Mitsubishi Electric MELSERVO MR-J4-B-RJ Series Instruction Manual Download Page 160

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4. DRIVE RECORDER

4 - 5

Table 4.2 MR-J4-_A_(-RJ)

Data 1

Data 2

Data 3

Data 4

Data 5

Data 6

Data 7

Data 8

Sampling

time [ms]

Measure-

ment time

[ms]

Standard

Analog Motor

speed

Torque Current

command

Droop
pulses
(1 pulse)

Speed
command

Bus
voltage

Effective
load ratio

0.888 227

Digital SON EM2/EM1

ALM2 INP MBR RD

STO IPF

AL. 10

Analog Motor

speed

Torque Current

command

Droop
pulses
(1 pulse)

Speed
command

Bus
voltage

Effective
load ratio

0.888 227

Digital SON EM2/EM1

ALM2 INP MBR RD

STO IPF

AL. 20

Analog Motor

speed

Torque ABS

counter

Within one-
revolution
position

Current
command

Encoder
error
counter 1

Encoder
error
counter 2

0.888 227

Digital SON EM2/EM1

ALM2 INP MBR RD

STO IPF

AL. 21

Analog Motor

speed

Torque ABS

counter

Within one-
revolution
position

Current
command

Encoder
error
counter 1

Encoder
error
counter 2

0.888 227

Digital SON EM2/EM1

ALM2 INP MBR RD

STO IPF

AL. 24

Analog Motor

speed

Torque Current

command

Within one-
revolution
position

Bus
voltage

U-phase
current
feedback

V-phase
current
feedback

0.888 227

Digital SON EM2/EM1

ALM2 INP MBR RD

STO IPF

AL. 30

Analog Motor

speed

Torque Current

command

Droop
pulses
(1 pulse)

Bus
voltage

Regene-
rative load
ratio

Effective
load ratio

56.8 14563

Digital SON EM2/EM1

ALM2 INP MBR RD

STO IPF

AL. 31

Analog Motor

speed

Torque Current

command

Command
pulse
frequency

Within one-
revolution
position

Speed
command

Bus
voltage

0.888 227

Digital SON EM2/EM1

ALM2 INP MBR RD

STO IPF

AL. 32

Analog Motor

speed

Torque Current

command

Bus
voltage

Effective
load ratio

U-phase
current
feedback

V-phase
current
feedback

0.444 113

Digital SON EM2/EM1

ALM2 INP MBR RD

STO IPF

AL. 33

Analog Motor

speed

Torque Current

command

Speed
command

Bus
voltage

Regene-
rative load
ratio

Effective
load ratio

3.5 910

Digital SON EM2/EM1

ALM2 INP MBR RD

STO IPF

AL. 35

Analog Motor

speed

Torque Current

command

Command
pulse
frequency

Droop
pulses
(1 pulse)

Speed
command

Bus
voltage

0.888 227

Digital SON EM2/EM1

ALM2 INP MBR RD

STO IPF

AL. 42

Analog Motor

speed

Torque Motor-side/

load-side
position
deviation
(100
pulses)

Motor-side/
load-side
speed
deviation

Command
pulse
frequency
(speed
unit)

Droop
pulses
(100
pulses)

Load-side
droop
pulses
(100
pulses)

0.888 227

Digital SON EM2/EM1

ALM2 INP MBR RD

STO IPF

AL. 46

Analog Motor

speed

Torque Current

command

Internal
tempera-
ture of
encoder

Tempera-
ture of
motor
thermistor

Bus
voltage

Effective
load ratio

56.8 14563

Digital SON EM2/EM1

ALM2 INP MBR RD

STO IPF

AL. 50

Analog Motor

speed

Torque Current

command

Droop
pulses
(100
pulses)

Overload
alarm
margin

Bus
voltage

Effective
load ratio

56.8 14563

Digital SON EM2/EM1

ALM2 INP MBR RD

STO IPF

AL. 51

Analog Motor

speed

Torque Current

command

Droop
pulses
(100
pulses)

Overload
alarm
margin

Bus
voltage

Effective
load ratio

56.8 14563

Digital SON EM2/EM1

ALM2 INP MBR RD

STO IPF

Summary of Contents for MELSERVO MR-J4-B-RJ Series

Page 1: ...truction Manual uses recycled paper MODEL MODEL CODE General Purpose AC Servo MELSERVO J4 Servo amplifier INSTRUCTION MANUAL TROUBLE SHOOTING HEAD OFFICE TOKYO BLDG MARUNOUCHI TOKYO 100 8310 MELSERVO J4 Servo amplifier INSTRUCTION MANUAL TROUBLE SHOOTING 1CW808 MR J4 INSTRUCTIONMANUAL TROUBLESHOOTING M M ...

Page 2: ... or severe injury CAUTION Indicates that incorrect handling may cause hazardous conditions resulting in medium or slight injury to personnel or may cause physical damage Note that the CAUTION level may lead to a serious consequence according to conditions Please follow the instructions of both levels because they are important to personnel safety What must not be done and what must be done are ind...

Page 3: ...generative 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...

Page 4: ... 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 Servo motor Electromagnetic brake B RA Contacts must be opened with the emergency stop switch Contacts must be opened when CALM Common malfunction or...

Page 5: ...F4 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 ...

Page 6: ...NVERTER UNIT 2 1 to 2 8 2 1 Explanations of the lists 2 1 2 2 Alarm list 2 1 2 3 Warning list 2 2 2 4 Remedies for alarms 2 2 2 5 Remedies for warnings 2 7 3 TROUBLESHOOTING FOR MR CR55K 4 RESISTANCE REGENERATION CONVERTER UNIT 3 1 to 3 10 3 1 Explanation for the lists 3 1 3 2 Alarm warning list 3 1 3 3 Remedies for alarms 3 2 3 4 Remedies for warnings 3 8 4 DRIVE RECORDER 4 1 to 4 10 4 1 How to u...

Page 7: ...2 MEMO ...

Page 8: ...ngs 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 ...

Page 9: ...ut 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...

Page 10: ...process error 6 DB Common All axes 14 7 Control process error 7 DB Common All axes 14 8 Control process error 8 DB Common All axes 14 9 Control process error 9 DB Common All axes 14 A Control process error 10 DB Common All axes 14 B Control process error 11 DB 15 Memory error 2 EEP ROM 15 1 EEP ROM error at power on DB Common All axes 0 0 0 0 15 2 EEP ROM error during operation DB Common All axes ...

Page 11: ...side encoder malfunction DB Each axis Each axis 1F Encoder initial communication error 3 1F 1 Incompatible encoder DB Each axis Each axis 0 1 1 0 1F 2 Incompatible load side encoder DB Each axis Each axis 20 1 Encoder normal communication Receive data error 1 EDB Each axis Each axis 20 2 Encoder normal communication Receive data error 2 EDB Each axis Each axis 20 3 Encoder normal communication Rec...

Page 12: ...rror 2 28 1 Linear encoder Environment error EDB Each axis Each axis 0 1 1 0 2A 1 Linear encoder error 1 1 EDB Each axis Each axis 2A 2 Linear encoder error 1 2 EDB Each axis Each axis 2A 3 Linear encoder error 1 3 EDB Each axis Each axis 2A Linear encoder error 1 2A 4 Linear encoder error 1 4 EDB Each axis Each axis 0 1 1 0 2A 5 Linear encoder error 1 5 EDB Each axis Each axis 2A 6 Linear encoder...

Page 13: ... No error DB 39 4 Non correspondence instruction error DB 3A Inrush current suppression circuit error 3A 1 Inrush current suppression circuit error EDB Common All axes 0 0 0 0 3D Parameter setting error for driver communication 3D 1 Parameter combination error for driver communication on slave DB 3D 2 Parameter combination error for driver communication on master DB 3E Operation mode error 3E 1 Op...

Page 14: ...uring operation SD Note 1 Note 1 Note 1 Each axis Each axis 0 0 1 1 50 4 Thermal overload error 1 during a stop SD Note 1 Note 1 Note 1 Each axis Each axis 50 5 Thermal overload error 2 during a stop SD Note 1 Note 1 Note 1 Each axis Each axis 50 6 Thermal overload error 4 during a stop SD Note 1 Note 1 Note 1 Each axis Each axis 51 Overload 2 51 1 Thermal overload error 3 during operation DB Note...

Page 15: ...nitial communication Receive data error 3 safety observation function DB 0 1 1 0 66 7 Encoder initial communication Transmission data error 1 safety observation function DB 66 9 Encoder initial communication Process error 1 safety observation function DB 67 1 Encoder normal communication Receive data error 1 safety observation function DB Encoder normal communication error 1 safety observation fun...

Page 16: ...coder initial communication Process error 2 DB Each axis Each axis 70 C Load side encoder initial communication Process error 3 DB Each axis Each axis 70 D Load side encoder initial communication Process error 4 DB Each axis Each axis 70 E Load side encoder initial communication Process error 5 DB Each axis Each axis 70 F Load side encoder initial communication Process error 6 DB Each axis Each ax...

Page 17: ...unit diagnosis error 79 3 Abnormal temperature of functional safety unit SD Note 7 1 1 1 1 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 Parameter setting error safety observation function 7A 1 Parameter verification error safety observation function DB 1 0 0 0 7A 2 Parameter sett...

Page 18: ... time out error SD 8D 1 CC Link IE communication error 1 SD 8D 2 CC Link IE communication error 2 SD CC Link IE communication error 8D 3 Master station setting error 1 DB 8D 5 Master station setting error 2 DB 8D 8D 6 CC Link IE communication error 3 SD 8D 7 CC Link IE communication error 4 SD 8D 8 CC Link IE communication error 5 SD 8D 9 Synchronization error 1 SD 8D A Synchronization error 2 SD ...

Page 19: ...23 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 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 The alarm can be canceled by setting as follows For the fully closed loop control set Pr PE03 to 1 _ _ _ When a linear servo motor or direct dr...

Page 20: ...position setting warning 96 2 Command input warning at home positioning Each axis 96 3 Servo off warning at home positioning 96 4 Home positioning warning during magnetic pole detection 97 Positioning specification warning 97 1 Program operation disabled warning 97 2 Next station position warning 98 Software limit warning 98 1 Forward rotation side software stroke limit reached 98 2 Reverse rotati...

Page 21: ...Absolute position counter warning Each axis E3 4 Absolute positioning counter EEP ROM writing frequency warning E3 5 Encoder absolute positioning counter warning Each axis E4 Parameter warning E4 1 Parameter setting range error warning Each axis E5 ABS time out warning E5 1 Time out during ABS data transfer E5 2 ABSM off during ABS data transfer E5 3 SON off during ABS data transfer E6 Servo force...

Page 22: ...cam function Cam control warning F6 2 Cam axis feed current value restoration failed F6 3 Cam unregistered error F6 4 Cam control data setting range error F6 5 Cam No external error F6 6 Cam control inactive F7 Machine diagnosis warning F7 1 Vibration failure prediction warning Each axis F7 2 Friction failure prediction warning Each axis F7 3 Total travel distance failure prediction warning Each a...

Page 23: ... 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 Overlo...

Page 24: ...pply stopped Check the power on method if it has a problem It has a problem Cycle the power after the seven segment LED of the servo amplifier is turned off It has no problem Check 4 4 An instantaneous 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 6...

Page 25: ...the converter unit was disconnected Check the magnetic contactor control connector of the converter unit It is disconnected Connect it correctly It has no failure Check 4 4 For the drive unit the bus bar between the converter unit and drive unit was disconnected Check the bus bar between the converter unit and drive unit It is disconnected Connect it correctly It has no failure Check 5 5 The volta...

Page 26: ... power 7 The servo amplifier is malfunctioning Check the bus voltage value 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 35 V DC 24 V DC setting 15 V DC Replace the servo amplifier A B WB RJ010 8 For the drive unit the converter unit is m...

Page 27: ...ion number selection rotary switch is set to 0 or 121 or more Set the station number correctly GF The station number is set to a value from 1 to 120 with the station number selection rotary switch Replace the servo amplifier 11 2 Disabling control axis setting error 1 The setting of the disabling control axis switch is incorrect Check the setting of the disabling control axis switch Check if the s...

Page 28: ...e servo amplifier of the next axis It is not malfunctioning Check 5 5 Something near the device caused it Check the power supply for noise Check if the connector is shorted It has a failure Take countermeasures against its cause A B WB RJ010 GF 13 2 Clock error 2 Check it with the check method for AL 13 1 Alarm No 14 Name Control process error Alarm content The process did not complete within the ...

Page 29: ...ltaneously 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 It has been executed for multiple axes simultaneously Execute it for each axis WB It has not been executed for multiple axes simultaneously Check 4 4 The parameter setting is incorrect Check if the parameter setting is incorrect It is incorrect Set it correctly A B WB R...

Page 30: ...unctioning during normal operation Check if the error occurs when you change parameters during normal operation It occurs Replace the servo amplifier A B WB RJ010 GF It does not occur Check 3 3 A write error occurred while adjustment results were processed Check if the alarm occurs after an hour from power on It takes an hour or more Replace the servo amplifier It takes less than an hour Check 4 4...

Page 31: ...Use a servo amplifier which is compatible with it A B GF The servo amplifier is compatible with it Check 3 3 When you use a linear servo motor with an A B Z phase differential output linear encoder the connection with the linear encoder is incorrect Check if the wiring of the linear encoder is correct Check if it is wired to PSEL The wiring is incorrect Wire it correctly The wiring is correct Chec...

Page 32: ... use a linear servo motor with an A B Z phase differential output linear encoder the connection with the linear encoder is incorrect Check if the wiring of the linear encoder is correct Check if it is wired to PSEL The wiring is incorrect Wire it correctly A B GF The wiring is correct Check 6 6 The voltage of the control circuit power supply has been unstable Check the voltage of the control circu...

Page 33: ... error Alarm content A part in the servo amplifier is malfunctioning Detail No Detail name Cause Check method Check result Action Target 17 1 Board error 1 1 A current detection circuit is malfunctioning Check if the alarm occurs during the servo on status It occurs Replace the servo amplifier A B WB RJ010 GF It does not occur Check 2 2 Something near the device caused it Check the noise ambient t...

Page 34: ...is not repeatable Replace the servo amplifier B WB 17 9 Board error 8 1 Something near the device caused it Check the noise ambient temperature etc It has a failure Take countermeasures against its cause GF It has no failure Check 2 2 The servo amplifier is malfunctioning Replace the servo amplifier and then check the repeatability It is not repeatable Replace the servo amplifier Alarm No 19 Name ...

Page 35: ... amplifier with a one whose software version supports the TM RG2M TM RU2M series It is C8 or later Check 5 5 An encoder is malfunctioning Replace the servo motor and then check the repeatability It is not repeatable Replace the servo motor A B WB RJ010 GF 1A 2 Servo motor control mode combination error 1 The setting of Pr PA01 is not corresponding to the connected servo motor Check the Pr PA01 set...

Page 36: ... is not compatible with the servo amplifier Replace it with a compatible one A B WB RJ010 GF It is compatible with the servo amplifier Check 2 2 The software version of the servo amplifier does not support the servo motor or linear encoder Check if the software version supports the servo motor linear encoder It is not compatible Replace the servo amplifier to one which software version supports th...

Page 37: ...ed It is not connected Connect it correctly It is connected Check 3 3 The parameter setting of communication method is incorrect A Pr PC22 B WB RJ010 GF Pr PC04 Check the parameter setting The setting is incorrect Set it correctly The setting is correct Check 4 4 The servo amplifier is malfunctioning Replace the servo amplifier and then check the repeatability It is not repeatable Replace the serv...

Page 38: ... B Z phase differential output linear encoder the parameter setting is incorrect 5 The servo amplifier is malfunctioning 6 An encoder is malfunctioning 7 Something near the device caused it 20 6 Encoder normal communication Transmission data error 2 1 When you use an A B Z phase differential output linear encoder the wiring of the linear encoder is incorrect Check if the Z phase pulse signals PZ P...

Page 39: ...ity It is not repeatable Replace the servo motor It is repeatable Check 4 4 Something near the device caused it Check the noise ambient temperature vibration etc It has a failure Take countermeasures against its cause 21 2 Encoder data update error 1 An encoder is malfunctioning Replace the servo motor and then check the repeatability It is not repeatable Replace the servo motor A B WB RJ010 GF It...

Page 40: ... is malfunctioning Disconnect the servo motor power cables U V W and check if the alarm occurs It occurs Replace the servo amplifier A B WB RJ010 GF It does not occur Check 2 2 A ground fault or short occurred at the servo motor power cable Check if only the servo motor power cable is shorted It is shorted Replace the servo motor power cable It is not shorted Check 3 3 A ground fault occurred at t...

Page 41: ... 20 V or higher Check 2 2 The servo amplifier is malfunctioning Disconnect the servo motor power cable U V W and check if the alarm occurs It occurs Replace the servo amplifier A B WB RJ010 GF It does not occur Check 3 3 A ground fault or short occurred at the servo motor power cable Check if only the servo motor power cable is shorted It is shorted Replace the servo motor power cable It is not sh...

Page 42: ...T6V1BJ battery for junction battery cable were disconnected from the MR BT6VCBL03M junction battery cable Check if the battery was removed in this way when the control circuit power supply was off It was removed Check that the battery is mounted correctly and make home position return It was not removed Check 3 3 1 When an MR BAT6V1SET A battery or MR BT6VCASE battery case was used the power was t...

Page 43: ...battery A B WB RJ010 GF It is 3 V DC or more Check 7 7 The voltage has dropped greatly in the encoder cable wired to the battery Check if a recommended cable is used for the encoder cable It is not used Use a recommended wire It is used Check 8 8 A battery cable is malfunctioning Check for the loose connection with a tester It has a failure Replace the battery cable It has no failure Check 9 9 The...

Page 44: ...k 3 3 The power was turned off with the battery disconnected from CN4 Check if the power was turned off in this state It was turned off Check that the battery is mounted correctly and make home position return It was not turned off Check 4 4 The battery voltage is low The battery is consumed Check the battery voltage with a tester It is less than 3 V DC Replace the battery It is 3 V DC or more Che...

Page 45: ...The mounting direction is correct Check 5 5 An excitation level of the magnetic pole detection voltage level is small Check if the travel distance during the magnetic pole detection is too short for a position detection method It is too short Increase it with the Pr PL09 setting Check if the travel distance during the magnetic pole detection is too long or if a vibration is occurring for a minute ...

Page 46: ...L08 setting The Pr PL08 setting is _ 0 _ _ Set the Pr PL08 setting to _ 1 _ _ 27 4 Magnetic pole detection Estimated error Check it with the check method for AL 27 1 27 5 Magnetic pole detection Position deviation error 27 6 Magnetic pole detection Speed deviation error 27 7 Magnetic pole detection Current error Alarm No 28 Name Linear encoder error 2 Alarm content Working environment of linear en...

Page 47: ...the instruction manual Contact each encoder manufacturer for how to deal with it 2A 2 Linear encoder error 1 2 Check it with the check method for AL 2A 1 2A 3 Linear encoder error 1 3 2A 4 Linear encoder error 1 4 2A 5 Linear encoder error 1 5 2A 6 Linear encoder error 1 6 2A 7 Linear encoder error 1 7 2A 8 Linear encoder error 1 8 Alarm No 2B Name Encoder counter error Alarm content Data which en...

Page 48: ...regenerative option and the servo amplifier are connected in the specified combination The combination is incorrect Use them in the correct combination The combination is correct Check 4 4 The power supply voltage is high 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...

Page 49: ...ettings of the electronic gear are incorrect Check the setting value of the electronic gear The setting value is incorrect Review the settings The setting value is correct Check 5 3 The command from the controller is excessive Check if the command from the controller is over the permissible speed It is over the permissible speed Check operation pattern B WB RJ010 GF It is less than the permissible...

Page 50: ...aneous speed It is occurring during less than permissible instantaneous speed Replace the servo motor or linear encoder Alarm No 32 Name Overcurrent Alarm content A current higher than the permissible current was applied to the servo amplifier Detail No Detail name Cause Check method Check result Action Target 32 1 Overcurrent detected at hardware detection circuit during operation 1 The servo amp...

Page 51: ...malfunctioning Disconnect the servo motor power cables U V W and check if the alarm occurs It occurs Replace the servo amplifier It does not occur Check 3 3 A ground fault or short occurred at the servo motor power cable Check if only the servo motor power cable is shorted It is shorted Replace the servo motor power cable It is not shorted Check 4 4 The servo motor is malfunctioning Disconnect the...

Page 52: ...ve resistor or regenerative option Measure the resistance of the built in regenerative resistor or regenerative option The resistance is abnormal When using a built in regenerative resistor replace the servo amplifier When using a regenerative option replace the regenerative option The resistance is normal Check 4 4 The regeneration capacity is insufficient Set a longer deceleration time constant ...

Page 53: ...d to the cable Check if a vinyl tape is used Check if the cable is contacting with other cables It is used They are in contact Take countermeasures against its cause It is not used They are not in contact Check 5 5 The servo amplifier is malfunctioning Replace the servo amplifier and then check the repeatability It is not repeatable Replace the servo amplifier It is repeatable Check 6 6 The previo...

Page 54: ...utted frequency of the manual pulse generator The command pulse frequency is high Reduce the inputted frequency of the manual pulse generator The command pulse frequency is low Check 6 4 The command from the controller is excessive Check if the command from the controller is the permissible speed or higher It is the permissible speed or higher Check operation pattern B WB RJ010 GF It is lower than...

Page 55: ...tacked to the SSCNET III cable Or a wire insulator containing migrating plasticizer is adhered to the cable Check if a vinyl tape is used Check if the cable is contacting with other cables It is used They are in contact Take countermeasures against its cause It is not used They are not in contact Check 5 5 The servo amplifier is malfunctioning Replace the servo amplifier and then check the repeata...

Page 56: ...ameter setting Pr PA01 is set to other than standard control mode or fully closed loop control mode Set Pr PA01 to standard control mode or fully closed loop control mode B master Pr PA01 is set to standard control mode or fully closed loop control mode Check 4 3 Pr PA01 on the slave side was set to other than standard control mode Check the parameter setting Pr PA01 is set to other than standard ...

Page 57: ...en check the repeatability It is not repeatable Replace the servo amplifier 39 3 Register No error 1 A specified number of the general purpose register used for a command is a value out of specifications Check if the command description has a failure It has a failure Correct the command description It has no failure Check 2 2 A program has changed due to a servo amplifier malfunction Replace the s...

Page 58: ...e 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 Check if the connection was changed to like these The connection was changed Initialize the servo amplifier with the built in application software MR J4 W B mode selection of MR Configurator2 and then connect the amplifier to the controller B WB ...

Page 59: ... It is repeatable Check 5 5 The position deviation exceeded the detection level Check the value of droop pulses The deviation is large Review the operation status Review the Pr PL05 setting depending on circumstances 42 2 Servo control error by speed deviation 1 The linear encoder resolution setting differs from the setting value Check the setting of Pr PL02 and Pr PL03 The setting is incorrect Se...

Page 60: ... repeatable Execute the magnetic pole detection It is repeatable Check 5 5 The torque thrust deviation exceeded the detection level Calculate the deviation between the current command and torque thrust The deviation is large Review the operation status Review the Pr PL07 setting depending on circumstances Alarm No 42 Name Fully closed loop control error detection during fully closed loop control A...

Page 61: ...losed loop control error by position deviation during command stop Check it with the check method for AL 42 8 Alarm No 45 Name Main circuit device overheat Alarm content Inside of the servo amplifier overheated Detail No Detail name Cause Check method Check result Action Target 45 1 Main circuit device overheat error 1 1 Ambient temperature has exceeded 55 C Check the ambient temperature It is ove...

Page 62: ...motor has been under overload status Check the effective load ratio The effective load ratio is high Reduce the load or review the operation pattern The effective load ratio is small Replace the servo motor 46 3 Thermistor disconnected error 1 A thermistor wire is not connected Check the thermistor wire It is not connected Connect it correctly It is connected Check 2 2 The encoder cable MR ENECBL_...

Page 63: ...air or replace the servo motor power cable A B WB RJ010 GF It is not disconnected Check 2 2 The connection of the servo motor is incorrect Check the wiring of U V W It is incorrect Connect it correctly It is correct Check 3 3 The electromagnetic brake has not released The electromagnetic brake has been activated Check if the electromagnetic brake is released during operation It is not released Rel...

Page 64: ...ectromagnetic brake is released It is not released Release the electromagnetic brake It is released Check 5 5 A current was applied to the servo amplifier in excess of its continuous output current Check the effective load ratio The effective load ratio is high Reduce the load Or use a larger capacity motor The effective load ratio is small Check 6 6 The connection destination of the encoder cable...

Page 65: ...4 The torque is insufficient Check the peak load ratio The torque is saturated Reduce the load or review the operation pattern Or use a larger capacity motor The torque is not saturated Check 5 5 The servo amplifier is malfunctioning Replace the servo amplifier and then check the repeatability It is not repeatable Replace the servo amplifier It is repeatable Check 6 6 An encoder or servo motor is ...

Page 66: ...d not collide Check 6 6 The electromagnetic brake has not released The electromagnetic brake has been activated Check if electromagnetic brake is released It is not released Release the electromagnetic brake It is released Check 7 7 The torque is insufficient Check the peak load ratio The torque is saturated Reduce the load or review the operation pattern Or use a larger capacity motor The torque ...

Page 67: ...ue The torque limit has been 0 Do not input a command while the torque limit value is 0 A B WB RJ010 GF 52 5 Excess droop pulse 3 Check it with the check method for AL 52 1 Alarm No 54 Name Oscillation detection Alarm content An oscillation of the servo motor was detected Detail No Detail name Cause Check method Check result Action Target 54 1 Oscillation detection error 1 The servo system is unst...

Page 68: ...ting Check 4 4 The encoder or linear encoder is malfunctioning Replace the servo motor or linear encoder and then check the repeatability It is not repeatable Replace the servo motor or linear encoder 56 3 Estimated distance over during forced stop 1 The forced stop deceleration time constant is short A Pr PC51 B WB RJ010 GF Pr PC24 Increase the parameter setting value and then check the repeatabi...

Page 69: ... mm s or more 3 Direct drive motor speed 5 r min or more Check if STO of the functional safety unit is off enabled It is off enabled Turn on STO disabled A B GF Alarm No 64 Name Functional safety unit setting error Alarm content A setting of the servo amplifier or functional safety unit was incorrect Detail No Detail name Cause Check method Check result Action Target 64 1 STO input error 1 When a ...

Page 70: ...then check the repeatability It is not repeatable Replace the functional safety unit It is repeatable Check 3 3 The servo amplifier is malfunctioning Replace the servo amplifier and then check the repeatability It is not repeatable Replace the servo amplifier It is repeatable Check 4 4 Something near the device caused it Check the noise ambient temperature etc It has a failure Take countermeasures...

Page 71: ...Encoder initial communication Receive data error 2 safety observation function Check it with the check method for AL 66 1 66 3 Encoder initial communication Receive data error 3 safety observation function 66 7 Encoder initial communication Transmission data error 1 safety observation function 66 9 Encoder initial communication Process error 1 safety observation function 1 A servo motor with funct...

Page 72: ... servo amplifier and then check the repeatability It is not repeatable Replace the servo amplifier It is repeatable Check 3 3 An encoder is malfunctioning Replace the servo motor and then check the repeatability It is not repeatable Replace the servo motor It is repeatable Check 4 4 Something near the device caused it Check the noise ambient temperature vibration etc It has a failure Take counterm...

Page 73: ... STO2 The on off states of STO1 and STO2 are different Set STO1 and STO2 to the same input states The on off states of STO1 and STO2 are the same Check 3 3 The setting of Pr PF18 STO diagnosis error detection time Pr PX43 for when the J3 extension function is used is incorrect Set a longer time in the parameter and then check the repeatability It is not repeatable Review the parameter setting It i...

Page 74: ...he software limit Pr PT15 to Pr PT18 to the command position are correct It was set within the command position Set Pr PT15 to Pr PT18 correctly It was set correctly Check 3 3 The controller is malfunctioning Replace the controller and then check the repeatability It is not repeatable Replace the controller It is repeatable Check 4 4 Something near the device caused it Check the noise ambient temp...

Page 75: ...asures against its cause 69 5 Upper stroke limit detection Command excess error 1 The command position exceeded 30 bits from the detected position after the detection of FLS Upper stroke limit Check the command position The command position was set to 30 bits or more Check operation pattern It was set correctly Check 2 2 The upper stroke limit switch is not wired Check if the limit switch is wired...

Page 76: ...compatible with it Use a servo amplifier which is compatible with it A B GF The servo amplifier is compatible with it Check 3 3 When you use an A B Z phase differential output linear encoder the connection with the linear encoder is incorrect Check if the wiring of the linear encoder is correct Check if it is wired to PSEL The wiring is incorrect Wire it correctly The wiring is correct Check 4 4 T...

Page 77: ... parts It has no failure Check 5 5 The parameter setting of communication method is incorrect A Pr PC44 B GF Pr PC26 Check the parameter setting The setting is incorrect Set it correctly A B GF The setting is correct Check 6 6 When you use an A B Z phase differential output linear encoder the connection with the linear encoder is incorrect Check if the wiring of the linear encoder is correct Check...

Page 78: ... an A B Z phase differential output linear encoder the wiring of the linear encoder is incorrect Check if the Z phase pulse signals PZ PZR of the encoder cable are disconnected or shorted It is disconnected or shorted Repair the encoder cable A B GF It is not disconnected or shorted Check 2 2 A load side encoder cable is malfunctioning Check it with the check method for AL 70 1 A B WB GF 3 The ser...

Page 79: ...ommunication Receive data error 1 1 A load side encoder cable is malfunctioning Check if the load side encoder cable is disconnected or shorted It has a failure Repair or replace the cable A B WB GF It has no failure Check 2 2 The external conductor of the encoder cable is not connected to the ground plate of the connector Check if it is connected It is not connected Connect it correctly It is con...

Page 80: ...ormal communication Receive data error 4 71 A Load side encoder normal communication Receive data error 5 Alarm No 72 Name Load side encoder normal communication error 2 Alarm content The load side encoder detected an error signal Detail No Detail name Cause Check method Check result Action Target 72 1 Load side encoder data error 1 1 The encoder detected a high speed acceleration rate due to an o...

Page 81: ...ce caused it Check the noise ambient temperature etc It has a failure Take countermeasures against its cause 72 5 Load side encoder hardware error 1 Check it with the check method for AL 72 2 72 6 Load side encoder hardware error 2 72 9 Load side encoder data error 2 Check it with the check method for AL 72 1 Alarm No 74 Name Option card error 1 Alarm content MR J3 T10 came off MR J3 T10 is not pr...

Page 82: ...It is not repeatable Replace the servo amplifier Alarm No 79 Name Functional safety unit diagnosis error Alarm content A diagnosis of the functional safety unit failed Detail No Detail name Cause Check method Check result Action Target 79 1 Functional safety unit power voltage error 1 The power supply of the functional safety unit is failure Check the installation of the functional safety unit It ...

Page 83: ...the functional safety unit It has a failure Install it correctly It has no failure Check 2 2 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 It is repeatable Check 3 3 The servo amplifier is malfunctioning Replace the servo amplifier and then check the repeatability It is not re...

Page 84: ...ty unit is malfunctioning Replace the functional safety unit and then check the repeatability It is not repeatable Replace the functional safety unit It is repeatable Check 5 5 Something near the device caused it Check the noise ambient temperature etc It has a failure Take countermeasures against its cause 79 7 Mismatched input signal error 1 A mismatch of input signal DI_A and DI_B continued for...

Page 85: ...nal safety unit failed Detail No Detail name Cause Check method Check result Action Target 7A 1 Parameter verification error safety observation function 1 A parameter of the functional safety unit is incorrect Review the parameter It is not repeatable Set the parameter correctly A B GF It is repeatable Check 2 2 The functional safety unit is malfunctioning Replace the functional safety unit and th...

Page 86: ... repeatability It is not repeatable Replace the functional safety unit It is repeatable Check 4 4 The servo amplifier is malfunctioning Replace the servo amplifier and then check the repeatability It is not repeatable Replace the servo amplifier It is repeatable Check 5 5 Something near the device caused it Check the noise ambient temperature vibration etc It has a failure Take countermeasures aga...

Page 87: ...oning Replace the functional safety unit and then check the repeatability It is not repeatable Replace the functional safety unit B GF It is repeatable Check 4 4 Something near the device caused it Check the noise ambient temperature etc It has a failure Take countermeasures against its cause 7C 2 Functional safety unit communication data error safety observation function 1 The time taken for the ...

Page 88: ...d is higher than the setting value in Pr PSA15 and equal to or lower than that in Pr PSA04 Check 3 3 During activation of 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 Check if the command from the controller is over the standstill speed set in Pr PSA04 The command f...

Page 89: ...rvo motor is oscillating It is oscillating Adjust the servo gain Or reduce the load It is not oscillating Check 6 6 The velocity waveform has overshot Check if it is overshooting because the acceleration time constant is too short It is overshooting Increase the acceleration deceleration time constant It is not overshooting Check 7 7 The connection destination of the encoder cable is incorrect Che...

Page 90: ...connected correctly Connect it correctly Other It is connected correctly Check 2 2 Something near the device caused it Check the noise ambient temperature etc Refer to section 11 14 for the noise reduction techniques It has a failure Take countermeasures against its cause It has no failure Check 3 3 The network module is malfunctioning Replace the network module and then check the repeatability It...

Page 91: ...le is connected correctly It is not connected Connect it correctly It is connected Check 4 4 The wiring of the network cable was incorrect Check if the wiring of network cable is correct The wiring is incorrect Wire it correctly The wiring is correct Check 5 5 A network cable was disconnected Check if the network cable is malfunctioning It has a failure Replace the network cable It has no failure ...

Page 92: ... if the network cable is malfunctioning It has a failure Replace the network cable It has no failure Check 5 5 The setting of the controller is incorrect Check the controller setting It is incorrect Review the settings It is correct Check 6 6 Something near the device caused it Check the noise ambient temperature etc Refer to section 11 14 for the noise reduction techniques It has a failure Take c...

Page 93: ...network was disconnected according to the kind of network It was not performed Perform it It was performed Check 6 6 Data transmission from the controller was interrupted for a certain period of time Check if data transmission from the controller is not interrupted It is interrupted Review the controller communication setting It is not interrupted Check 7 7 The setting of the controller is incorre...

Page 94: ...mmand A B WB RJ010 GF It was transmitted Check 2 2 A communication cable was disconnected Replace the communication cable and then check the repeatability It is not repeatable Replace the communication cable It is repeatable Check 3 3 The servo amplifier is malfunctioning Replace the servo amplifier and then check the repeatability It is not repeatable Replace the servo amplifier 8A 2 Modbus RTU c...

Page 95: ...ssion status of the CC Link IE communication is abnormal Check the noise ambient temperature etc It has a failure Take countermeasures against its cause It has no failure Check 7 7 MR J3 T10 is malfunctioning Replace the MR J3 T10 and then check the repeatability It is not repeatable Replace the MR J3 T10 It is repeatable Check 8 8 The servo amplifier is malfunctioning Replace the servo amplifier ...

Page 96: ...t has a failure Replace the master station 8D 8 CC Link IE communication error 5 Check it with the check method for AL 8D 7 8D 9 Synchronization error 1 Check it with the check method for AL 8D 1 8D A Synchronization error 2 Alarm No 8E Name USB communication error serial communication error Modbus RTU communication error Alarm content A communication error occurred between the servo amplifier and...

Page 97: ...communication command error serial communication command error 1 The transmitted command is out of specifications Check the command at the time of transmission The transmitted command is out of specifications Correct the transmission data A B WB RJ010 The transmitted command is within specifications Check 2 2 The communication protocol is failure Check if transmission data supports the communicati...

Page 98: ...ck the repeatability It is not repeatable Replace the servo amplifier 8E 7 Modbus RTU communication message frame error 1 The communication protocol is failure Check if transmission data conforms the communication protocol It is not conforming Modify the transmission data according to the communication protocol It is conforming Check 2 2 The setting of the controller servo amplifier etc is incorre...

Page 99: ... 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 over...

Page 100: ...executed without home position setting with absolute position after AL 25 Absolute position erased occurred Check if AL 25 Absolute position erased occurred using alarm history AL 25 Absolute position erased occurred Check the battery voltage and battery cable if they have a failure and execute a home position return after remove the failure AL 25 Absolute position erased did not occur Check 3 3 W...

Page 101: ...set to Pr PD12 AL 98 Software stroke limit warning or AL 99 Stroke limit warning occurred in the I O mode Move the machine to within the limit range and then make a home position return When the home position is fixed enable servo on again GF AL 98 Software stroke limit warning or AL 99 Stroke limit warning did not occur Or the motion mode is set Check 6 6 ZP2 Home position return completion 2 tur...

Page 102: ...e position was turned on before the deceleration from the home position return speed creep speed to the home position was complete It was not turned on before the deceleration was complete Review the positional relationship of the stroke limit and home position Or review the parameter values of the home position return speed creep speed deceleration time constant and home position shift distance 9...

Page 103: ...less than 3 1 V DC Replace the battery It is 3 1 V DC or more Check 4 4 An encoder cable was disconnected Check if the encoder cable is disconnected It is disconnected Replace or repair the cable 92 3 Battery degradation 1 The battery voltage is low The battery is consumed Check the battery voltage with a tester It is less than 3 0 V DC Replace the battery It is 3 0 V DC or more Check 2 2 The batt...

Page 104: ...the short circuit connector came with the servo amplifier to CN8 It is wired correctly Check 2 2 STO2 was turned off enabled under the following speed conditions 1 Servo motor speed 50 r min or less 2 Linear servo motor speed 50 mm s or less 3 Direct drive motor speed 5 r min or less Check if STO2 is off enabled It is off enabled Turn on STO2 95 3 STO warning 1 safety observation function 1 Input ...

Page 105: ...l safety unit It is A1 or earlier Replace the functional safety unit with a one with software version A2 or later GF It is A2 or later Check 5 5 The setting of Pr PSC04 Safety communication Network communication selection is incorrect Correct the setting of Pr PSC04 and check the repeatability It is not repeatable Review the parameter setting B GF It is repeatable Check 6 6 The servo amplifier is ...

Page 106: ...as not turned on after servo on Check if the Z phase was turned on The Z phase was not turned on Rotate the direct drive motor to turn on the Z phase and make home position setting A GF Alarm No 97 Name Positioning specification warning Alarm content How to specify a positioning is incorrect for the positioning function Detail No Detail name Cause Check method Check result Action Target 97 1 Progr...

Page 107: ...Alarm content The stroke limit signal is off Detail No Detail name Cause Check method Check result Action Target 99 1 Forward rotation stroke end off 1 The forward rotation stroke limit switch is connected to LSP Check if the limit switch is connected correctly It is not connected Connect it correctly A GF It is connected Check 2 2 The forward rotation stroke end was exceeded during driving Check ...

Page 108: ...sult Action Target 9B 1 Excess droop pulse 1 warning 1 The servo motor power cable was disconnected Check the servo motor power cable It is disconnected Repair or replace the servo motor power cable A B WB GF It is not disconnected Check 2 2 The connection of the servo motor is incorrect Check the wiring of U V W It is incorrect Connect it correctly It is correct Check 3 3 The connection of the en...

Page 109: ...t Action Target 9C 1 Converter unit warning 1 A warning occurred in the converter unit during the servo on Check the warning of the converter unit and take the action following the remedies for warnings of the converter unit A B Alarm No 9D Name CC Link IE warning 1 Alarm content The station No switch setting was changed after power on The station No setting differs from that of master station Det...

Page 110: ...o failure Check 5 5 Communication with the master station is abnormal Check the setting of Pr Po02 and Pr Po03 The setting value is incorrect Review the communication settings RJ010 The setting value is correct Check 6 6 The master station is malfunctioning Check if the master station is malfunctioning It has a failure Replace the master station RJ010 GF Alarm No 9F Name Battery warning Alarm cont...

Page 111: ...E1 2 Thermal overload warning 2 during operation 1 The load was over 85 to the alarm level of AL 50 2 Thermal overload error 2 during operation Check it with the check method for AL 50 2 E1 3 Thermal overload warning 3 during operation 1 The load was over 85 to the alarm level of AL 51 1 Thermal overload error 3 during operation Check it with the check method for AL 51 1 E1 4 Thermal overload warn...

Page 112: ...s surely cycled perform home position return again A GF E3 2 Absolute position counter warning 1 Something near the device caused it Check the noise ambient temperature etc It has a failure Take countermeasures against its cause After the power is surely cycled perform home position return again A B WB RJ010 GF It has no failure Check 2 2 An encoder is malfunctioning Replace the servo motor and th...

Page 113: ...AL E5 1 E5 3 SON off during ABS data transfer Alarm No E6 Name Servo forced stop warning Alarm content EM2 EM1 Forced stop turned off SS1 command was inputted Detail No Detail name Cause Check method Check result Action Target E6 1 Forced stop warning 1 EM2 EM1 Forced stop turned off Check the status of EM2 EM1 It is off Ensure safety and turn on EM2 EM1 Forced stop A B WB RJ010 GF It is on Check ...

Page 114: ...warning Alarm content The servo on command was inputted with main circuit power supply off The bus voltage dropped during the servo motor driving under 50 r min Detail No Detail name Cause Check method Check result Action Target E9 1 Servo on signal on during main circuit off 1 The main circuit power supply is off For the drive unit the power supply of the converter unit is off Check if the main c...

Page 115: ... prescribed value Review the wiring Check the power supply capacity The voltage is equal to or higher than the prescribed value Check 9 9 The servo amplifier is malfunctioning Replace the servo amplifier and then check the repeatability It is not repeatable 10 Replace the servo amplifier 10 For the drive unit the converter unit is malfunctioning Replace the converter unit and then check the repeat...

Page 116: ...eck if AL 32 is occurring at other axis It is occurring Eliminate the cause of AL 32 on the other axis side It did not occur Check 3 3 All alarms of Target alarm selection of the other axis error warning is selected in Pr PF02 Check the Pr PF02 setting All alarms is selected Remove the cause of the occurring alarm at other axis Alarm No EC Name Overload warning 2 Alarm content Operations over rate...

Page 117: ...2 Name Drive recorder Miswriting warning Alarm content A waveform measured by the drive recorder function was not recorded Detail No Detail name Cause Check method Check result Action Target F2 1 Drive recorder Area writing time out warning 1 The Flash ROM is malfunctioning Disconnect the cables except for the control circuit power supply and then check the repeatability It is repeatable Replace t...

Page 118: ...t was set out of setting range Check the setting value Pr PT49 of the acceleration time constant It is out of setting range Set the acceleration time constant correctly and cancel the warning turn on ORST GF F4 7 Deceleration time constant setting range error warning 1 A deceleration time constant was set out of setting range Check the setting value Pr PT50 of the deceleration time constant It is ...

Page 119: ...ion Manual Positioning Mode and section 3 2 4 Pr PT34 of MR J4 _GF_ RJ Servo Amplifier Instruction Manual I O Mode It is repeatable Replace the servo amplifier F5 3 Cam data checksum error 1 When the power is switched on after the cam data is written a checksum of the cam data does not match Error occurred in cam data Check if an error occurred such as entered noise power off at cam data write It ...

Page 120: ...ntrol start is in the in position range The difference of the command position command unit is not within in position range Calculate the cam axis feed current value to be restored move the command position to the position and then start the cam control For the calculation method refer to section 12 1 7 2 of MR J4 _A_ RJ Servo Amplifier Instruction Manual Positioning Mode and section 6 2 7 2 of MR...

Page 121: ...m control command while the travel completion was on The cam control command was turned on while the travel completion was on Check 4 4 The cam control command was turned on at the time of incompletion of home position return Check if the home position return completion is on The home position return completion is off Make a home position return and turn on the cam control command The home positio...

Page 122: ...heck and maintain the equipment and replace parts as necessary F7 2 Friction failure prediction warning 1 Changes in environment affected equipment friction Check that environment conditions such as ambient temperature has been changed from that of the initial operation The usage environment has been changed Reset the threshold to set a new one The usage environment is not changed Check 2 2 Deteri...

Page 123: ...r less operation function An Ethernet cable was disconnected Check if AA is displayed in the corresponding axis and following axes Replace the Ethernet cable of the corresponding axis RJ010 GF Check if the connectors CN10A CN10B or CN1A CN1B are unplugged Connect it correctly Description Possible cause Check result Action Target The display shows Ab A controller which is not compatible with the se...

Page 124: ...f the amplifier less operation function of servo system controller is enabled Disable the amplifier less operation function The servo amplifier is malfunctioning Check if Ab is displayed in the corresponding axis and following axes Replace the servo amplifier of the corresponding axis An Ethernet cable was disconnected Check if Ab is displayed in the corresponding axis and following axes Replace t...

Page 125: ... amplifier is off Turn on the control circuit power The voltage of the control circuit power supply has dropped Check if the voltage of the control circuit power supply dropped Increase the voltage of the control circuit power supply The servo motor does not operate The connection of the servo motor is incorrect Check the wiring of U V W Connect it correctly A B WB RJ010 GF The servo motor power s...

Page 126: ...etting of the command pulse input form is incorrect in the position control mode Check that the pulse train form outputted with the controller and the setting of Pr PA13 are matched Review the Pr PA13 setting Both of ST1 Forward rotation start and ST2 Reverse rotation start are on or off in the speed control mode or the positioning mode Check the status of ST1 Forward rotation start and ST2 Revers...

Page 127: ...is is disabled Check if the disabling control axis switch is on B SW2 2 WB SW2 2 to 4 Turn off the disabling control axis switch B WB An error is occurring on the servo system controller side Check if an error is occurring on the servo system controller side Cancel the error of the servo system controller The setting of a parameter is incorrect on the servo system controller side Check the setting...

Page 128: ...of OV0 Digital override selection 1 OV1 Digital override selection 2 OV2 Digital override selection 3 or OV3 Digital override selection 4 is incorrect in the positioning mode indexer method Check OV0 Digital override selection 1 OV1 Digital override selection 2 OV2 Digital override selection 3 and OV3 Digital override selection 4 and then check if the selected override level is correct Review the ...

Page 129: ...e machine resonance suppression filter The load side is vibrating If the servo motor may be driven with safety check if the trouble is solved by advanced vibration suppression control II Execute the advanced vibration suppression control II Feedback pulses are being miscounted due to entered noise into an encoder cable Check the cumulative feedback pulses using status display only A or MR Configur...

Page 130: ...ck the ripple of the command frequency with MR Configurator2 Review the command from the controller Check the cable for command if there is failure such as disconnection The machine vibrates unsteadily when it stops The servo gain is low Or the response of auto tuning is low Check if the trouble is solved by increasing auto tuning response Pr PA09 Adjust gains A B WB RJ010 GF The servo motor start...

Page 131: ...osition command and actual machine position are different Check that cumulative feedback pulses travel distance per pulse matches the actual machine position Check if cumulative feedback pulses feed length multiplication matches the actual machine position Review the position command and electronic gear setting An alarm or warning is occurring Check if an alarm or warning is occurring Check the co...

Page 132: ...eck if a time period from after switching timings of point table setting value and point table No until a start timing is 3 ms or more Review the point table setting Review the start timing An input signal to the MR D01 extension IO unit is incorrect Check the selection of the point table No selection 1 to point table No selection 8 and check the wiring Check the input signal switch to the MR D01 ...

Page 133: ...matched Set it correctly Capacity shortage or shortage of the maximum torque thrust due to too large load Check the instantaneous torque using status display if the maximum torque maximum thrust exceeds the torque limit value thrust limit value Reduce the effective load ratio by increasing acceleration deceleration time and reducing load The setting of the torque limit is incorrect Check the insta...

Page 134: ...th SYNC command does not match with the actual inputted signal Review the program or signal to use A point table was executed but the operation did not start A positioning to the same position is repeated Multiple operation starts which have the same specified number of point table are in progress Review the setting of the point table or procedures of the operation A GF Positioning to a same point...

Page 135: ...t the servo amplifier was manufactured in January 2015 or later Check if MR J4 _A_ servo amplifier or MR J4 03A6 RJ servo amplifier is being used For MR J4 _A_ RJ 100 W or more servo amplifier use the one manufactured in January 2015 or later MR J4 _A_ servo amplifier or MR J4 03A6 RJ servo amplifier is not compatible with Modbus RTU communication A communication cable is malfunctioning Check if t...

Page 136: ...e error codes If an error occurs in the network module a network module error code will be displayed in Alarm Display of MR Configurator2 For details of the network module error codes refer to Exception Codes of Anybus CompactCom 40 Software Design Guide Doc Id HMSI 216 125 ...

Page 137: ...1 TROUBLESHOOTING FOR SERVO AMPLIFIER DRIVE UNIT 1 130 MEMO ...

Page 138: ...ting the controller itself Note 2 Cycling the power Turning the power off and then turning it on again Note 1 Deactivate an alarm in the servo off status Alarm deactivation in the servo on status will trigger AL 1B Converter error 2 When it is not connected by a protection coordination cable alarms cannot be deactivated by CPU reset 2 2 Alarm list No Name Alarm deactivation Alarm reset CPU reset C...

Page 139: ...converter unit It is larger than the instantaneous maximum rating of the power regeneration converter unit Check operation pattern Or increase the capacity of the power regeneration converter unit It is lower than or equal to the instantaneous maximum rating of the power regeneration converter unit Check 3 3 The power supply capacity is insufficient Check the power supply capacity It is insufficie...

Page 140: ...e the power regeneration converter unit 67 Open phase The wirings of L1 L2 and L3 are incorrect 1 Any of the wirings L1 L2 and L3 is not connected Or it is disconnected Check if the wirings of L1 L2 and L3 are incorrect It has a failure Review the wiring It has no failure Check 2 2 A part in the power regeneration converter unit is malfunctioning Replace the power regeneration converter unit and t...

Page 141: ...n converter unit Check if the total capacity of connected servo amplifiers other than multiple drive units is within that of servo amplifiers connectable to the power regeneration converter unit It exceeds the total capacity of servo amplifiers connectable to the power regeneration converter unit Review the capacity It is less than or equal to the total capacity of servo amplifiers connectable to ...

Page 142: ...It is stopping Replace the power regeneration converter unit 73 Regenerative error The load ratio exceeded the excessive regeneration protection characteristic of the power regeneration converter unit 1 The regenerative load ratio exceeded 100 Check Converter regenerative load ratio with MR Configurator2 It is 100 or more Reduce the frequency of positioning Reduce the load 75 Overvoltage The value...

Page 143: ...ere repeated under the overload status Check if the overload status occurred many times It occurred Check operation pattern It did not occur Check 3 3 A cooling fan heat sink or openings is clogged with foreign matter Clean the cooling fan heat sink or openings and then check the repeatability It is not repeatable Clean it periodically It is repeatable Check 4 4 The power regeneration converter un...

Page 144: ...l 24 V DC power supply is off Check if the external 24 V DC power supply is inputted It is not inputted Input the 24 V DC power supply It is inputted Check 3 3 The power regeneration converter unit is malfunctioning Replace the power regeneration converter unit and then check the repeatability It is not repeatable Replace the power regeneration converter unit EB Excessive regeneration warning AL 7...

Page 145: ...2 TROUBLESHOOTING FOR MR CV_POWER REGENERATION CONVERTER UNIT 2 8 MEMO ...

Page 146: ...d Alarms are deactivated with alarm reset or cycling the power Alarm deactivation Explanation Alarm reset Push the SET button on the current alarm screen of the display Cycling the power Turning the power off and then turning it on again 3 2 Alarm warning list Display Name Alarm deactivation Display Name Alarm reset Cycling the power Warning A 91 Converter overheat warning A E0 Excessive regenerat...

Page 147: ...en any of the following alarms has occurred do not deactivate the alarm repeatedly to restart Otherwise the resistance regeneration converter unit may malfunction 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 50 Overload 1 AL 51 Overload 2 AL 37 Parameter error is not recorded in the alarm histor...

Page 148: ...it It is not repeatable Check 2 2 Something near the device caused it Check the power supply for noise It has a failure Take countermeasures against its cause 15 Memory error 2 EEP ROM Failure of the part EEP ROM in the resistance regeneration converter unit 1 EEP ROM is malfunctioning at power on Disconnect the cables except for the control circuit power supply and then check the repeatability It...

Page 149: ...Check 3 3 The combination of the regenerative resistor regenerative option and resistance regeneration converter unit is incorrect Check if the regenerative resistor regenerative option and the resistance regeneration converter unit are connected in the specified combination The combination is incorrect Use them in the correct combination The combination is correct Check 4 4 Power supply voltage h...

Page 150: ...istor regenerative option is not connected Check if the regenerative resistor regenerative option is connected correctly It is not connected correctly Connect it correctly It is connected correctly Check 4 4 Wire breakage of the regenerative resistor regenerative option Measure the resistance of the regenerative resistor regenerative option The resistance is abnormal Replace the regenerative resis...

Page 151: ...pply voltage is applied to this connector Take care to avoid an electric shock at connecting It is not correct Connect it correctly It is correct Check 2 2 The setting value of Pr PA02 Magnetic contactor drive output selection contradicts the wiring constitution Check the Pr PA02 setting and the wiring constitution The setting or wiring is incorrect Review the Pr PA02 setting The setting and wirin...

Page 152: ...ration converter unit 47 Cooling fan error The speed of the resistance regeneration converter unit cooling fan decreased Or the fan speed decreased to the alarm occurrence level or less 1 Foreign matter was caught in the cooling fan Check if a foreign matter is caught in the cooling fan Something has been caught Remove the foreign matter Nothing has been caught Check 2 2 Cooling fan life expired C...

Page 153: ...f the power of the resistance regeneration converter unit drive unit is switched off on during the warnings allow more than 30 minutes for cooling before resuming operation AL 91 Converter overheat warning AL E0 Excessive regeneration warning AL E1 Overload warning 1 The warnings are not recorded in the alarm history If AL E6 occurs the amplifier will be the servo off status If any other warning o...

Page 154: ...tive option is not used Use the regenerative option E1 Overload warning 1 A 50 Overload 1 or A 51 Overload 2 can occur 1 Load increased to 85 or more alarm level of A 50 Overload 1 or A 51 Overload 2 Check it with the check method for A 50 and A 51 E6 Converter forced stop warning The EM1 forced stop of the resistance regeneration converter unit was turned off 1 The EM1 forced stop of the resistan...

Page 155: ...3 TROUBLESHOOTING FOR MR CR55K 4 RESISTANCE REGENERATION CONVERTER UNIT 3 10 MEMO ...

Page 156: ...unication error 1 AL 888 88888 Watchdog AL 8D 1 CC Link IE communication error 1 For MR J4 _GF_ RJ the drive recorder operates by setting Pr PN06 to _ _ _ 1 AL 8D 2 CC Link IE communication error 2 For MR J4 _GF_ RJ the drive recorder operates by setting Pr PN06 to _ _ _ 1 When the graph is displayed with MR Configurator2 the drive recorder function will be enabled After the graph function is comp...

Page 157: ...ng Pr PA23 the drive recorder will record data of standard column in table 4 1 or 4 2 for all alarms When you set an alarm in table 4 1 or 4 2 to Pr PA23 each data described in alarm column will be recorded When you set an alarm other than in table 4 1 and 4 2 data described in standard column will be recorded Refer to table 4 3 for description of each signal 3 When the power of the servo amplifie...

Page 158: ...rrent command Command pulse frequency Within one revolution position Speed command Bus voltage 0 888 227 Digital CSON EMG ALM2 INP MBR RD STO IPF AL 32 Analog Motor speed Torque Current command Bus voltage Effective load ratio U phase current feedback V phase current feedback 0 444 113 Digital CSON EMG ALM2 INP MBR RD STO IPF AL 33 Analog Motor speed Torque Current command Speed command Bus voltag...

Page 159: ...te Analog Motor speed Torque Load side encoder information 2 Load side encoder information 1 Current command Load side encoder error counter 1 Load side encoder error counter 2 0 888 227 Digital CSON EMG ALM2 INP MBR RD STO IPF AL 72 Note Analog Motor speed Torque Load side encoder information 2 Load side encoder information 1 Current command Load side encoder error counter 1 Load side encoder err...

Page 160: ...mmand pulse frequency Within one revolution position Speed command Bus voltage 0 888 227 Digital SON EM2 EM1 ALM2 INP MBR RD STO IPF AL 32 Analog Motor speed Torque Current command Bus voltage Effective load ratio U phase current feedback V phase current feedback 0 444 113 Digital SON EM2 EM1 ALM2 INP MBR RD STO IPF AL 33 Analog Motor speed Torque Current command Speed command Bus voltage Regene r...

Page 161: ...BR RD STO TLC AL 71 Analog Motor speed Torque Load side encoder information 2 Load side encoder information 1 Current command Load side encoder error counter 1 Load side encoder error counter 2 0 888 227 Digital SON EM2 EM1 ALM2 INP MBR RD STO IPF AL 72 Analog Motor speed Torque Load side encoder information 2 Load side encoder information 1 Current command Load side encoder error counter 1 Load s...

Page 162: ...mmand pulse frequency Within one revolution position Speed command Bus voltage 0 888 227 Digital CSON EM2 EM1 ALM2 INP MBR RD STO IPF AL 32 Analog Motor speed Torque Current command Bus voltage Effective load ratio U phase current feedback V phase current feedback 0 444 113 Digital CSON EM2 EM1 ALM2 INP MBR RD STO IPF AL 33 Analog Motor speed Torque Current command Speed command Bus voltage Regene...

Page 163: ...mmand pulse frequency speed unit This converts and indicates command pulse frequency per servo motor speed r min Motor side load side position deviation 100 pulses This indicates a deviation between motor side position and load side position during fully closed loop control The number of pulses displayed is in the load side encoder pulse unit 100 pulses Motor side load side speed deviation This in...

Page 164: ...he external input signal ALM2 This will turn on when an alarm is detected in the servo amplifier This changes faster than ALM of the external output signal INP This indicates INP status of the external output signal MBR This indicates MBR status of the external output signal RD This indicates RD status of the external output signal STO This Indicates the STO status of the external input signal IPF...

Page 165: ...ew window which shows data before and after alarm occurrence For operating the graph preview window refer to Help of MR Configurator2 b Click Display of Alarm onset data to display each data at alarm occurrence c Click History Clear to delete all data at alarm occurrence recorded in the servo amplifier After clicking History Clear cycle the power of the servo amplifier Note that the time to restar...

Page 166: ...25 Absolute position erased AL 92 Battery cable disconnection warning and AL 9F Battery warning AL 9F Detection point AL 25 AL 92 Detection point Battery Servo amplifier Servo motor encoder CN4 Position speed detection circuit Step down circuit 6 V 3 4 V CN2 CN2A CN2B CN2C Note Note CN2A CN2B and CN2C are for the MR J4W_ _B ...

Page 167: ...e serial communication is added to AL 8E AL E8 1 1 is added AL E8 2 is added Feb 2013 SH NA 030109ENG C Section 1 1 Section 1 2 Section 1 3 Section 1 4 Chapter 2 AL 17 8 is added AL 74 is added AL 75 is added AL 8D is added AL 93 is added AL 96 4 is added AL 9D is added AL 9E is added AL 17 8 is added AL 74 is added AL 75 is added AL 8D is added The part of table is changed AL 93 is added AL 96 4 ...

Page 168: ...wly added AL 3E 6 Newly added AL 45 2 Newly added AL 46 4 Newly added AL 63 5 Newly added AL 64 1 to AL 64 3 Newly added AL 65 1 to AL 65 9 Newly added AL 79 1 to AL 79 8 Newly added AL 7A 1 to AL 7A 4 Newly added AL 7C 1 AL 7C 2 Newly added AL 7D 2 Newly added AL 95 3 to AL 95 5 Newly added AL E6 2 AL E6 3 Newly added AL 10 1 Newly added AL 15 4 Newly added AL 1A 4 Newly added AL 34 5 AL 34 6 New...

Page 169: ...artially added AL 30 is partially changed AL 31 1 is partially changed AL 32 is partially changed AL 33 1 is partially changed AL 37 1 is partially changed AL 50 1 is partially changed AL 52 1 is partially changed AL 64 is partially changed AL 65 is partially changed AL 66 is added AL 67 is added AL 70 3 is added AL 71 1 is added AL 79 is added AL 7A 3 is partially changed AL 7B is added AL 7C is ...

Page 170: ...ed Added Partially added Dec 2016 SH NA 030109ENG M MR CV_ is added MR J4 GF is partially added TM RG2M series TM RU2M series direct drive motor is added 4 Additional instructions Partially added Section 1 2 AL 7C is partially changed Section 1 3 Partially changed Section 1 4 AL 1A is partially added AL 30 is partially added AL 35 is partially added AL 37 is partially changed AL 7C is partially ch...

Page 171: ...MEMO ...

Page 172: ...5027 St Petersburg Russia Tel Fax 7 812 633 3497 7 812 633 3499 Sweden Mitsubishi Electric Europe B V Scandinavia Fjelievagen 8 SE 22736 Lund Sweden Tel Fax 46 8 625 10 00 46 46 39 70 18 Turkey Mitsubishi Electric Turkey A S Umraniye Branch Serifali Mahallesi Nutuk Sokak No 5 TR 34775 Umraniye Istanbul Turkey Tel Fax 90 216 526 3990 90 216 526 3995 UAE Mitsubishi Electric Europe B V Dubai Branch D...

Page 173: ...ct from our company viii any other failures which we are not responsible for or which you acknowledge we are not responsible for 2 Term of warranty after the stop of production 1 We may accept the repair at charge for another seven 7 years after the production of the product is discontinued The announcement of the stop of production for each model can be seen in our Sales and Service etc 2 Please ...

Page 174: ...truction Manual uses recycled paper MODEL MODEL CODE General Purpose AC Servo MELSERVO J4 Servo amplifier INSTRUCTION MANUAL TROUBLE SHOOTING HEAD OFFICE TOKYO BLDG MARUNOUCHI TOKYO 100 8310 MELSERVO J4 Servo amplifier INSTRUCTION MANUAL TROUBLE SHOOTING 1CW808 MR J4 INSTRUCTIONMANUAL TROUBLESHOOTING M M ...

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Mitsubishi Electric MELSERVO MR-J4-B-RJ Series, Instruction Manual

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