with the battery disconnected from CN4.

low. The battery is consumed.

dropped greatly in the encoder cable wired to the battery.

malfunctioning.

connection of the encoder cable on the scale measurement encoder side.

malfunctioning.

measurement encoder is malfunctioning.

Check if this is the first time to switch on the power after the scale measurement encoder was set to the absolute position detection system.

Check if the battery was removed when the control circuit power supply was off.

Check if the power was turned off in this state.

Check the battery voltage with a tester.

Check if a recommended cable 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 scale measurement encoder side.

Replace the servo amplifier, and then check the repeatability.

Replace the scale measurement encoder, and then check the repeatability.

This is the first time. Check that the

battery is mounted correctly, and make home position return.

Check (2).

time.

It was removed. Check that the

battery is mounted correctly, and make home position return.

It was turned off. Check that the

battery is mounted correctly, and make 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

It is not repeatable. Replace the scale

Replace the battery.

recommended wire.

cable.

the encoder cable.

amplifier.

measurement encoder.

[B] [WB] [GF]

1 - 37

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

Alarm No.: 27 Name: Initial magnetic pole detection error

Alarm content The initial magnetic pole detection was not completed properly.

Detail

No.

27.1 Magnetic pole

27.2 Magnetic pole

Detail name Cause Check method Check result Action Target

(1) A moving part collided detection Abnormal termination

It did not collided. Check (2).

(2) The wiring of the servo

It has no failure. Check (3).

(3) The linear encoder

The setting is

(4) The direction of

The mounting

(5) An excitation level of

Check if the travel

detection Time out error

Servo-on was

(2) Only one of the limit

It has no failure. Check (3).

(3) The magnetic pole

against the machine.

motor power cable is incorrect.

resolution setting differs from the setting value.

mounting linear encoder is incorrect.

the magnetic pole detection voltage level is small.

(1) Servo-on was enabled

when the primary side of linear servo motor or rotor of direct drive motor did not stop.

switches is on during magnetic pole detection.

detection voltage level is small.

Check if it collided. It collided. Move the start

position of the magnetic pole detection.

Check if the wiring of the servo motor power cable is correct.

Check the setting of [Pr. PL02] and [Pr. PL03].

Check polarities of the linear encoder and the linear servo motor.

Check if the travel distance during the magnetic pole detection is too short (for a position detection method).

distance during the magnetic pole detection is too long or if a vibration is occurring (for a minute position detection method).

Check if servo-on was enabled when the motor did not stop.

Check the limit switches.

Check if the travel distance during the magnetic pole detection is too short (for a position detection method).

It has a failure. Correct the wiring.

The setting is incorrect.

correct.

The mounting direction is incorrect.

direction is correct.

It is too short. Increase it with the

The travel distance is too long or a vibration is occurring.

Servo-on was enabled when the motor did not stop.

enabled when the motor stopped.

It has a failure. Remove the cause.

It is too short. Increase it with the

Set it correctly.

Check (4).

Mount it correctly. Review the "encoder pulse count polarity selection" setting of the parameter as required.

[A]: [Pr. PC45] [B] [WB] [GF]:

[Pr. PC27]

Check (5).

[Pr. PL09] setting.

Review the [Pr. PL17] setting.

Stop the linear servo motor and the direct drive motor, and enable servo-on again.

Check (2).

Move the start position of the magnetic pole detection.

[Pr. PL09] setting.

[A] [B] [WB] [GF]

1 - 38

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

Alarm No.: 27 Name: Initial magnetic pole detection error

Alarm content The initial magnetic pole detection was not completed properly.

Detail

No.

27.3 Magnetic pole

27.4 Magnetic pole

27.5 Magnetic pole

27.6 Magnetic pole

27.7 Magnetic pole

Alarm No.: 28 Name: Linear encoder error 2

Detail

No.

28.1 Linear encoder

Detail name Cause Check method Check result Action Target

(1) Both of the limit detection Limit switch error

(2) When using a direct

detection Estimated error

detection Position deviation error

detection Speed deviation error

detection Current error

Alarm content Working environment of linear encoder is not normal.

Detail name Cause Check method Check result Action Target

- Environment error

It is within

(2) The signal level of the

switches are off during the magnetic pole detection.

drive motor in a system where the motor rotates one revolution or more, the following stroke limit signals are not enabled with a parameter.

[A]: LSP and LSN [B] [WB]: FLS and RLS [GF]: LSP and LSN

(FLS and RLS from the controller)

Check it with the check method for [AL. 27.1].

(1) The ambient

temperature of the linear encoder is out of specifications.

linear encoder has dropped.

Check the limit switches.

Check the [Pr. PL08] setting.

Check the ambient temperature of the linear encoder.

Check the mounting condition of the linear encoder.

Both of them are off. Turn on the limit

switches. When using a direct drive motor, also check (2).

The [Pr. PL08] setting is "_ 0 _ _".

It is out of specifications.

specifications.

It has a failure. Correct the mounting

Set the [Pr. PL08] setting to "_ 1 _ _".

Lower the temperature.

Contact the linear encoder manufacturer.

Check (2).

method of the linear encoder.

[A] [B] [WB] [GF]

1 - 39

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

Alarm No.: 2A Name: Linear encoder error 1

Alarm content

Detail

No.

2A.1 Linear encoder

2A.2 Linear encoder

2A.3 Linear encoder

2A.4 Linear encoder

2A.5 Linear encoder

2A.6 Linear encoder

2A.7 Linear encoder

2A.8 Linear encoder

Detail name Cause Check method Check result Action Target

error 1-1

It is repeatable. Check (2).

(2) The external conductor

It is connected. Check (3).

(3) Something near the

It has no failure. Check (4).

(4) An alarm of the linear

error 1-2

error 1-3

error 1-4

error 1-5

error 1-6

error 1-7

error 1-8

Alarm No.: 2B Name: Encoder counter error

Alarm content Data which encoder created is failure.

Detail

No.

2B.1 Encoder

2B.2 Encoder

Detail name Cause Check method Check result Action Target

counter error 1

It has no failure. Check (2).

(2) The external conductor

It is connected. Check (3).

(3) Something near the

It has no failure. Check (4).

(4) An encoder is

counter error 2

An error of the linear encoder was detected. (The details vary depending on the linear encoder manufacturer.)

(1) Mounting condition of

the linear encoder and head is failure.

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

device caused it.

encoder was detected.

Check it with the check method for [AL. 2A.1].

(1) An encoder cable is

malfunctioning.

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

device caused it.

malfunctioning.

Check it with the check method for [AL. 2B.1].

Adjust the positions of the scale and head, and then check the repeatability.

Check if it is connected.

Check the noise, ambient temperature, vibration, etc.

Check the content of the alarm detail list of the Linear Encoder Instruction Manual.

Check if the encoder cable is disconnected or shorted.

Check if it is connected.

Check the noise, ambient temperature, vibration, etc.

Replace the direct drive motor, and then check the repeatability.

It is not repeatable. Use the equipment

at the adjusted position.

It is not connected. Connect it correctly.

It has a failure. Take

countermeasures against its cause.

Remove its cause described in the instruction manual.

It has a failure. Repair or replace

It is not connected. Connect it correctly.

It has a failure. Take

It is not repeatable. Replace the direct

Contact each encoder manufacturer for how to deal with it.

the cable.

countermeasures against its cause.

drive motor.

[A] [B] [WB] [GF]

1 - 40

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

Alarm No.: 30 Name: Regenerative error

Alarm content

Detail

No.

30.1 Regeneration

30.2 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 combination is

(4) The power supply

It is at the

(5) The regenerative load

signal error

Permissible regenerative power of the built-in regenerative resistor or regenerative option is 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.

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

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

Check if the regenerative resistor (regenerative option) and the servo amplifier are connected in the specified combination.

Check if the voltage of the input power supply is over the prescribed value.

200 V class: 264 V AC 400 V class: 528 V AC 100 V class: 132 V AC 48 V DC setting: 70 V

DC 24 V DC setting: 50 V

DC

Check the regenerative load ratio when alarm occurs.

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

The setting value is incorrect.

It is not connected correctly.

correctly.

The combination is incorrect.

correct.

It is higher than the prescribed value.

prescribed value or lower.

It is 100% or more. Reduce the

It is overheating abnormally.

Set it correctly. [A]

Connect it correctly.

Check (3).

Use them in the correct combination.

Check (4).

Reduce the power 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.

For MR-J4-03A6(RJ) and MR-J4W20303B6, check if the main circuit power supply voltage is 48 V DC even though the setting is 24 V DC.

Replace the servo amplifier.

[B] [WB] [RJ010] [GF]

1 - 41

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

Alarm No.: 30 Name: Regenerative error

Alarm content

Detail

No.

30.3 Regeneration

Detail name Cause Check method Check result Action Target

feedback signal error

The alarm does not

(2) Something near the

Alarm No.: 31 Name: Overspeed

Alarm content

Detail

No.

31.1 Abnormal

Detail name Cause Check method Check result Action Target

motor speed

The command pulse

(2) The settings 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

Permissible regenerative power of the built-in regenerative resistor or regenerative option is exceeded. A regenerative transistor in the servo amplifier is malfunctioning.

(1) A detection circuit of

the servo amplifier is malfunctioning.

device caused it.

The servo motor seed has exceeded the permissible instantaneous speed. The linear servo motor seed has exceeded the permissible instantaneous speed.

(1) The command pulse

frequency is high.

electronic gear are incorrect.

controller is excessive.

command than the overspeed alarm level was inputted.

the maximum torque (maximum thrust) at the time of acceleration.

unstable and oscillating.

has overshot.

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

For MR-J4-03A6(-RJ) and MR-J4W2-0303B, check if the alarm occurs at power on.

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

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 (thrust) at the time of acceleration is the maximum torque (maximum thrust).

Check if the servo motor is oscillating.

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

The alarm occurs. Replace the servo

amplifier.

Check (2).

occur.

It has a failure. Take

countermeasures against its cause.

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 thrust).

maximum torque (maximum thrust).

It is oscillating. Adjust the servo

It is overshooting. Increase the

overshooting.

Check operation pattern.

Check (2).

Review the settings.

Check (5).

Check operation pattern.

Check (4).

Review the [Pr. PC08] setting.

Check (5).

Increase the acceleration/ deceleration time constant. Or reduce the load.

Check (6).

gain. Or reduce the load.

acceleration/ deceleration time constant.

Check (8).

[A] [B] [WB] [RJ010] [GF]

[A]

[B] [WB] [RJ010] [GF]

[A] [B] [WB] [RJ010] [GF]

1 - 42

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

Alarm No.: 31 Name: Overspeed

Alarm content

Detail

No.

31.1 Abnormal

Detail name Cause Check method Check result Action Target

motor speed

The bus voltage has

(9) The connection

It is correct. Check (10).

(10) The connection of the

It is correct. Check (11).

(11) The encoder or linear

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

Detail name Cause Check method Check result Action Target

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. [WB]: Check (5).

(5) The connection

It is correct. Check (6).

(6) Something near the

The servo motor seed has exceeded the permissible instantaneous speed. The linear servo motor seed has exceeded the permissible instantaneous speed.

(8) For MR-J4-03A6(-RJ)

and MR-J4W2-0303B6, the speed has overshot when the power was restored from a temporary bus voltage drop during an operation.

destination of the encoder cable is incorrect.

servo motor is incorrect.

encoder is malfunctioning.

(1) The servo amplifier is

malfunctioning.

occurred at the servo motor power cable.

malfunctioning.

destination of the encoder cable is incorrect.

device caused it.

Check if a bus voltage drops temporarily during an operation.

Check the connection destinations of CN2A, CN2B, and CN2C.

Check the wiring of U/V/W.

Check if the alarm is occurring during less than permissible instantaneous speed.

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 the connection destinations of CN2A, CN2B, and CN2C.

Check the noise, ambient temperature, etc.

/ ).

The bus voltage has dropped.

not dropped.

It is not correct. Wire it correctly. [WB]

It is incorrect. Set it correctly. [A]

It is occurring during less than permissible instantaneous speed.

It occurs. Replace the servo

It is shorted. Replace the servo

A ground fault is occurring.

occurring.

It occurs. Replace the servo

It is not correct. Wire it correctly. [WB]

It has a failure. Take

Review the capacity of the 24 V DC main circuit power supply. Increase the voltage of the 24 V DC main circuit power supply within the permissible voltage fluctuation range.

Change the main circuit input voltage to 48 V DC. Check operation pattern.

Check (9).

Replace the servo motor or linear encoder.

amplifier.

motor power cable.

Replace the servo motor.

Check (4).

amplifier.

[A] [B] [RJ010] [GF]: Check (7).

countermeasures against its cause.

[A] [WB]

[B] [WB] [RJ010] [GF]

[A] [B] [WB] [RJ010] [GF]

1 - 43

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

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

(7) Something near the detected at hardware detection circuit

It has no failure. Check it with the

(during operation)

detected at software detection function (during operation)

An oscillation is not

(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)

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].

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 the connection destinations of CN2A, CN2B, and CN2C.

Check the noise, ambient temperature, etc.

/ ).

It has a failure. Take

countermeasures against its cause.

check method for [AL. 45.1].

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. [WB]

It has a failure. Take

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

For MR-J4-03A6(RJ) and MR-J4W20303B6, check if the main circuit power supply voltage is 48 V DC even though the setting is 24 V DC.

Check (2).

amplifier.

motor power cable.

Replace the servo motor.

Check (5).

countermeasures against its cause.

[A] [B] [RJ010] [GF]

[A] [B] [WB] [RJ010] [GF]

1 - 44

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

r

Alarm No.: 33 Name: Overvoltage

The value of the bus voltage exceeded the prescribed value. 200 V class: 400 V DC

Alarm content

Detail

No.

33.1 Main circuit

Detail name Cause Check method Check result Action Target

voltage error

It is set correctly. Check (2).

(2) The regenerative

It is connected

(3) Wire breakage of built-

The resistance is

(4) The regeneration

It is repeatable. Check (5).

(5) Power supply voltage

It is at the

(6) Something near the

400 V class: 800 V DC 100 V class: 400 V DC 48 V DC setting: 75 V DC 24 V DC setting: 55 V DC

(1) The setting of the

regenerative resistor (regenerative option) is incorrect.

resistor (regenerative option) is not connected.

in regenerative resistor or regenerative option

capacity is insufficient.

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 if the voltage of the input power supply is over the prescribed value.

200 V class: 264 V AC 400 V class: 528 V AC 100 V class: 132 V AC 48 V DC setting: 75 V

DC 24 V DC setting: 55 V

DC

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 higher than the prescribed value.

prescribed value or lower.

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.

Reduce the power supply voltage.

Check (6).

countermeasures against its cause.

[B] [WB] [RJ010] [GF]

1 - 45

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

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

34.5 SSCNET

34.6 SSCNET

Detail name Cause Check method Check result Action Target

(1) The SSCNET III cable receive data error

It is connected. Check (2).

(2) The surface at the end

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 previous or next

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

receive data error (safety observation function)

communication data error (safety observation function)

was disconnected.

of SSCNET 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.

axis servo amplifier of the alarm occurred 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 previous and next servo amplifier of the axis alarm occurred, 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 control

circuit power supply of the servo amplifier, and then connect the SSCNET III cable.

It is not repeatable. Take measure 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] [WB]

1 - 46

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

Alarm No.: 35 Name: Command frequency error

Alarm content Input pulse frequency of command pulse 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) Inputted frequency with

The command pulse

(4) The command from the

It is lower than the

(5) The controller is

It is repeatable. Check (6).

(6) The command pulse

The command pulse

(7) Something near the

frequency is high.

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

a manual pulse generator is high.

controller is excessive.

malfunctioning.

frequency is high when the synchronous encoder axis is selected.

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 the permissible speed or higher.

Replace the controller, and then check the repeatability.

Check the command pulse frequency.

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 the permissible speed or higher.

permissible speed.

It is not repeatable. Replace the

The command pulse frequency is high.

frequency is low.

It has a failure. Take

Check operation pattern.

Check (2).

Review the filter setting.

Check (6).

Reduce the inputted frequency of the manual pulse generator.

Check (6).

Check operation pattern.

Check (5).

controller.

Check operation pattern.

Check (7).

countermeasures against its cause.

[A]

[B] [WB] [RJ010] [GF]

[GF]

[A] [B] [WB] [RJ010] [GF]

1 - 47

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

Alarm No.: 36 Name: SSCNET receive error 2

Alarm content

Detail

No.

36.1 Continuous

36.2 Continuous

Detail name Cause Check method Check result Action Target

communication data error

It is connected. Check (2).

(2) The surface at the end

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 previous or next

It is repeatable. Check (7).

(7) The controller is

It is repeatable. Check (8).

(8) Something near the

communication data error (safety observation function)

An error occurred in SSCNET III/H communication. (intermittent communication error with about 70 ms interval)

(1) The SSCNET III cable

was disconnected.

of SSCNET 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.

axis servo amplifier of the alarm occurred is malfunctioning.

malfunctioning.

device caused it.

Check it with the check method for [AL. 36.1].

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 previous and next servo amplifier of the axis alarm occurred, 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 control

circuit power supply of the servo amplifier, and then connect the SSCNET III cable.

It is not repeatable. Take measure 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] [WB]

1 - 48

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

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

(2) [Pr. PA01] on the

[Pr. PA01] is set to

(3) [Pr. PA01] on the slave

[Pr. PA01] is set to

(4) "Forced stop

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.

master side was set to other than "standard control mode" or "fully closed loop control mode".

side was set to other than "standard control mode".

deceleration function selection" in [Pr. PA04] is enabled.

(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 the parameter setting.

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

Check the parameter error No. and point table error No. with the 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.

[Pr. PA01] is set to other than "standard control mode" or "fully closed loop control mode".

"standard control mode" or "fully closed loop control mode".

[Pr. PA01] is set to other than "standard control mode".

"standard control mode".

"Forced stop deceleration function selection" setting in [Pr. PA04] is enabled.

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. (When the master-slave function is set, also check (2).)

Set [Pr. PA01] to "standard control mode" or "fully closed loop control mode".

Check (4).

Set [Pr. PA01] to "standard control mode".

Check (4).

Disable "forced stop deceleration function selection" in [Pr. PA04].

Correct the setting value.

Check (2).

amplifier.

[A] [B] [WB] [RJ010] [GF]

[B] (master)

[B] (slave)

[B] (master) (slave)

[A] [GF]

1 - 49

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

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

error

It has no failure. Check (2).

(2) A program has

correspondence instruction 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.

(3) A program has

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 has no failure. Check (3).

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] [WB] [RJ010] [GF]

1 - 50

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

Alarm No.: 3D Name: Parameter setting error for driver communication

Alarm content The control parameter setting value for driver communication is incorrect.

Detail

No.

3D.1 Parameter

3D.2 Parameter

Alarm No.: 3E Name: Operation mode error

Detail

No.

3E.1 Operation

3E.6 Operation mode

Detail name Cause Check method Check result Action Target

(1) The master transmit combination error for driver communication on slave

combination error for driver communication on master

Alarm content The operation mode setting was changed.

Detail name Cause Check method Check result Action Target

mode error

(2) The [Pr. PA01] setting

switch error

It was changed by

data selection for driver communication is not set correctly.

Check it with the check method for [AL. 3D.1]. [B]

(1) The MR-J4 servo

amplifier used in J3 compatibility mode was connected to the other SSCNET III/H controller. Or an MR-J4 servo amplifier which was connected to SSCNET III/H controller was connected to another SSCNET III controller.

value was changed.

(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).

Check the settings of [Pr. PD16] and [Pr. PD17] on the master side.

Check if the connection was changed to like these.

Check if [Pr. PA01] was changed.

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

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

The setting is incorrect.

The connection was changed.

It was changed. Set [Pr. PA01]

It was changed. (with a purpose)

mistake.

Set it correctly. [B]

Initialize the servo amplifier with the built-in application software "MRJ4(W)-B mode selection" of MR Configurator2, and then connect the amplifier to the controller.

correctly.

After changing the positioning mode, initialize the point table method/ program method. (Refer to section

7.2.8 [Pr. PT34] of "MR-J4-_A_-RJ Servo Amplifier Instruction Manual (Positioning Mode)")

Set the positioning mode back to the correct setting.

(slave)

(master)

[B] [WB]

[A]

1 - 51

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

Alarm No.: 42 Name: Servo control error (for linear servo motor and direct drive motor)

Alarm content A servo control error occurred.

Detail

No.

42.1 Servo control

42.2 Servo control

Detail name Cause Check method Check result Action Target

(1) The linear encoder error by position

The setting is

deviation

(2) The direction of

The mounting

(3) The connection of the

The wiring is

(4) The initial magnetic

It is repeatable. Check (5).

(5) The position deviation

error by speed deviation

The setting is

(2) The direction of

The mounting

(3) The connection of the

The wiring is correct. Check (4).

(4) The initial magnetic

It is repeatable. Check (5).

(5) The speed deviation

resolution setting differs from the setting value.

mounting linear encoder is incorrect.

servo motor is incorrect.

pole detection was not executed.

exceeded the detection level.

(1) The linear encoder

resolution setting differs from the setting value.

mounting linear encoder is incorrect.

servo motor is incorrect.

pole detection was not executed.

exceeded the detection level.

Check the setting of [Pr. PL02] and [Pr. PL03].

Check polarities of the linear encoder and the linear servo motor.

Check the wiring. The wiring is

Execute the magnetic pole detection, and then check the repeatability.

Check the value of droop pulses.

Check the setting of [Pr. PL02] and [Pr. PL03].

Check polarities of the linear encoder and the linear servo motor.

Check the wiring. The wiring is

Execute the magnetic pole detection, and then check the repeatability.

Calculate the deviation between the speed command and actual speed.

The setting is incorrect.

correct.

The mounting direction is incorrect.

direction is correct.

incorrect.

correct.

It is not repeatable. Execute the

The deviation is large.

The setting is incorrect.

correct.

The mounting direction is incorrect.

direction is correct.

incorrect.

It is not repeatable. Execute the

The deviation is large.

Set it correctly. [A]

Check (2).

Mount it correctly. Review the "encoder pulse count polarity selection" setting of the parameter as required.

[A]: [Pr. PC45] [B] [WB] [GF]:

[Pr. PC27]

Check (3).

Connect it correctly.

Check (4).

magnetic pole detection.

Review the operation status. Review the [Pr. PL05] setting depending on circumstances.

Set it correctly.

Check (2).

Mount it correctly. Review the "encoder pulse count polarity selection" setting of the parameter as required.

[A]: [Pr. PC45] [B] [WB] [GF]:

[Pr. PC27]

Check (3).

Connect it correctly.

magnetic pole detection.

Review the operation status. Review the [Pr. PL06] setting depending on circumstances.

[B] [WB] [GF]

1 - 52

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

Alarm No.: 42 Name: Servo control error (for linear servo motor and direct drive motor)

Alarm content A servo control error occurred.

Detail

No.

42.3 Servo control

Alarm No.: 42 Name: Fully closed loop control error detection (during fully closed loop control)

Detail

No.

42.8 Fully closed

Detail name Cause Check method Check result Action Target

(1) The linear encoder error by torque/ thrust deviation

The setting is

(2) The direction of

The mounting

(3) The connection of the

The wiring is correct. Check (4).

(4) The initial magnetic pole

It is repeatable. Check (5).

(5) The torque/thrust

Alarm content A fully closed loop control error has occurred.

Detail name Cause Check method Check result Action Target

loop control error by position

The setting is

deviation

(2) The direction of

The mounting

(3) The position deviation

resolution setting differs from the setting value.

mounting linear encoder is incorrect.

servo motor is incorrect.

detection was not executed.

deviation exceeded the detection level.

(1) The resolution of the

load-side encoder setting differs from the setting value.

mounting load-side encoder is incorrect.

exceeded the detection level.

Check the setting of [Pr. PL02] and [Pr. PL03].

Check polarities of the linear encoder and the linear servo motor.

Check the wiring. The wiring is

Execute the magnetic pole detection, and then check the repeatability.

Calculate the deviation between the current command and torque/thrust.

Check the setting of [Pr. PE04] and [Pr. PE05].

Check the mounting direction of the loadside encoder.

Check the value of droop pulses.

The setting is incorrect.

correct.

The mounting direction is incorrect.

direction is correct.

incorrect.

It is not repeatable. Execute the

The deviation is large.

The setting is incorrect.

correct.

The mounting direction is incorrect.

direction is correct.

The deviation is large.

Set it correctly. [A]

Check (2).

Mount it correctly. Review the "encoder pulse count polarity selection" setting of the parameter as required.

[A]: [Pr. PC45] [B] [WB] [GF]:

[Pr. PC27]

Check (3).

Connect it correctly.

magnetic pole detection.

Review the operation status. Review the [Pr. PL07] setting depending on circumstances.

Set it correctly. [A]

Check (2).

Mount it correctly. Review the "encoder pulse count polarity selection" setting of the parameter as required.

[A]: [Pr. PC45] [B] [WB] [GF]:

[Pr. PC27]

Check (3).

Review the operation status. Review the [Pr. PE07] setting depending on circumstances.

[B] [WB] [GF]

1 - 53

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

Alarm No.: 42 Name: Fully closed loop control error detection (during fully closed loop control)

Alarm content A fully closed loop control error has occurred.

Detail

No.

42.9 Fully closed

42.A Fully closed

Alarm No.: 45 Name: Main circuit device overheat

Detail

No.

45.1 Main circuit

45.2 Main circuit

Detail name Cause Check method Check result Action Target

(1) The resolution of the loop control error by speed

The setting is

deviation

(2) The direction of

The mounting

(3) The speed deviation

loop control error by position deviation during command stop

Alarm content Inside of the servo amplifier overheated.

Detail name Cause Check method Check result Action Target

device overheat error 1

It is less than 55 ˚C. Check (2).

(2) The close mounting is

It is within

(3) Turning on and off

It did not occur. Check (4).

(4) A cooling fan, heat sink,

It is repeatable. Check (5).

(5) The servo amplifier is

device overheat error 2

load-side encoder setting differs from the setting value.

mounting load-side encoder is incorrect.

exceeded the detection level.

Check it with the check method for [AL. 42.8].

(1) Ambient temperature

has exceeded 55 ˚C.

out of specifications.

were repeated under the overload status.

or openings is clogged with foreign matter.

malfunctioning.

(1) Check it with the check method for [AL. 45.1].

Check the setting of [Pr. PE04] and [Pr. PE05].

Check the mounting direction of the loadside encoder.

Calculate the deviation between the speed command and actual speed.

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.

The setting is incorrect.

correct.

The mounting direction is incorrect.

direction is correct.

The deviation is large.

It is over 55 ˚C. Lower the ambient

It is out of specifications.

specifications.

It occurred. Check operation

It is not repeatable. Clean it periodically.

It is not repeatable. Replace the servo

Set it correctly. [A]

Check (2).

Mount it correctly. Review the "encoder pulse count polarity selection" setting of the parameter as required.

[A]: [Pr. PC45] [B] [WB] [GF]:

[Pr. PC27]

Check (3).

Review the operation status. Review the [Pr. PE06] setting depending on circumstances.

temperature.

Use within the range of specifications.

Check (3).

pattern.

amplifier.

[B] [WB] [GF]

[A] [B] [WB] [RJ010] [GF]

1 - 54

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

Alarm No.: 46 Name: Servo motor overheat

Alarm content The servo motor overheated.

Detail

No.

46.1 Abnormal

46.2 Abnormal

46.3 Thermistor

(3) The thermistor wire is

It is not

46.4 Thermistor

46.5 Abnormal

46.6 Abnormal

Detail name Cause Check method Check result Action Target

(1) Ambient temperature of temperature of servo motor 1

It is less than 40 ˚C. Check (2).

(2) Servo motor is

The effective load

(3) The thermal sensor in

temperature of servo motor 2

It is less than 40 ˚C. Check (2).

(2) The linear servo motor

The effective load

disconnected

It is connected. Check (2).

error

(2) The encoder cable MR-

MR-ENECBL_M-H-

circuit error

temperature of servo motor 3

temperature of servo motor 4

the servo motor has exceeded 40 ˚C.

overloaded.

the encoder is malfunctioning.

(1) Ambient temperature of

the linear servo motor or direct drive motor has exceeded 40 ˚C.

or direct drive motor has been under overload status.

(1) A thermistor wire is not

connected.

ENECBL_M-H for HFJP series servo motors is used for the HGJR22K1M(4) servo motor.

disconnected.

(1) A thermistor circuit of

the servo amplifier 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.

Check the ambient temperature of the servo motor.

Check the effective load ratio.

Check the servo motor temperature when the alarm occurs.

Check the ambient temperature of the linear servo motor or direct drive motor.

Check the effective load ratio.

Check the thermistor wire.

Check the model of the encoder cable.

Check the thermistor wire.

Replace the servo amplifier, and then check the repeatability.

Check the effective load ratio.

It is over 40 ˚C. Lower the ambient

temperature.

The effective load ratio is high.

ratio is small.

The servo motor temperature is low.

It is over 40 ˚C. Lower the ambient

The effective load ratio is high.

ratio is small.

It is not connected. Connect it correctly.

MR-ENECBL_M-H is used.

MTH is used.

It is disconnected. Repair the lead wire.

disconnected.

It is not repeatable. Replace the servo

The effective load ratio is high.

Reduce the load or review the operation pattern.

Check (3).

Replace the servo motor.

temperature.

Reduce the load or review the operation pattern.

Replace the servo motor.

Change it to MRENECBL_M-H-MTH.

Check (3).

Replace the servo motor.

amplifier.

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

[A] [B] [WB] [RJ010] [GF]

[A] [B] [WB] [GF]

[A] [B] [WB] [RJ010] [GF]

1 - 55

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

Alarm No.: 47 Name: Cooling fan error

Alarm content

Detail

No.

47.1 Cooling fan

47.2 Cooling fan

Detail name Cause Check method Check result Action Target

stop error

Nothing has been

(2) Cooling fan life expired. Check if the cooling

speed reduction error

Nothing has been

(2) Cooling fan life expired. Check the cooling fan

Alarm No.: 50 Name: Overload 1

Alarm content Load exceeded overload protection characteristic of servo amplifier.

Detail

No.

50.1 Thermal

Detail name Cause Check method Check result Action Target

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) The encoder or linear

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

(1) Foreign matter was

caught in the cooling fan.

(1) Foreign matter was

caught in the cooling fan.

(1) The servo motor power

cable was disconnected.

servo motor is incorrect.

brake has not 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.

encoder is malfunctioning.

Check if a foreign matter is caught in the cooling fan.

fan is stopping.

Check if a foreign matter is caught in the cooling fan.

speed.

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 the connection destinations of CN2A, CN2B, and CN2C.

Check if it is resonating.

Replace the servo amplifier, and then check the repeatability.

Replace the servo motor or linear encoder, and then check the repeatability.

Something has been caught.

caught.

It is stopping. Replace the servo

Something has been caught.

caught.

The fan speed is less than the alarm occurrence level.

It is disconnected. Repair or replace

disconnected.

It is incorrect. Connect it correctly.

It is not released. Release the

The effective load ratio is high.

ratio is small.

It is not correct. Connect it correctly. [WB]

It is resonating. Adjust gains.

It is not repeatable. Replace the servo

Remove the foreign matter.

Check (2).

amplifier.

Remove the foreign matter.

Check (2).

Replace the servo amplifier.

the servo motor power cable.

Check (2).

electromagnetic brake.

Reduce the load. Or use a larger capacity motor.

Check (5).

For MR-J4-03A6(RJ) and MR-J4W20303B6, check if the main circuit power supply voltage is 48 V DC even though the setting is 24 V DC.

amplifier.

motor or linear encoder.

[A] [B] [WB] [RJ010] [GF]

1 - 56

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

Alarm No.: 50 Name: Overload 1

Alarm content Load exceeded overload protection characteristic of servo amplifier.

Detail

No.

50.2 Thermal

50.3 Thermal

50.4 Thermal

50.5 Thermal

50.6 Thermal

Detail name Cause Check method Check result Action Target

Check it with the check method for [AL. 50.1]. overload error 2 during operation

overload error 4 during operation

(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, servo

overload error 2 during a stop

overload error 4 during a stop

against the machine.

cable was disconnected.

servo-lock.

brake has not 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.

motor, or linear encoder is malfunctioning.

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

Check if it collided. It collided. Check 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 the connection destinations of CN2A, CN2B, and CN2C.

Check if it is resonating.

Replace the servo amplifier, and then check the repeatability.

Replace the servo motor or linear encoder, 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 small.

It is not correct. Connect it correctly. [WB]

It is resonating. Adjust gains. [A]

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 or linear encoder.

[A] [B] [WB] [RJ010] [GF]

[B] [WB] [RJ010] [GF]

1 - 57

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

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) An encoder or servo

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.

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 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] [WB] [RJ010] [GF]

1 - 58

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

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/

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 released. (The electromagnetic brake has been activated.)

insufficient.

dropped.

deceleration 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 operation

Check if 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]: [Pr. PC24], [Pr. PC43]

[B] [WB] [RJ010] [GF]: [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/ deceleration time constant.

position loop gain ([Pr. PB08]).

[A] [B] [WB] [RJ010] [GF]

1 - 59

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

Alarm No.: 52 Name: Error excessive

Alarm content Droop pulses have exceeded the alarm occurrence level.

Detail

No.

52.1 Excess droop

52.3 Excess droop

52.4 Error excessive

52.5 Excess droop

Alarm No.: 54 Name: Oscillation detection

Detail

No.

54.1 Oscillation

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).

(14) The servo amplifier is

pulse 2

during 0 torque limit

pulse 3

Alarm content An oscillation of the servo motor was detected.

Detail name Cause Check method Check result Action Target

detection error

The torque ripple is

(2) The resonance

The resonance

(3) The encoder or linear

rotated by external force./ The moving part of the linear servo motor was moved by external force.

servo motor is malfunctioning.

malfunctioning.

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

(1) The torque limit has

been 0.

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

(1) The servo system is

unstable and oscillating.

frequency has changed due to deterioration.

encoder is malfunctioning.

Measure the actual position under the servo-lock status.

Replace the servo motor, and then check the repeatability.

Replace the servo amplifier, and then check the repeatability.

Check the torque limit value.

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 or linear encoder, and then check the repeatability.

It is rotated by external force./ It was moved by external force.

external force./ It was not moved by external force.

It is not repeatable. Replace the servo

The torque limit has been 0.

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

Review the machine. [A]

Check (13).

motor.

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 or linear encoder.

[B] [WB] [RJ010] [GF]

[A] [B] [WB] [RJ010] [GF]

1 - 60

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

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) The encoder or linear

distance over during forced stop

It is repeatable. Check (2).

(2) The torque limit has

The limiting torque

(3) The encoder or linear

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]: [Pr. PC51] [B] [WB] [RJ010] [GF]:

[Pr. PC24]

been enabled.

unstable and oscillating.

encoder is malfunctioning.

(1) The forced stop

deceleration time constant is short. [A]: [Pr. PC51] [B] [WB] [RJ010] [GF]:

[Pr. PC24]

been enabled.

encoder is malfunctioning.

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

sub function of the last point table (255).

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 or linear encoder, 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 or linear encoder, 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. Review the settings. [A]

Review the torque limit value.

Check (3).

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

Check (4).

motor or linear encoder.

deceleration time constant.

Review the torque limit value.

Check (3).

motor or linear encoder.

[A] [B] [WB] [RJ010] [GF]

[GF]

1 - 61

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

Alarm No.: 63 Name: STO timing error

Alarm content STO input signal turns off while the servo motor is rotating.

Detail

No.

63.1 STO1 off (1) STO1 was turned off

63.2 STO2 off (1) STO2 was turned off

63.5 STO by

Alarm No.: 64 Name: Functional safety unit setting error

Detail

No.

64.1 STO input error (1) When a functional

64.2 Compatibility

64.3 Operation mode

Detail name Cause Check method Check result Action Target

Check if STO1 is off (enabled) under the following speed conditions.

1) Servo motor speed:

50 r/min or more

2) Linear servo motor

speed: 50 mm/s or more

3) Direct drive motor

speed: 5 r/min or more

(enabled) under the following speed conditions.

1) Servo motor speed:

50 r/min or more

2) Linear servo motor

speed: 50 mm/s or more

3) Direct drive motor

speed: 5 r/min or more

(1) STO of the functional functional safety unit

Alarm content A setting of the servo amplifier or functional safety unit was incorrect.

Detail name Cause Check method Check result Action Target

mode setting error

setting error

safety unit was turned off (enabled) under the following speed conditions.

1) Servo motor speed: 50 r/min or more

2) Linear servo motor speed: 50 mm/s or more

3) Direct drive motor speed: 5 r/min or more

safety unit is used, a connector is connected to CN8 of the servo amplifier.

(1) When a functional

safety unit is used, the J3 compatibility mode is set.

(1) The speed observation

function turned to be enabled in the fully closed loop control mode, linear servo motor control mode, or DD motor control mode.

(enabled).

Check if STO2 is off (enabled).

Check if STO of the functional safety unit is off (enabled).

Check the connection of the CN8 connector.

Check the parameter setting.

Check if the parameter setting is correct.

It is off (enabled). Turn on STO1

(disabled).

It is off (enabled). Turn on STO2

(disabled).

It is off (enabled). Turn on STO

(disabled).

It is connected. Turn off the control

circuit power supply of the servo amplifier, and then remove the connector of CN8.

The J3 compatibility mode is set.

The setting is incorrect.

The J3 compatibility mode is not supported with the functional safety unit. Set it correctly.

Set it correctly. [A]

[A] [B] [WB] [RJ010] [GF]

[A] [B] [GF]

[B]

[B] [GF]

1 - 62

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

Alarm No.: 65 Name: Functional safety unit connection error

Alarm content Communication or signal between a functional safety unit and servo amplifier failed.

Detail

No.

65.1 Functional

65.2 Functional

65.3 Functional

65.4 Functional

65.5 Functional

65.6 Functional

65.7 Functional

65.8 Functional

65.9 Functional

Detail name Cause Check method Check result Action Target

(1) The functional safety safety unit communication error 1

It is connected. Check (2).

(2) The functional safety

It is repeatable. Check (3).

(3) The servo amplifier is

It is repeatable. Check (4).

(4) Something near the

safety unit communication error 2

safety unit communication error 3

safety unit communication error 4

safety unit communication error 5

safety unit communication error 6

safety unit communication error 7

safety unit shutoff signal error 1

safety unit shutoff signal error 2

unit came off.

unit is malfunctioning.

malfunctioning.

device caused it.

Check it with the check method for [AL. 65.1].

Check the installation of the functional safety unit.

Replace the functional safety unit, and then check the repeatability.

Replace the servo amplifier, and then check the repeatability.

Check the noise, ambient temperature, etc.

It is disconnected. Turn off the control

circuit power supply of the servo amplifier, and then connect the functional safety unit.

It is not repeatable. Replace the

functional safety unit.

It is not repeatable. Replace the servo

amplifier.

It has a failure. Take

countermeasures against its cause.

[A] [B] [GF]

1 - 63

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

Alarm No.: 66 Name: Encoder initial communication error (safety observation function)

Alarm content

Detail

No.

66.1 Encoder initial

66.2 Encoder initial

66.3 Encoder initial

66.7 Encoder initial

66.9 Encoder initial

Detail name Cause Check method Check result Action Target

communication

- Receive data

It has no failure. Check (2).

error 1 (safety

(2) The servo amplifier is

observation function)

It is repeatable. Check (3).

(3) An encoder is

It is repeatable. Check (4).

(4) Something near the

communication

- Receive data error 2 (safety observation function)

communication

- Receive data error 3 (safety observation function)

communication

- Transmission data error 1 (safety observation function)

communication

- Process error 1 (safety

It is a servo motor

observation function)

(2) The functional safety

It is repeatable. 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

The connected encoder is not compatible with the servo amplifier. An error has occurred in the communication between an encoder and servo amplifier.

(1) An encoder cable is

malfunctioning.

device caused it.

Check it with the check method for [AL. 66.1].

(1) A servo motor with

functional safety is not connected.

unit is malfunctioning.

malfunctioning.

device caused it.

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 a servo motor with functional safety is connected.

Replace the functional safety unit, 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, 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 a servo motor with functional safety.

with functional safety.

It is not repeatable. Replace the

It is not repeatable. Replace the servo

It has a failure. Take

Connect a servo motor with functional safety.

Check (2).

functional safety unit.

amplifier.

motor.

countermeasures against its cause.

[A] [B] [GF]

1 - 64

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

Alarm No.: 67 Name: Encoder normal communication error 1 (safety observation function)

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

Detail

No.

67.1 Encoder normal

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 (safety

(2) The servo amplifier is

observation function)

It is repeatable. Check (3).

(3) An encoder is

It is repeatable. Check (4).

malfunctioning.

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.

It has a failure. Repair or replace

the cable.

It is not repeatable. Replace the servo

amplifier.

It is not repeatable. Replace the servo

motor.

[A] [B] [GF]

(4) Something near the

device caused it.

67.2 Encoder normal communication Receive data error 2 (safety observation function)

67.3 Encoder normal communication Receive data error 3 (safety observation function)

67.4 Encoder normal communication Receive data error 4 (safety observation function)

67.7 Encoder normal communication Transmission data error 1 (safety observation function)

Check it with the check method for [AL. 67.1].

Check the noise, ambient temperature, vibration, etc.

It has a failure. Take

countermeasures against its cause.

1 - 65

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

Alarm No.: 68 Name: STO diagnosis error

Alarm content An error of STO input signal was detected.

Detail

No.

68.1 Mismatched

Detail name Cause Check method Check result Action Target

STO signal error

(1) STO1 and STO2 are

not inputted correctly.

(2) The input states of

STO1 and STO2 are different.

(3) The setting of [Pr. PF18

STO diagnosis error detection time] ([Pr. PX43] for when the J3 extension function is used) is incorrect.

(4) The STO circuit is

malfunctioning.

(5) Something near the

device caused it.

Check if the STO1 and STO2 of CN8 connector are wired correctly.

Check the on/off states of STO1 and STO2.

Set a longer time in the parameter, and then check the repeatability.

Replace the servo amplifier, and then check the repeatability.

Check the noise, ambient temperature, etc.

It is not wired correctly.

It is wired correctly. Check (2).

The on/off states of STO1 and STO2 are different.

The on/off states of STO1 and STO2 are the same.

It is not repeatable. Review the

It is repeatable. Check (4).

It is not repeatable. Replace the servo

It is repeatable. Check (5).

It has a failure. Take

Wire it correctly. [A]

Set STO1 and STO2 to the same input states.

Check (3).

parameter setting.

amplifier.

countermeasures against its cause.

[B] [WB] [GF]

1 - 66

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

Alarm No.: 69 Name: Command error

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

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

Alarm content

Detail

No.

69.1 Forward

69.2 Reverse

69.3 Forward

Detail name Cause Check method Check result Action Target

rotation-side software limit detection -

The command

Command excess error

(2) The command position

It was set correctly. Check (3).

(3) The controller is

It is repeatable. Check (4).

(4) Something near the

rotation-side software limit detection Command excess error

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

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. After the detection of FLS (Upper stroke limit) or RLS (Lower stroke limit), 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.

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

malfunctioning.

device caused it.

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 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.

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.

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

It has a failure. Take

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

Set the command position correctly.

Check (2).

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

controller.

countermeasures against its cause.

Check operation pattern.

controller.

countermeasures against its cause.

[GF]

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1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

Alarm No.: 69 Name: Command error

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

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

Alarm content

Detail

No.

69.4 Reverse

69.5 Upper stroke

69.6 Lower stroke

Detail name Cause Check method Check result Action Target

rotation 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

limit detection Command excess error

It was set correctly. Check (2).

(2) The upper stroke limit

Or the switch is

(3) Something near the

It has no failure. Check (4). (4) The controller is

limit detection Command excess error

It was set correctly. Check (2).

(2) The lower stroke limit

Or the switch is

(3) Something near the

It has no failure. Check (4). (4) The controller is

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. After the detection of FLS (Upper stroke limit) or RLS (Lower stroke limit), 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.

(1) The command position

exceeded 30 bits from the detected position after the detection of FLS (Upper stroke limit).

switch is not wired.

incorrectly positioned.

device caused it.

malfunctioning.

(1) The command position

exceeded 30 bits from the detected position after the detection of RLS (Lower stroke limit).

switch is not wired.

incorrectly positioned.

device caused it.

malfunctioning.

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.

Check the command position.

Check if the limit switch is wired correctly.

Or check if the switch is incorrectly positioned.

Check the noise, ambient temperature, etc.

Replace the controller, and then check the repeatability.

Check the command position.

Check if the limit switch is wired correctly.

Or check if the switch is incorrectly positioned.

Check the noise, ambient temperature, etc.

Replace the controller, and then check the repeatability.

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

The command position was set to 30 bits or more.

It has a failure. Take

It has no failure. Check (3).

It has a failure. Take

It is not repeatable. Replace the

The command position was set to 30 bits or more.

It has a failure. Take

It has no failure. Check (3).

It has a failure. Take

It is not repeatable. Replace the

Check operation pattern.

controller.

countermeasures against its cause.

Check operation pattern.

countermeasures against its cause.

controller.

Check operation pattern.

countermeasures against its cause.

controller.

[GF]

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1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

Alarm No.: 70 Name: Load-side encoder initial communication error 1

Alarm content An error occurred in the communication between the load-side encoder and servo amplifier.

Detail

No.

70.1 Load-side

70.2 Load-side

Detail name Cause Check method Check result Action Target

(1) A load-side encoder encoder initial communication -

It has no failure. Check (2).

Receive data error 1

(2) When you use an A/B/Z-

The servo amplifier

(3) When you use an A/B/Z-

The wiring is

(4) The servo amplifier is

It is repeatable. Check (5).

(5) A load-side encoder is

It is repeatable. Check (6).

(6) Something near the

encoder initial communication Receive data error 2

cable is malfunctioning.

phase differential output linear encoder, the servo amplifier is not compatible with the linear encoder.

phase differential output linear encoder, the connection with the linear encoder is incorrect.

malfunctioning.

device caused it.

Check it with the check method for [AL. 70.1].

Check if the load-side encoder cable is disconnected or shorted.

Check if the servo amplifier (MR-J4-_-RJ) is compatible with the A/B/Z-phase differential output linear encoder.

Check if the wiring of the linear encoder is correct. (Check if it is wired to PSEL.)

Replace the servo amplifier, and then check the repeatability.

Replace the load-side encoder, and then check the repeatability.

Check the noise, ambient temperature, vibration, etc.

It has a failure. Replace or repair

the cable.

The servo amplifier is not compatible with it.

is compatible with it.

The wiring is incorrect.

correct.

It is not repeatable. Replace the servo

It is not repeatable. Replace the load-

It has a failure. Take

Use a servo amplifier which is compatible with it.

Check (3).

Wire it correctly.

Check (4).

amplifier.

side encoder.

countermeasures against its cause.

[A] [B] [WB] [GF]

[A] [B] [GF]

[A] [B] [WB] [GF]

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1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

Alarm No.: 70 Name: Load-side encoder initial communication error 1

Alarm content An error occurred in the communication between the load-side encoder and servo amplifier.

Detail

No.

70.3 Load-side

Detail name Cause Check method Check result Action Target

(1) An axis not used is not encoder initial communication

It is set as disabled-

- Receive data error 3

(2) The load-side encoder

It is connected. Check (3).

(3) A load-side encoder

It has no failure. Check (4).

(4) The power voltage has

It has no failure. Check (5).

(5) The parameter setting

The setting is

(6) When you use an A/B/Z-

The wiring is correct. Check (7).

(7) When you use a four-

It is compatible. Check (8).

(8) The servo amplifier is

It is repeatable. Check (9).

(9) A load-side encoder is

It is repeatable. Check (10).

(10) Something near the

set as disabled-axis.

cable was disconnected.

cable is malfunctioning.

been unstable. (For the load-side encoder with the external power supply input)

of communication method is incorrect.

[A]: [Pr. PC44] [B] [GF]: [Pr. PC26]

phase differential output linear encoder, the connection with the linear encoder is incorrect.

wire type linear encoder, the servo amplifier is not compatible with the fourwire type linear encoder.

malfunctioning.

device caused it.

Check the setting of the disabling control axis switches (SW22/SW2-3/SW2-4).

Check if the load-side encoder cable is connected correctly.

Check if the load-side encoder cable is disconnected or shorted.

Check the power capacity and voltage.

Check the parameter setting.

Check if the wiring of the linear encoder is correct. (Check if it is wired to PSEL.)

Check if the servo amplifier is compatible with the four-wire type linear encoder. (MRJ4-_-RJ)

Replace the servo amplifier, and then check the repeatability.

Replace the load-side encoder, and then check the repeatability.

Check the noise, ambient temperature, vibration, etc.

It is not set as disabled-axis.

axis.

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

It has a failure. Replace or repair

It has a failure. Review the power

The setting is incorrect.

correct.

The wiring is incorrect.

It is not compatible. Use a servo

It is not repeatable. Replace the servo

It is not repeatable. Replace the load-

It has a failure. Take

Set it as disabledaxis.

Check (2).

the cable.

and related parts.

Set it correctly. [A]

Check (6).

Wire it correctly.

amplifier which is compatible with it.

amplifier.

side encoder.

countermeasures against its cause.

[WB]

[B] [WB] [GF]

[B] [GF]

[A] [B] [WB] [GF]

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1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

Alarm No.: 70 Name: Load-side encoder initial communication error 1

Alarm content An error occurred in the initial communication between the load-side encoder and servo amplifier.

Detail

No.

70.5 Load-side

70.6 Load-side

70.7 Load-side

70.A Load-side

Detail name Cause Check method Check result Action Target

(1) When you use an encoder initial communication

- Transmission

It is not disconnected

data error 1

(2) A load-side encoder

(3) The servo amplifier is

(4) A load-side encoder is

(5) Something near the

encoder initial communication

- Transmission

It is not disconnected

data error 2

(2) A load-side encoder

(3) The servo amplifier is

(4) A load-side encoder is

(5) Something near the

encoder initial communication

- Transmission data error 3

encoder initial communication -

It is repeatable. Check (2).

Process error 1

(2) A load-side encoder is

It is repeatable. Check (3).

(3) Something near the

A/B/Z-phase differential output linear encoder, the wiring of the linear encoder is incorrect.

cable is malfunctioning.

malfunctioning.

device caused it.

(1) When you use an

A/B/Z-phase differential output linear encoder, the wiring of the linear encoder is incorrect.

cable is malfunctioning.

malfunctioning.

device caused it.

Check it with the check method for [AL. 70.1].

(1) The servo amplifier is

malfunctioning.

device caused it.

Check if the A/Bphase pulse signals (PA, PAR, PB, and PBR) of the encoder cable are disconnected or shorted.

Check it with the check method for [AL. 70.1]. [A]

Check if the Z-phase pulse signals (PZ/PZR) of the encoder cable are disconnected or shorted.

Check it with the check method for [AL. 70.1]. [A]

Replace the servo amplifier, and then check the repeatability.

Replace the load-side encoder, and then check the repeatability.

Check the noise, ambient temperature, vibration, etc.

It is disconnected or shorted.

or shorted.

It is disconnected or shorted.

or shorted.

It is not repeatable. Replace the servo

It is not repeatable. Replace the load-

It has a failure. Take

Repair the encoder cable.

Check (2).

Repair the encoder cable.

Check (2).

amplifier.

side encoder.

countermeasures against its cause.

[A] [B] [GF]

[B] [WB] [GF]

[A] [B] [GF]

[B] [WB] [GF]

[A] [B] [WB] [GF]

1 - 71

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

Alarm No.: 70 Name: Load-side encoder initial communication error 1

Alarm content An error occurred in the initial communication between the load-side encoder and servo amplifier.

Detail

No.

70.B Load-side

70.C Load-side

70.D Load-side

70.E Load-side

70.F Load-side

Alarm No.: 71 Name: Load-side encoder normal communication error 1

Detail

No.

71.1 Load-side

Detail name Cause Check method Check result Action Target

Check it with the check method for [AL. 70.A]. 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

Alarm content An error occurred in the communication between the load-side encoder and servo amplifier.

Detail name Cause Check method Check result Action Target

(1) A load-side encoder encoder normal communication

It has no failure. Check (2).

- Receive data error 1

(2) The external conductor

It is connected. Check (3).

(3) The parameter setting

The setting is

(4) The servo amplifier is

It is repeatable. Check (5).

(5) A load-side encoder is

It is repeatable. Check (6).

(6) Something near the

cable is malfunctioning.

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

of communication method is incorrect.

[A]: [Pr. PC44] [B] [GF]: [Pr. PC26]

malfunctioning.

device caused it.

Check if the load-side encoder cable is disconnected or shorted.

Check if it is connected.

Check the parameter setting.

Replace the servo amplifier, and then check the repeatability.

Replace the load-side encoder, and then check the repeatability.

Check the noise, ambient temperature, vibration, etc.

It has a failure. Repair or replace

the cable.

It is not connected. Connect it correctly.

The setting is incorrect.

correct.

It is not repeatable. Replace the servo

It is not repeatable. Replace the load-

It has a failure. Take

Set it correctly. [A]

Check (4).

amplifier.

side encoder.

countermeasures against its cause.

[A] [B] [WB] [GF]

[B] [GF]

[A] [B] [WB] [GF]

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1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

Alarm No.: 71 Name: Load-side encoder normal communication error 1

Alarm content An error occurred in the communication between the load-side encoder and servo amplifier.

Detail

No.

71.2 Load-side

71.3 Load-side

71.5 Load-side

71.6 Load-side

71.7 Load-side

71.9 Load-side

71.A Load-side

Alarm No.: 72 Name: Load-side encoder normal communication error 2

Detail

No.

72.1 Load-side

Detail name Cause Check method Check result Action Target

Check it with the check method for [AL. 71.1]. encoder normal communication Receive data error 2

encoder normal communication Receive data error 3

encoder normal communication Transmission data error 1

encoder normal communication 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

Alarm content The load-side encoder detected an error signal.

Detail name Cause Check method Check result Action Target

(1) The encoder detected a encoder data error 1

It is repeatable. Check (2).

(2) A load-side encoder is

It is repeatable. Check (3).

(3) Something near the

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

malfunctioning.

device caused it.

Decrease the loop gain, and then check the repeatability.

Replace the load-side encoder, and then check the repeatability.

Check the noise, ambient temperature, vibration, etc.

It is not repeatable. Use the encoder

with low loop gain.

It is not repeatable. Replace the load-

side encoder.

It has a failure. Take

countermeasures against its cause.

[A] [B] [WB] [GF]

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1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

Alarm No.: 72 Name: Load-side encoder normal communication error 2

Alarm content The load-side encoder detected an error signal.

Detail

No.

72.2 Load-side

72.3 Load-side

72.4 Load-side

72.5 Load-side

72.6 Load-side

72.9 Load-side

Alarm No.: 74 Name: Option card error 1

Detail

No.

74.1 Option card

74.2 Option card

74.3 Option card

74.4 Option card

74.5 Option card

Detail name Cause Check method Check result Action Target

(1) A load-side encoder is encoder data update error

It is repeatable. Check (2).

(2) Something near the

encoder data waveform error

encoder non-

It has no failure. Check (2).

signal error

(2) Something near the

encoder hardware error 1

encoder hardware error 2

encoder data error 2

Alarm content

Detail name Cause Check method Check result Action Target

error 1

It is mounted

(2) MR-J3-T10 is

It is repeatable. Check (3). (3) The servo amplifier is

error 2

error 3

error 4

error 5

malfunctioning.

device caused it.

Check it with the check method for [AL. 72.2].

(1) A signal of the load-

side encoder has not been inputted.

device caused it.

Check it with the check method for [AL. 72.2].

Check it with the check method for [AL. 72.1].

MR-J3-T10 came off. MR-J3-T10 is not properly recognized.

(1) The MR-J3-T10 came

off during the CC-Link IE communication.

malfunctioning.

Check it with the check method for [AL. 74.1].

Replace the load-side encoder, and then check the repeatability.

Check the noise, ambient temperature, etc.

Check if the load-side encoder cable is wired correctly.

Check the noise, ambient temperature, etc.

Check if the MR-J3T10 is mounted correctly.

Replace the MR-J3T10, and then check the repeatability.

Replace the servo amplifier, and then check the repeatability.

It is not repeatable. Replace the load-

side encoder.

It has a failure. Take

countermeasures against its cause.

It has a failure. Review the wiring. [A]

It has a failure. Take

countermeasures against its cause.

It is not mounted correctly.

correctly.

It is not repeatable. Replace the MR-J3-

It is not repeatable. Replace the servo

Install it correctly. [RJ010]

Check (2).

T10.

amplifier.

[A] [B] [WB] [GF]

[B] [WB] [GF]

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1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

Alarm No.: 75 Name: Option card error 2

Alarm content MR-J3-T10 came off.

Detail

No.

75.3 Option card

75.4 Option card

Alarm No.: 79 Name: Functional safety unit diagnosis error

Detail

No.

79.1 Functional

79.2 Functional

Detail name Cause Check method Check result Action Target

(1) MR-J3-T10 came off. Check if the MR-J3connection error

It is mounted

(2) MR-J3-T10 is

malfunctioning.

It is repeatable. Check (3).

(3) The servo amplifier is

malfunctioning.

(1) MR-J3-T10 was not disconnected

It is mounted

(2) MR-J3-T10 is

It is repeatable. Check (3).

(3) The servo amplifier is

Alarm content A diagnosis of the functional safety unit failed.

Detail name Cause Check method Check result Action Target

safety unit power voltage

It has no failure. Check (2).

error

(2) The functional safety

It is repeatable. Check (3).

(3) The servo amplifier is

It is repeatable. Check (4).

(4) Something near the

safety unit internal error

It is repeatable. Check (2).

(2) Something near the

connected correctly.

malfunctioning.

(1) The power supply of

the functional safety unit is failure.

unit is malfunctioning.

malfunctioning.

device caused it.

(1) The functional safety

unit is malfunctioning.

device caused it.

T10 is mounted correctly.

Replace the MR-J3T10, and then check the repeatability.

Replace the servo amplifier, and then check the repeatability.

Check if the MR-J3T10 is mounted correctly.

Replace the MR-J3T10, and then check the repeatability.

Replace the servo amplifier, and then check the repeatability.

Check the installation of the functional safety unit.

Replace the functional safety unit, and then check the repeatability.

Replace the servo amplifier, and then check the repeatability.

Check the power supply for noise.

Replace the functional safety unit, and then check the repeatability.

Check the power supply for noise.

It is not mounted correctly.

correctly.

It is not repeatable. Replace the MR-J3-

It is not repeatable. Replace the servo

It is not mounted correctly.

correctly.

It is not repeatable. Replace the MR-J3-

It is not repeatable. Replace the servo

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

It is not repeatable. Replace the

It is not repeatable. Replace the servo

It has a failure. Take

It is not repeatable. Replace the

It has a failure. Take

Install it correctly. [RJ010]

Check (2).

T10.

amplifier.

Install it correctly.

Check (2).

T10.

amplifier.

functional safety unit.

amplifier.

countermeasures against its cause.

functional safety unit.

countermeasures against its cause.

[B] [GF]

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1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

Alarm No.: 79 Name: Functional safety unit diagnosis error

Alarm content A diagnosis of the functional safety unit failed.

Detail

No.

79.3 Abnormal

79.4 Servo amplifier

79.5 Input device

Detail name Cause Check method Check result Action Target

(1) Ambient temperature temperature of functional safety

It is less than 55 ˚C. Check (2).

unit

(2) Ambient temperature is

It is 0 ˚C or more. Check (3).

(3) The close mounting is

It is within

(4) An opening is clogged

It is repeatable. Check (5).

(5) The functional safety

It is repeatable. Check (6).

(6) Something near the

error

It has no failure. Check (2).

(2) The functional safety

It is repeatable. Check (3).

(3) The servo amplifier is

It is repeatable. Check (4).

(4) Something near the

error

It has no failure. Check (2).

(2) The input device

It is set correctly. Check (3).

(3) The test pulse time was

The test pulse width

(4) The functional safety

It is repeatable. Check (5).

(5) Something near the

has exceeded 55 ˚C.

less than 0 ˚C.

out of specifications.

up.

unit is malfunctioning.

device caused it.

(1) The functional safety

unit came off.

unit is malfunctioning.

malfunctioning.

device caused it.

(1) A signal of input device

is not inputted correctly.

setting parameter is not set correctly.

not set correctly.

unit is malfunctioning.

device caused it.

Check the ambient temperature.

Check the specifications of close mounting.

Clean the opening and check the repeatability.

Replace the functional safety unit, and then check the repeatability.

Check the power supply for noise.

Check the installation of the functional safety unit.

Replace the functional safety unit, and then check the repeatability.

Replace the servo amplifier, and then check the repeatability.

Check the noise, ambient temperature, etc.

Check if the input device cable is wired correctly.

Check if the parameter is set correctly.

Check the setting of [Pr. PSD26 Input device - Test pulse off time].

Replace the functional safety unit, and then check the repeatability.

Check the noise, ambient temperature, etc.

It is over 55 ˚C. Lower the ambient

temperature.

It is less than 0 ˚C. Increase the ambient

temperature.

It is out of specifications.

specifications.

It is not repeatable. Clean it periodically.

It is not repeatable. Replace the

It has a failure. Take

It has a failure. Install it correctly.

It is not repeatable. Replace the

It is not repeatable. Replace the servo

It has a failure. Take

It has a failure. Review the wiring.

It is not set correctly. Review the

The test pulse width is longer than the set value.

is shorter than the set value.

It is not repeatable. Replace the

It has a failure. Take

Mount it correctly.

Check (4).

functional safety unit.

countermeasures against its cause.

functional safety unit.

amplifier.

countermeasures against its cause.

parameter.

Set the value longer.

Check (4).

functional safety unit.

countermeasures against its cause.

[A] [B] [GF]

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1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

Alarm No.: 79 Name: Functional safety unit diagnosis error

Alarm content A diagnosis of the functional safety unit failed.

Detail

No.

79.6 Output device

79.7 Mismatched

Detail name Cause Check method Check result Action Target

(1) A signal of an output error

It has no failure. Check (2).

(2) The test pulse time was

The test pulse width

(3) Current of the output

Within prescribed. Check (4).

(4) The functional safety

It is repeatable. Check (5).

(5) Something near the

input signal error

It has no failure. Check (2).

(2) An input mismatch time

The mismatched

(3) The functional safety

It is repeatable. Check (4).

(4) Something near the

device has not been outputted correctly.

not set correctly.

device is excessive.

unit is malfunctioning.

device caused it.

(1) A mismatch of input

signal DI_A and DI_B continued for a fixed time ([Pr. PSD18] to [Pr. PSD23]).

was not set correctly.

unit is malfunctioning.

device caused it.

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

Check the setting of [Pr. PSD30 Output device - Test pulse off time].

Check if the current is used within prescribed.

Replace the functional safety unit, and then check the repeatability.

Check the noise, ambient temperature, etc.

Check if the input device cable is wired correctly.

Check the settings of [Pr. PSD18 Mismatch permissible time DI1] to [Pr. PSD23 Mismatch permissible time DI6].

Replace the functional safety unit, and then check the repeatability.

Check the noise, ambient temperature, etc.

It has a failure. Review the wiring or

load.

The test pulse width is longer than the set value.

is shorter than the set value.

Not within prescribed.

It is not repeatable. Replace the

It has a failure. Take

It has a failure. Review the wiring.

The mismatched time is longer than the set value.

time is shorter than the set value.

It is not repeatable. Replace the

It has a failure. Take

Set the value longer.

Check (3).

Reduce the output current.

functional safety unit.

countermeasures against its cause.

Set the value longer.

Check (3).

functional safety unit.

countermeasures against its cause.

[A] [B] [GF]

1 - 77

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

Alarm No.: 79 Name: Functional safety unit diagnosis error

Alarm content A diagnosis of the functional safety unit failed.

Detail

No.

79.8 Position

Detail name Cause Check method Check result Action Target

(1) The position feedback feedback fixing error

It is set correctly. Check (2).

(2) The position feedback

The position

(3) The servo motor is

It is repeatable. Check (4).

data do not change within the position feedback fixing error detection time [Pr. PSA22].

data do not change.

malfunctioning.

Check the [Pr. PSA22] setting.

Check the feedback data by rotating the servo motor.

Replace the servo motor, and then check the repeatability.

It is not set correctly.

The position feedback data changes.

feedback data do not change.

It is not repeatable. Replace the servo

Review the parameter.

Perform an operation which rotates the servo motor within the position feedback fixing error detection time [Pr. PSA22].

Check (3).

motor.

[A] [B] [GF]

(4) The functional safety

unit is malfunctioning.

Replace the functional safety unit, and then check the repeatability.

It is not repeatable. Replace the

functional safety unit.

Alarm No.: 7A Name: Parameter setting error (safety observation function)

Alarm content A parameter of the functional safety unit failed.

Detail

No.

7A.1 Parameter

7A.2 Parameter

7A.3 Parameter

Detail name Cause Check method Check result Action Target

(1) A parameter of the verification error (safety

It is repeatable. Check (2).

observation

(2) The functional safety

function)

It is repeatable. Check (3).

(3) Something near the

setting range error (safety observation

It is enabled. Check (2).

function)

(2) A parameter of the

combination error (safety observation function)

functional safety unit is incorrect.

unit is malfunctioning.

device caused it.

(1) The initial settings for

the functional safety unit have not been finished.

functional safety unit was set out of range.

(1) A parameter of the

functional safety unit or servo amplifier is incorrect.

Review the parameter. It is not repeatable. Set the parameter

correctly.

Replace the functional safety unit, and then check the repeatability.

Check the noise, ambient temperature, etc.

Check the [Pr. PSA01] setting.

Check the value of set parameters.

Check the parameter settings of the functional safety unit and servo amplifier.

Functional safety unit: [Pr. PSA02], [Pr.

PSA18] to [Pr. PSA21], [Pr. PSC03], [Pr. PSD01] to [Pr. PSD17], [Pr. PSD26]

Servo amplifier: [Pr. PA14]

It is not repeatable. Replace the

functional safety unit.

It has a failure. Take

countermeasures against its cause.

It is not enabled. Enable the setting

with checking parameter contents.

It is out of setting range.

It is not set correctly. Set the parameter

Set it within the range.

correctly.

[A] [B] [GF]

1 - 78

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

Alarm No.: 7A Name: Parameter setting error (safety observation function)

Alarm content A parameter of the functional safety unit failed.

Detail

No.

7A.4 Functional

Alarm No.: 7B Name: Encoder diagnosis error (safety observation function)

Detail

No.

7B.1 Encoder

7B.2 Encoder

7B.3 Encoder

7B.4 Encoder

Detail name Cause Check method Check result Action Target

(1) A combination of safety unit combination error (safety observation function)

Alarm content Error occurred in encoder.

Detail name Cause Check method Check result Action Target

diagnosis error 1 (safety

It has no failure. Check (2).

observation

(2) An encoder is

function)

It is repeatable. Check (3).

(3) The functional safety

It is repeatable. Check (4).

(4) The servo amplifier is

It is repeatable. Check (5).

(5) Something near the

diagnosis error 2 (safety observation function)

diagnosis error 3 (safety observation function)

diagnosis error 4 (safety

It is 40 ˚C or less. Check (2).

observation

(2) Ambient temperature of

function)

It is 0 ˚C or more. Check (3).

(3) Servo motor is

The effective load

(4) The thermal sensor in

It is repeatable. Check (5).

(5) The functional safety

functional safety unit and servo amplifier is incorrect.

(1) An encoder cable is

malfunctioning.

unit is malfunctioning.

malfunctioning.

device caused it.

(1) Check it with the check method for [AL. 7B.1].

(1)

(1) Ambient temperature of

the encoder has exceeded 40 °C.

the encoder is less than 0 ˚C.

overloaded.

the encoder is malfunctioning.

unit is malfunctioning.

Check if correct combination of servo amplifier is connected.

Check if the encoder cable is disconnected or shorted.

Replace the servo motor, and then check the repeatability.

Replace the functional safety unit, and then check the repeatability.

Replace the servo amplifier, and then check the repeatability.

Check the noise, ambient temperature, vibration, etc.

Check the ambient temperature of the encoder.

Check the effective load ratio.

Replace the servo motor, and then check the repeatability.

Replace the functional safety unit, and then check the repeatability.

A different servo amplifier is connected.

It has a failure. Repair or replace

It is not repeatable. Replace the servo

It is not repeatable. Replace the

It is not repeatable. Replace the servo

It has a failure. Take

It is over 40 ˚C. Lower the ambient

It is 0 ˚C or less. Increase the ambient

The effective load ratio is high.

ratio is small.

It is not repeatable. Replace the servo

It is not repeatable. Replace the

Return to the servo amplifier which was combined with the functional safety unit and was set the safety observation function, or initialize the setting.

the cable.

motor.

functional safety unit.

amplifier.

countermeasures against its cause.

temperature.

Reduce the load or review the operation pattern.

Check (4).

motor.

functional safety unit.

[A] [B] [GF]

1 - 79

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

Alarm No.: 7C Name: Functional safety unit communication diagnosis error (safety observation function)

Alarm content The network communication had an error in the functional safety unit.

Detail

No.

7C.1 Functional

Detail name Cause Check method Check result Action Target

(1) Communication cycle safety unit communication setting error

Communication

(safety observation function)

(2) The time taken for the

It is set correctly. Check (3).

does not match.

detection of safety communication errors is not set correctly.

Check the communication cycle setting ([Pr. PSC01]) of the servo system controller and the functional safety unit.

Refer to "MR-D30 Instruction Manual" and check the setting.

Communication cycle setting is incorrect.

cycle setting is correct.

It is not set correctly.

Set it correctly. [B]

Check (2).

Set it correctly. [GF]

[GF]

(3) The functional safety

unit is malfunctioning.

It is repeatable. Check (4).

(4) Something near the

device caused it.

7C.2 Functional

safety unit communication

It is set correctly. Check (2).

data error (safety

(2) An error occurred at

observation function)

It did not occur. Check (3).

(3) An error occurred at

It has no failure. Check (4).

(4) [B]: Check it with the check method for [AL. 34.1].

(1) The time taken for the

detection of safety communication errors is not set correctly.

the safety master station side.

the servo system controller side.

[GF]: Check it with the check method for [AL. 8D.1].

Replace the functional safety unit, and then check the repeatability.

Check the noise, ambient temperature, etc.

Refer to "MR-D30 Instruction Manual" and check the setting.

Check if an alarm occurs at the safety master station.

Check if the settings of the servo system controller side are correct.

It is not repeatable. Replace the

functional safety unit.

It has a failure. Take

countermeasures against its cause.

It is not set correctly.

It is occurring. Refer to the

It has a failure. Set it correctly. [B]

Set it correctly. [GF]

troubleshooting for the master station and take countermeasures.

[B]

[B] [GF]

[GF]

1 - 80

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

Alarm No.: 7D Name: Safety observation error

Alarm content The safety observation function detected an error.

Detail

No.

7D.1 Stop

Detail name Cause Check method Check result Action Target

(1) During activation of observation error

The travel distance

(2) During activation of

The servo motor

(3) During activation of

The command from

(4) An encoder is

It is repeatable. Check (5).

(5) The functional safety

It is repeatable. Check (6).

(6) The servo amplifier is

It is repeatable. Check (7).

(7) Something near the

SOS function, the position of the servo motor has changed by more than the SOS allowance value set by parameter.

SOS function, the servo motor speed has changed by larger than the SOS allowance value set by parameter, and that state has continued for longer than the set time (specified by [Pr. PSA15]).

SOS function, the speed command has changed by larger than the SOS allowance value set by parameter, and that state has continued for longer than the set time (specified by [Pr. PSA15]).

malfunctioning.

unit is malfunctioning.

malfunctioning.

device caused it.

Check that the actual servo motor position is higher than the setting value of [Pr. PSA05].

The actual servo motor speed is higher than the setting value of [Pr. PSA04].

Check if the command from the controller is over the standstill speed set in [Pr. PSA04].

Replace the servo motor, and then check the repeatability.

Replace the functional safety unit, and then check the repeatability.

Replace the servo amplifier, and then check the repeatability.

Check the noise, ambient temperature, vibration, etc.

The travel distance of the servo motor is larger than the setting value in [Pr. PSA05].

of the servo motor is smaller than the alarm detection level.

The servo motor speed is higher than the setting value in [Pr. PSA04].

speed is higher than the setting value in [Pr. PSA15] and equal to or lower than that in [Pr. PSA04].

The command from the controller is over the setting valued in [Pr. PSA04].

controller is higher than the setting value in [Pr. PSA15] and equal to or lower than that in [Pr. PSA04].

It is not repeatable. Replace the servo

It is not repeatable. Replace the

It is not repeatable. Replace the servo

It has a failure. Take

Review the alarm level.

Check (2).

Review the parameter setting.

Check (3).

Check the operation pattern.

Check (4).

motor.

functional safety unit.

motor.

countermeasures against its cause.

[A] [B] [GF]

1 - 81

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

Alarm No.: 7D Name: Safety observation error

Alarm content The safety observation function detected an error.

Detail

No.

7D.2 Speed

Alarm No.: 82 Name: Master-slave operation error 1

Detail

No.

82.1 Master-slave

Detail name Cause Check method Check result Action Target

(1) The command pulse observation error

The command pulse

(2) The settings 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 system is

It is not oscillating. Check (6).

(6) The velocity waveform

It is not

(7) The connection

It is correct. Check (8).

(8) The encoder or linear

It is repeatable. Check (9).

(9) The functional safety

It is repeatable. Check (10).

(10) The servo amplifier is

It is repeatable. Check (11).

(11) Something near the

Alarm content Driver communication error was detected.

Detail name Cause Check method Check result Action Target

operation error 1

frequency is high.

electronic gear are incorrect.

controller is excessive.

command than the SLS speed ([Pr. PSA11] to [Pr. PSA14]) was inputted.

unstable and oscillating.

has overshot.

destination of the encoder cable is incorrect.

encoder is malfunctioning.

unit is malfunctioning.

malfunctioning.

device caused it.

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

Check the command pulse frequency.

Check the setting value of the electronic gear.

Check if the command from the controller is the SLS speed ([Pr. PSA11] to [Pr. PSA14]) or more.

Check that the actual servo motor speed is higher than the setting value of the SLS speed.

Check if the servo motor is oscillating.

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

Check the connection destination of the encoder.

Replace the servo motor, and then check the repeatability.

Replace the functional safety unit, and then check the repeatability.

Replace the servo amplifier, and then check the repeatability.

Check the noise, ambient temperature, etc.

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 SLS speed.

speed is lower than the SLS speed.

It is oscillating. Adjust the servo

It is overshooting. Increase the

overshooting.

It is not correct. Wire it correctly.

It is not repeatable. Replace the servo

It is not repeatable. Replace the

It is not repeatable. Replace the servo

It has a failure. Take

Check operation pattern.

Check (2).

Review the settings.

Check (3).

Check operation pattern.

Check (4).

Review the setting value of the SLS speed.

Check (5).

gain. Or reduce the load.

acceleration/ deceleration time constant.

Check (7).

motor.

functional safety unit.

amplifier.

countermeasures against its cause.

[A] [B]

[GF]

(slave)

1 - 82

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

Alarm No.: 84 Name: Network module initialization error

Alarm content

Detail

No.

84.1 Network

Detail name Cause Check method Check result Action Target

module undetected error

It is connected

(2) Something near the

It has no failure. Check (3).

(3) The network module is

It is repeatable. Check (4).

The network module is not connected. An error occurred at initialization of the network module.

(1) The network module

was disconnected.

device caused it.

malfunctioning.

Check if the network module is connected correctly.

Check the noise, ambient temperature, etc. Refer to section

11.14 for the noise reduction techniques.

Replace the network module, and then check the repeatability.

It is not connected correctly.

correctly.

It has a failure. Take

It is not repeatable. Replace the network

Connect it correctly. [Other]

Check (2).

countermeasures against its cause.

module.

(4) The servo amplifier is

malfunctioning.

Replace the servo amplifier, and then check the repeatability.

It is not repeatable. Replace the servo

amplifier.

1 - 83

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

Alarm No.: 84 Name: Network module initialization error

Alarm content

Detail

No.

84.2 Network

Detail name Cause Check method Check result Action Target

module initialization

It is connected

error 1

(2) A network module,

It is compatible. Check (3).

(3) A network cable was

It is connected. Check (4).

(4) The wiring of the

The wiring is

(5) A network cable was

It has no failure. Check (6).

The network module is not connected. An error occurred at initialization of the network module.

(1) The network module

was disconnected.

which is not compatible with the servo amplifier, has been connected.

disconnected.

network cable was incorrect.

disconnected.

Check if the network module is connected correctly.

Check if the network module is compatible with the servo amplifier.

Check if the network cable is connected correctly.

Check if the wiring of network cable is correct.

Check if the network cable is malfunctioning.

It is not connected correctly.

correctly.

It is not compatible. Replace with a

It is not connected. Connect it correctly.

The wiring is incorrect.

correct.

It has a failure. Replace the network

Connect it correctly. [Other]

Check (2).

network module compatible with the servo amplifier.

Wire it correctly.

Check (5).

cable.

(6) Something near the

device caused it.

It has no failure. Check (7).

(7) The network module is

malfunctioning.

It is repeatable. Check (8).

(8) The servo amplifier is

malfunctioning.

84.3 Network module initialization

error 2

Check it with the check method for [AL. 84.2].

Check the noise, ambient temperature, etc. Refer to section

11.14 for the noise reduction techniques.

Replace the network module, and then check the repeatability.

Replace the servo amplifier, and then check the repeatability.

It has a failure. Take

countermeasures against its cause.

It is not repeatable. Replace the network

module.

It is not repeatable. Replace the servo

amplifier.

1 - 84

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

Alarm No.: 85 Name: Network module error

Alarm content

Detail

No.

85.1 Network

85.2 Network

85.3 Network

Detail name Cause Check method Check result Action Target

module error 1

It is connected

(2) A network cable was

It is connected. Check (3).

(3) The wiring of the

The wiring is

(4) A network cable was

It has no failure. Check (5).

(5) The setting of the

It is correct. Check (6).

(6) Something near the

It has no failure. Check (7).

(7) The network module is

It is repeatable. Check (8).

(8) The servo amplifier is

It is repeatable. Check (9).

(9) The controller is

module error 2

module error 3

The network module was disconnected. An error occurred in the network module. (Refer to section 1.7.)

(1) The network module

was disconnected.

disconnected.

network cable was incorrect.

disconnected.

controller is incorrect.

device caused it.

malfunctioning.

Check it with the check method for [AL. 85.1].

Check if the network module is connected correctly.

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 the controller setting.

Check the noise, ambient temperature, etc. Refer to section

11.14 for the noise reduction techniques.

Replace the network module, and then check the repeatability.

Replace the servo amplifier, and then check the repeatability.

Replace the controller, and then check the repeatability.

It is not connected correctly.

correctly.

It is not connected. Connect it correctly.

The wiring is incorrect.

correct.

It has a failure. Replace the network

It is incorrect. Review the settings.

It has a failure. Take

It is not repeatable. Replace the network

It is not repeatable. Replace the servo

It is not repeatable. Replace the

Connect it correctly. [Other]

Check (2).

Wire it correctly.

Check (4).

cable.

countermeasures against its cause.

module.

amplifier.

controller.

1 - 85

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

Alarm No.: 86 Name: Network communication error

Alarm content

Detail

No.

86.1 Network

Detail name Cause Check method Check result Action Target

communication

It is connected

error 1

(2) A network cable was

It is connected. Check (3).

(3) The wiring of the

The wiring is

(4) A network cable was

It has no failure. Check (5).

An error occurred in the network module. An error occurred in the network communication.

(1) The network module

was disconnected.

disconnected.

network cable was incorrect.

disconnected.

Check if the network module is connected correctly.

Check if the network cable is connected correctly.

Check if the wiring of network cable is correct.

Check if the network cable is malfunctioning.

It is not connected correctly.

correctly.

It is not connected. Turn off the control

The wiring is incorrect.

correct.

It has a failure. Replace the network

Connect it correctly. [Other]

Check (2).

circuit power supply of the servo amplifier, and then connect the network cable correctly.

Wire it correctly.

Check (4).

cable.

(5) The network was

disconnected by a

It was performed. Check (6).

(6) Data transmission from

It is not interrupted. Check (7).

(7) The setting of the

It is correct. Check (8).

(8) Something near the

It has no failure. Check (9).

(9) The network module is

It is repeatable. Check (10).

(10) The servo amplifier is

It is repeatable. Check (11).

(11) The controller is

86.2 Network communication error 2

86.3 Network communication error 3

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 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. Refer to section

11.14 for the noise reduction techniques.

Replace the network module, and then check the repeatability.

Replace the servo amplifier, and then check the repeatability.

Replace the controller, and then check the repeatability.

It was not performed.

It is interrupted. Review the

It is incorrect. Review the settings.

It has a failure. Take

It is not repeatable. Replace the network

It is not repeatable. Replace the servo

It is not repeatable. Replace the

Perform it.

controller communication setting.

Countermeasures against its cause.

module.

amplifier.

controller.

1 - 86

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

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 error/serial

It was transmitted. Check (2).

communication time-out error

(2) A communication cable

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

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/controller stopped for the specified time or longer.

An error occurred in USB communication, serial communication (Mitsubishi 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.

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.

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

Transmit a command.

communication cable.

amplifier.

Transmit a command.

communication cable.

amplifier.

[A] [B] [WB] [RJ010] [GF]

[A]

1 - 87

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

Alarm No.: 8D Name: CC-Link IE communication error

Alarm content

Detail

No.

8D.1 CC-Link IE

8D.2 CC-Link IE

8D.3 Master station

Detail name Cause Check method Check result Action Target

communication error 1

It did not occur. Check (2). (2) The Ethernet cable was

It is connected. Check (3). (3) The CC-Link IE

The communication

(4) The wiring of the

The wiring is correct. Check (5).

(5) An Ethernet cable was

It has no failure. Check (6). (6) The transmission

It has no failure. Check (7). (7) MR-J3-T10 is

It is repeatable. Check (8). (8) The servo amplifier is

It is repeatable. Check (9).

(9) The master station is

communication error 2

setting error 1

The setting value is

(2) The network number is

The setting value is

(3) MR-J3-T10 is

It is repeatable. Check (4). (4) The servo amplifier is

It is repeatable. Check (5).

(5) The master station is

MR-J3-T10 came off. An error occurred in CC-Link IE communication.

(1) The MR-J3-T10 came

off during the CC-Link IE communication.

disconnected.

communication was disconnected by using a wrong procedure.

Ethernet cable was incorrect.

disconnected.

status of the CC-Link IE communication is abnormal.

malfunctioning.

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

(1) The station No. is set to

a value other than 1 to 120 with the master station.

set to a value other than 1 to 239 with the master station.

malfunctioning.

Check if [AL. 74 Option card error 1] occurred with alarm history.

Check the Ethernet cable connection.

Check if the communication was disconnected by using the correct procedure.

Check if the wiring of Ethernet cable is correct.

Check if the Ethernet cable is malfunctioning.

Check the noise, ambient temperature, etc.

Replace the MR-J3T10, and then check the repeatability.

Replace the servo amplifier, and then check the repeatability.

Check if the master station is malfunctioning.

Check the [Pr. Po02] setting.

Check the [Pr. Po03] setting.

Replace the MR-J3T10, and then check the repeatability.

Replace the servo amplifier, and then check the repeatability.

Check if the master station is malfunctioning.

It is occurring. Check it with the

It is disconnected. Turn off the control

The communication was disconnected by using a wrong procedure.

was disconnected by using the correct procedure.

The wiring is incorrect. Wire it correctly.

It has a failure. Replace the

It has a failure. Take

It is not repeatable. Replace the MR-

It is not repeatable. Replace the servo

It has a failure. Replace the master

The setting value is incorrect.

correct. The setting value is

incorrect.

correct. It is not repeatable. Replace the MR-

It is not repeatable. Replace the servo

It has a failure. Replace the master

check method for [AL. 74].

circuit power supply of the servo amplifier, and then connect the Ethernet cable.

Follow the correct procedure for disconnecting the communication.

Check (4).

Ethernet cable.

countermeasures against its cause.

J3-T10.

amplifier.

station.

Set it correctly. [RJ010]

Check (2).

Set it correctly.

Check (3).

J3-T10.

amplifier.

station.

[RJ010]

[RJ010] [GF]

[RJ010]

[RJ010] [GF]

1 - 88

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

Alarm No.: 8D Name: CC-Link IE communication error

Alarm content

Detail

No.

8D.5 Master station

8D.6 CC-Link IE

8D.7 CC-Link IE

8D.8 CC-Link IE

8D.9 Synchronization

8D.A Synchronization

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

Detail

No.

8E.1 USB

8E.2 USB

Detail name Cause Check method Check result Action Target

setting error 2

communication error 3

communication error 4

It has no failure. Check (2).

(2) MR-J3-T10 is

It is repeatable. Check (3).

(3) The servo amplifier is

It is repeatable. Check (4).

(4) The master station is

communication error 5

error 1

error 2

Alarm content

Detail name Cause Check method Check result Action Target

communication

It is correct. Check (2).

receive error/serial

(2) A communication cable

communication receive error

It is repeatable. Check (3).

(3) The servo amplifier is

communication checksum error/serial communication checksum error

MR-J3-T10 came off. An error occurred in CC-Link IE communication.

(1) A reserved station has

been selected by the master station, and the cyclic communication has stopped.

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

(1) The transmission

status of the CC-Link IE communication is abnormal.

malfunctioning.

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

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

A communication error occurred between the servo amplifier and a personal computer/controller. An error occurred in USB communication, serial communication (Mitsubishi 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.

Check if a reserved station is selected.

Check the noise, ambient temperature, etc.

Replace the MR-J3T10, and then check the repeatability.

Replace the servo amplifier, and then check the repeatability.

Check if the master station is malfunctioning.

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.

It is selected. Cancel the

reserved station.

It has a failure. Take

countermeasures against its cause.

It is not repeatable. Replace the MR-

J3-T10.

It is not repeatable. Replace the servo

amplifier.

It has a failure. Replace the master

station.

It is incorrect. Review the settings. [A]

It is not repeatable. Replace the

communication cable.

It is not repeatable. Replace the servo

amplifier.

It is incorrect. Review the settings.

[RJ010]

[RJ010] [GF]

[RJ010]

[RJ010] [GF]

[B] [WB] [RJ010] [GF]

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1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

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/controller.

Alarm content

Detail

No.

8E.3 USB

8E.4 USB

8E.5 USB

Detail name Cause Check method Check result Action Target

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

communication data number error/serial

The transmitted data

communication data number error

(2) The communication

It is conforming. Check (3).

(3) The setting of the

An error occurred in USB communication, serial communication (Mitsubishi general-purpose AC servo protocol), or Modbus-RTU communication.

(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.

(1) The transmitted data

number is out of specifications.

protocol is failure.

personal computer, etc. is incorrect.

Check the character code at the time of transmission.

Check if transmission data supports the communication protocol.

Check the setting of the personal computer, etc.

Check the command at the time of transmission.

Check if transmission data supports the communication protocol.

Check the setting of the personal computer, etc.

Check the data number at the time of transmission.

Check if transmission data supports the communication protocol.

Check the setting of the personal computer, etc.

The transmitted character is out of specifications.

character is within specifications.

It is not conforming. Modify the

It is incorrect. Review the settings.

The transmitted command is out of specifications.

command is within specifications.

It is not conforming. Modify the

It is incorrect. Review the settings.

The transmitted data number is out of specifications.

number is within specifications.

It is not conforming. Modify the

It is incorrect. Review 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.

Correct the transmission data.

Check (2).

transmission data according to the communication protocol.

[A] [B] [WB] [RJ010]

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1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

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/controller.

Alarm content

Detail

No.

8E.6 Modbus-RTU

8E.7 Modbus-RTU

8E.8 Modbus-RTU

Alarm No.: 88888 Name: Watchdog

Detail

No.

88._/

8888._

Detail name Cause Check method Check result Action Target

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

communication CRC error

Alarm content

Detail name Cause Check method Check result Action Target

Watchdog (1) The MR-J3-T10 came

It did not occur. Check (2).

(2) A part in the servo

An error occurred in USB communication, serial communication (Mitsubishi general-purpose AC servo protocol), or Modbus-RTU communication.

(1) The setting of the

controller, servo amplifier, etc. is incorrect.

is malfunctioning.

malfunctioning.

(1) The communication

protocol is failure.

(2) The setting of the

controller, servo amplifier, etc. is incorrect.

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

[RJ010]: MR-J3-T10 came off. A part such as CPU is malfunctioning.

off during the CC-Link IE communication.

amplifier is failure.

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).

Check if [AL. 74 Option card error 1] occurred with alarm history.

Replace the servo amplifier, and then check the repeatability.

It is incorrect. Review the settings. [A]

It is not repeatable. Replace the

communication cable.

It is not repeatable. Replace the servo

amplifier.

It is not conforming. Modify the

transmission data according to the communication protocol.

It is conforming. Check (2).

It is incorrect. Review the settings.

It is occurring. Check it with the

check method for [AL. 74].

It is not repeatable. Replace the servo

amplifier.

[RJ010]

[A] [B] [WB] [RJ010] [GF]

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1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

1.5 Remedies for warnings

If [AL. E3 Absolute position counter warning] occurs, remove the cause of the

CAUTION

warning, and always make home position setting again. Otherwise, it may cause an unexpected operation.

POINT

When any of the following alarms has occurred, 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. E2 Servo motor overheat warning]

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

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1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

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

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

Detail name Cause Check method Check result Action Target

(1) An automatic operation return incomplete

A home position

(2) A positioning operation

[AL. 25 Absolute

(3) With the indexer

[AL. 90.1] occurred

(4) ZP (Home position

was executed at home position return incompletion.

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

method, [AL. E3 Absolute position counter warning] occurred simultaneously with the alarm.

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

Check if the home position return was not executed (the following devices are not off.).

[A]: ZP (Home position return completion)

[GF]: ZP2 (Home position return completion 2)

Check if [AL. 25 Absolute position erased] occurred using alarm history.

Check if [AL. 90.1] occurred simultaneously with start of the positioning operation.

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

A home position return was not executed.

return was executed.

[AL. 25 Absolute position erased] occurred.

position erased] did not occur.

[AL. 90.1] did not occur simultaneously with start of the positioning operation but occurred during positioning operation.

simultaneously with start of the positioning operation.

ZP (Home position return completion) is off.

Execute a home position return.

Check (2).

Check the battery voltage and battery cable if they have a failure and execute a home position return after remove the failure.

Check (3).

Remove the cause of [AL. E3], and perform home position return. (Check it with the check method for [AL. E3].)

Check (4).

Check the conditions if ZP (Home position return completion) can be off. (Refer to section 2.3 of "MRJ4-_A_-RJ Servo Amplifier Instruction Manual (Positioning Mode)")

[A] [GF]

[A]

1 - 93

Mitsubishi Electric MELSERVO-J4, MR-CV, MR-J4-B(-RJ), MR-CR55K(4), MR-J4-B-RJ010 Instruction Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Safety Instructions

CONTENTS

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)

1.1 Explanation for the lists

1.2 Alarm list

1.3 Warning list

1.4 Remedies for alarms

1.5 Remedies for warnings