[Al. 052_Excessive Error] - Mitsubishi Electric Melservo-J5 MR-J5 Series User Manual

[AL. 052_Excessive error]

• Droop pulses exceeded the alarm occurrence level.
[AL. 052.1_Excessive droop pulse 1]
Cause
1.
The servo motor power cable was
disconnected.
2.
The connection of the servo motor is incorrect.
3.
The connection of the encoder cable is
incorrect.
4.
The torque limit is enabled.
5.
A moving part collided against the machine.
6.
The electromagnetic brake has not been
released. (Electromagnetic brake is activated.)
7.
Insufficient torque
8.
Power supply voltage has dropped.
9.
Acceleration time constant is short.
10.
The position control gain is small.
11.
The excessive error alarm level was not set
correctly.
12.
The servo motor shaft was rotated by external
force. The moving part of the linear servo
motor was moved by external force.
13.
The servo amplifier is malfunctioning.
14.
The encoder or linear encoder is
malfunctioning.
[AL. 052.3_Excessive droop pulse 2]
Page 51 [AL. 052.1_Excessive droop pulse 1]
[AL. 052.4_Excessive error during 0 torque limit]
Cause
1.
The torque limit value is 0.
[AL. 052.5_Excessive droop pulse 3]
Page 51 [AL. 052.1_Excessive droop pulse 1]
Check/action method
Repair or replace the servo motor power cable.
Check the U/V/W wiring for forgotten screws, loose screws, and incorrect
wiring.
Refer to "Connection example of power supply circuit" in the following manual.
MR-J5 User's Manual (Hardware)
Check if the encoder cable is connected correctly.
When torque is limited, increase the torque limit value.
Review the operation pattern to avoid collision.
Check if the electromagnetic brake is released during operation.
Check the peak load ratio, and if the torque is saturated, reduce the load or
review the operation pattern. Otherwise, replace the servo motor with a larger-
capacity servo motor.
If the bus voltage is low, review the power supply voltage and power supply
capacity.
Set a longer acceleration/deceleration time constants, and then check the
repeatability. If the error does not repeat, increase the acceleration/
deceleration time constant.
Increase the position control gain, and then check the repeatability. If the error
does not repeat, increase the value in [Pr. PB08 position control gain].
Check the setting of the excessive error alarm level.
[A]: [Pr. PC24.3], [Pr. PC43]
[G] [WG]: [Pr. PC01], [Pr. PC06.3]
Measure the actual position under the servo-lock status.
When an external force rotates the servo motor or moves the linear servo
motor, review the machine.
Replace the servo amplifier.
Replace the servo motor or linear encoder.
Check/action method
Do not input a command when the torque limit value is 0.
1 SERVO AMPLIFIER TROUBLESHOOTING
1.3 Handling methods for alarms/warnings
1
Model
[A]
[G]
[WG]
Model
[A]
[G]
[WG]
51