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Mitsubishi Electric MR-J5-G Series User Manual

Ac servo system
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Mitsubishi Electric AC Servo System
MR-J5
User's Manual
(Troubleshooting)
-MR-J5-_G_
-MR-J5W_-_G_
-MR-J5-_A_

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  Summary of Contents for Mitsubishi Electric MR-J5-G Series

  • Page 1 Mitsubishi Electric AC Servo System MR-J5 User's Manual (Troubleshooting) -MR-J5-_G_ -MR-J5W_-_G_ -MR-J5-_A_...
  • Page 3: About The Manual

    ABOUT THE MANUAL e-Manuals are Mitsubishi Electric FA electronic book manuals that can be browsed with a dedicated tool. e-Manuals enable the following: • Searching for desired information in multiple manuals at the same time (manual cross searching) • Jumping from a link in a manual to another manual for reference •...
  • Page 4: U.s. Customary Units

    U.S. CUSTOMARY UNITS U.S. customary units are not shown in this manual. Convert the values if necessary according to the following table. Quantity SI (metric) unit U.S. customary unit Mass 1 [kg] 2.2046 [lb] Length 1 [mm] 0.03937 [inch] Torque 1 [N•m] 141.6 [oz•inch] Moment of inertia...
  • Page 5: Table Of Contents

    CONTENTS ABOUT THE MANUAL ..............1 U.S.
  • Page 6 [AL. 070_Load-side encoder initial communication error 1] ........78 [AL.
  • Page 7 [AL. 516_Encoder initial communication error 1 (safety sub-function)] ....... 136 [AL.
  • Page 8 Coasting distance of the servo motor became longer ..........209 RS-422 communication (Mitsubishi Electric AC servo protocol) cannot be used ..... . . 209 REVISIONS.
  • Page 9: Chapter 1 Servo Amplifier Troubleshooting

    SERVO AMPLIFIER TROUBLESHOOTING Precautions • In the MR-J5 series, the alarm No. and warning No. are shown with three digits, followed by one digit indicating the detail No. This has changed since the MR-J4 series, in which these numbers were shown with two digits and one digit, respectively.
  • Page 10 Precautions • As soon as an alarm occurs, switch to servo-off status and shut off the main circuit power supply. • If an abnormality related to overheating occurs, remove the cause of the abnormality and allow a cooling time of approximately 30 minutes.
  • Page 11: List Of Alarm No./Warning No

    List of alarm No./warning No. Explanation of the list Motor stop method Alarms and warnings which have "SD" in the "Motor stop method" column stop the servo motor with the dynamic brake after forced stop deceleration. Alarms and warnings which have "DB" or "EDB" in the "Motor stop method" column stop the servo motor with the dynamic brake.
  • Page 12 Safety sub-function stopped Indicates that the safety sub-function stops when the alarm or warning occurs, disabling input to the safety sub-function and maintaining the shut-off state of the power supply. "SFTY" on the servo amplifier display turns off when the safety sub-function stops.
  • Page 13 Detail Alarm/ Motor Stop Alarm deactivation Motor Safety Warning stop system stop sub- Safety Alarm Communication Power method warning function reset reset reset cycling stopped       019.1 Alarm All axes 019.2 Alarm All axes  ...
  • Page 14 Detail Alarm/ Motor Stop Alarm deactivation Motor Safety Warning stop system stop sub- Safety Alarm Communication Power method warning function reset reset reset cycling stopped       030.1 Alarm All axes      ...
  • Page 15 Detail Alarm/ Motor Stop Alarm deactivation Motor Safety Warning stop system stop sub- Safety Alarm Communication Power method warning function reset reset reset cycling stopped       063.1 Alarm All axes 063.2 Alarm All axes  ...
  • Page 16 Detail Alarm/ Motor Stop Alarm deactivation Motor Safety Warning stop system stop sub- Safety Alarm Communication Power method warning function reset reset reset cycling stopped       086.1 Alarm All axes      ...
  • Page 17 Detail Alarm/ Motor Stop Alarm deactivation Motor Safety Warning stop system stop sub- Safety Alarm Communication Power method warning function reset reset reset cycling stopped       09E.2 Warning All axes 09E.3 Warning All axes  ...
  • Page 18 Detail Alarm/ Motor Stop Alarm deactivation Motor Safety Warning stop system stop sub- Safety Alarm Communication Power method warning function reset reset reset cycling stopped         0F4.4 Warning      ...
  • Page 19 Detail Alarm/ Motor Stop Alarm deactivation Motor Safety Warning stop system stop sub- Safety Alarm Communication Power method warning function reset reset reset cycling stopped       510.1 Alarm STO/DB All axes 510.2 Alarm STO/DB All axes ...
  • Page 20 Detail Alarm/ Motor Stop Alarm deactivation Motor Safety Warning stop system stop sub- Safety Alarm Communication Power method warning function reset reset reset cycling stopped      522.1 Alarm STO/DB Each axis      522.2 Alarm STO/DB...
  • Page 21 Detail Alarm/ Motor Stop Alarm deactivation Motor Safety Warning stop system stop sub- Safety Alarm Communication Power method warning function reset reset reset cycling stopped      528.1 Alarm STO/DB Each axis 528.2 Alarm STO/DB Each axis ...
  • Page 22 Detail Alarm/ Motor Stop Alarm deactivation Motor Safety Warning stop system stop sub- Safety Alarm Communication Power method warning function reset reset reset cycling stopped       543.1 Alarm STO/DB All axes     ...
  • Page 23 Detail Alarm/ Motor Stop Alarm deactivation Motor Safety Warning stop system stop sub- Safety Alarm Communication Power method warning function reset reset reset cycling stopped      551.1 Alarm STO/DB Each axis 551.2 Alarm STO/DB Each axis ...
  • Page 24 Detail Alarm/ Motor Stop Alarm deactivation Motor Safety Warning stop system stop sub- Safety Alarm Communication Power method warning function reset reset reset cycling stopped      565.1 Alarm STO/DB Each axis      565.2 Alarm STO/DB...
  • Page 25 Detail Alarm/ Motor Stop Alarm deactivation Motor Safety Warning stop system stop sub- Safety Alarm Communication Power method warning function reset reset reset cycling stopped      582.1 Alarm SS1/SD All axes 582.2 Alarm SS1/SD All axes ...
  • Page 26: Handling Methods For Alarms/Warnings

    Handling methods for alarms/warnings Remove the cause of the alarm and warning in accordance with this section. MR Configurator2 can be used as reference for the cause of a warning. [AL. 010_Undervoltage] • The voltage of the control circuit power supply has dropped. •...
  • Page 27: [Al. 011_Switch Setting Error]

    [AL. 011_Switch setting error] • The settings of the DIP switch are incorrect. • The settings of the rotary switch are incorrect. [AL. 011.1_Rotary switch setting error] Cause Check/action method Model Each selected network has its settable range, Check the settings of the rotary switches (SW1/SW2). If the value set with the rotary switch does not match the actual value, the [WG] and the values set with the rotary switches...
  • Page 28: [Al. 012_Memory Error 1 (Ram)]

    [AL. 012_Memory error 1 (RAM)] • The internal part of the servo amplifier (RAM) has malfunctioned. [AL. 012.1_RAM error 1] Cause Check/action method Model An internal part of the servo amplifier has Noise from the power supply may have caused the failure. Disconnect all cables except for those for the control circuit power supply, then check the malfunctioned.
  • Page 29: [Al. 013_Cpu Error]

    [AL. 013_CPU error] • An internal part of the servo amplifier has malfunctioned. • A clock transmitted from the controller has an error. [AL. 013.1_CPU error 1] Cause Check/action method Model An internal part of the servo amplifier has Noise from the power supply may have caused the failure. Disconnect all cables except for those for the control circuit power supply, then check the malfunctioned.
  • Page 30: [Al. 014_Control Process Error]

    [AL. 014_Control process error] • The process did not complete within the specified time. • The internal part of the servo amplifier (communication IC) has malfunctioned. [G] [WG] [AL. 014.1_Control process error 1] Cause Check/action method Model The servo parameter settings are incorrect. Return the servo parameter to the value it had before the alarm occurrence, then check if the problem occurs again.
  • Page 31: [Al. 016_Encoder Initial Communication Error 1]

    [AL. 016_Encoder initial communication error 1] • There is a communication error between the encoder and servo amplifier. [AL. 016.1_Encoder initial communication - Receive data error 1] Cause Check/action method Model There is a problem with the encoder cable. Check if the encoder cable has been disconnected, incorrectly wired, or has shorted.
  • Page 32 [AL. 016.5_Encoder initial communication - Transmission data error 1] Page 29 [AL. 016.1_Encoder initial communication - Receive data error 1] [AL. 016.6_Encoder initial communication - Transmission data error 2] Page 29 [AL. 016.1_Encoder initial communication - Receive data error 1] [AL.
  • Page 33: [Al. 017_Board Error]

    [AL. 017_Board error] • There is a problem with an internal part of the servo amplifier. [AL. 017.1_Board error 1] Cause Check/action method Model There is a problem with the current detection Check that this alarm occurs in the servo-on status. If the alarm occurs, the servo amplifier may have malfunctioned.
  • Page 34 [AL. 017.9_Board error 8] Cause Check/action method Model There is a problem with the surrounding Check the noise, ambient temperature, and other conditions, and implement appropriate countermeasures for the cause. environment. If there is noise, take countermeasures to reduce the noise. Refer to "Noise reduction techniques"...
  • Page 35: [Al. 019_Memory Error 3]

    [AL. 019_Memory error 3] • The internal part of the servo amplifier (Flash-ROM) has malfunctioned. [AL. 019.1_Flash-ROM error 1] Cause Check/action method Model The Flash-ROM has malfunctioned. Noise from the power supply may have caused the failure. Disconnect all cables except for those for the control circuit power supply, then check the repeatability.
  • Page 36: [Al. 01A_Servo Motor Combination Error]

    [AL. 01A_Servo motor combination error] • The combination of the servo amplifier and servo motor is incorrect. • The combination of the servo amplifier and servo motor constant file is incorrect. [AL. 01A.1_Servo motor combination error 1] Cause Check/action method Model The servo amplifier and the servo motor have Refer to "Servo amplifier/motor combinations"...
  • Page 37 [AL. 01A.5_Servo motor combination error 3] Cause Check/action method Model The servo motor that was connected at the Check if a servo motor other than the one that was connected at the startup of the absolute position detection system is connected. If a different servo motor startup of the absolute position detection is connected, reconnect to the servo motor that was connected at the startup [WG]...
  • Page 38: [Al. 01E_Encoder Initial Communication Error 2]

    [AL. 01E_Encoder initial communication error 2] • The encoder has malfunctioned. [AL. 01E.1_Encoder malfunction] Cause Check/action method Model The encoder has malfunctioned. Replace the servo motor. There is a problem with the surrounding Check the noise, ambient temperature, and other conditions, and implement [WG] appropriate countermeasures for the cause.
  • Page 39: [Al. 01F_Encoder Initial Communication Error 3]

    [AL. 01F_Encoder initial communication error 3] • The connected encoder is not compatible with the servo amplifier. [AL. 01F.1_Incompatible encoder] Cause Check/action method Model An incompatible servo motor or an Refer to "Servo amplifier/motor combinations" in the following manual. MR-J5 User's Manual (Hardware) incompatible linear encoder was connected to Refer to "Compatible linear encoder list"...
  • Page 40: [Al. 020_Encoder Normal Communication Error 1]

    [AL. 020_Encoder normal communication error 1] • There is a communication error between the encoder and servo amplifier. [AL. 020.1_Encoder normal communication - Receive data error 1] Cause Check/action method Model There is a problem with the encoder cable. Check if the encoder cable has been disconnected or has shorted. If there is a problem with the cable, repair or replace the cable.
  • Page 41 [AL. 020.5_Encoder normal communication - Transmission data error 1] Cause Check/action method Model If an A/B/Z-phase differential output type Check if the A/B-phase pulse signals (PA, PAR, PB, and PBR) of the encoder cable have been disconnected or have shorted. encoder is being used, the wiring of the Refer to the specifications provided by the encoder manufacturer or "A/B/Z- [WG]...
  • Page 42: [Al. 021_Encoder Normal Communication Error 2]

    [AL. 021_Encoder normal communication error 2] • The encoder detected an error signal. [AL. 021.1_Encoder data error 1] Cause Check/action method Model An excessive speed or acceleration was Decrease the control gain, then check the repeatability. If the error does not repeat, use the encoder with a lower gain.
  • Page 43: [Al. 024_Main Circuit Error]

    [AL. 024_Main circuit error] • The servo motor power cable has a ground fault. • The servo motor has a ground fault. [AL. 024.1_Ground fault detected via hardware detection circuit] Cause Check/action method Model The servo motor power cable has a ground Check if the servo motor power cable has a ground fault.
  • Page 44: [Al. 025_Absolute Position Erased]

    [AL. 025_Absolute position erased] • The absolute position data has an error. • Power was switched on for the first time in the absolute position detection system. • Power was switched on for the first time after the scale measurement encoder was set for the absolute position detection system.
  • Page 45 [WG] When using a Mitsubishi Electric servo motor equipped with a batteryless absolute position encoder, allow the alarm to occur for 5 s, then cycle the power. Perform homing. The Mitsubishi Electric servo motor equipped Connect the servo motor that was connected at the startup of the absolute position detection system.
  • Page 46 [WG] the scale measurement encoder was set for When using a Mitsubishi Electric servo motor equipped with a batteryless the absolute position detection system. absolute position encoder, allow the alarm to occur for 5 s, then cycle the power.
  • Page 47: [Al. 027_Initial Magnetic Pole Detection Error]

    [AL. 027_Initial magnetic pole detection error] • The initial magnetic pole detection cannot be performed properly. [AL. 027.1_Initial magnetic pole detection - Abnormal termination] Cause Check/action method Model A moving part collided against the machine. If the moving part collides, move the start position of the magnetic pole detection.
  • Page 48 [AL. 027.3_Initial magnetic pole detection - Limit switch error] Cause Check/action method Model In the magnetic pole detection, both limit Check the limit switch status. If both of the limit switches are turned off, turn on the limit switches. switches are turned off. When using a direct drive motor, see also 2.
  • Page 49: [Al. 028_Linear Encoder Error 2]

    [AL. 028_Linear encoder error 2] • There is a problem with the operating environment of the linear encoder. [AL. 028.1_Linear encoder environmental error] Cause Check/action method Model The ambient temperature of the linear encoder Check the ambient temperature and the specifications of the linear encoder. is outside of specifications.
  • Page 50: [Al. 02A_Linear Encoder Error 1]

    [AL. 02A_Linear encoder error 1] • An error of the linear encoder was detected. The content of the errors varies depending on each encoder manufacturer. [AL. 02A.1_Linear encoder error 1-1] Cause Check/action method Model There is a problem with the way that the linear Adjust the positions of the linear encoder and the head.
  • Page 51: [Al. 02B_Encoder Counter Error]

    [AL. 02B_Encoder counter error] • There is an error in the data created by the encoder. [AL. 02B.1_Encoder counter error 1] Cause Check/action method Model There is a problem with the encoder cable. Check if the encoder cable has been disconnected or has shorted. The external conductor of the encoder cable is Check if the external conductor of the encoder cable is connected to the [WG]...
  • Page 52: [Al. 030_Regenerative Error]

    [AL. 030_Regenerative error] • The permissible regenerative power of the built-in regenerative resistor or regenerative option was exceeded. • The regenerative transistor in the servo amplifier has malfunctioned. [AL. 030.1_Regenerative heat error] Cause Check/action method Model The settings of the regenerative resistor Check the regenerative resistor (regenerative option) in use and the setting value of [Pr.
  • Page 53: [Al. 031_Overspeed]

    [AL. 031_Overspeed] • The servo motor speed exceeded the maximum speed. [AL. 031.1_Servo motor speed error] Cause Check/action method Model The command pulse frequency is too high. Check the command pulse frequency. If the command pulse frequency exceeds the maximum input pulse frequency, review the operation pattern. The settings of the electronic gear are Check the setting value of the electronic gear.
  • Page 54: [Al. 032_Overcurrent]

    [AL. 032_Overcurrent] • A current higher than the permissible current flowed in the servo amplifier. [AL. 032.1_Overcurrent detected via hardware detection circuit (during operation)] Cause Check/action method Model The servo amplifier has malfunctioned. Check if the servo motor power cable has a ground fault. If the servo motor power cable has a ground fault, correct the wiring.
  • Page 55 [AL. 032.3_Overcurrent detected via hardware detection circuit (during a stop)] Page 52 [AL. 032.1_Overcurrent detected via hardware detection circuit (during operation)] [AL. 032.4_Overcurrent detected via software detection processing (during a stop)] Page 52 [AL. 032.2_Overcurrent detected via software detection processing (during operation)] 1 SERVO AMPLIFIER TROUBLESHOOTING 1.3 Handling methods for alarms/warnings...
  • Page 56: [Al. 033_Overvoltage]

    [AL. 033_Overvoltage] • The value of the bus voltage exceeded the specified value. 200 V class: 400 V DC 400 V class: 800 V DC [AL. 033.1_Main circuit voltage error] Cause Check/action method Model The settings of the regenerative resistor Check the regenerative resistor (regenerative option) in use and the setting value of [Pr.
  • Page 57: [Al. 035_Command Frequency Error]

    [AL. 035_Command frequency error] • The input command pulse frequency is too high. [AL. 035.1_Command frequency error] Cause Check/action method Model The command pulse frequency is too high. Check the command pulse frequency, and if the command pulse frequency exceeds the maximum input pulse frequency, review the operation pattern. The setting of [Pr.
  • Page 58: [Al. 037_Parameter Error]

    [AL. 037_Parameter error] • Servo parameter setting values are incorrect. [AL. 037.1_Parameter setting range error] Cause Check/action method Model A parameter was set outside of the setting [A]: Check the parameter error No. on the parameter error No. display screen of the servo amplifier display, the alarm display screen of MR Configurator2, or range.
  • Page 59: [Al. 03A_Inrush Current Suppression Circuit Error]

    [AL. 03A_Inrush current suppression circuit error] • The inrush current suppression circuit error was detected. [AL. 03A.1_Inrush current suppression circuit error] Cause Check/action method Model The inrush current suppressor circuit has Replace the servo amplifier. malfunctioned. [WG] 1 SERVO AMPLIFIER TROUBLESHOOTING 1.3 Handling methods for alarms/warnings...
  • Page 60: [Al. 042_Servo Control Error]

    [AL. 042_Servo control error] • A servo control error occurred. (When a linear servo motor or a direct drive motor is used or in a fully closed loop control) [AL. 042.1_Servo control error by position deviation] Cause Check/action method Model [Pr.
  • Page 61 [AL. 042.3_Servo control error by torque/thrust deviation] Cause Check/action method Model [Pr. PA17 Servo motor series setting] and [Pr. Check if [Pr. PA17] and [Pr. PA18] have been set correctly. PA18 Servo motor type setting] were not set [WG] based on the servo motor to be used. The settings of the encoder resolution differ Check the settings of [Pr.
  • Page 62 [AL. 042.9_Fully closed loop control error by speed deviation] Cause Check/action method Model The settings of the load-side encoder Check the settings of [Pr. PE04 Fully closed loop control - Feedback pulse electronic gear 1 - Numerator] and [Pr. PE05 Fully closed loop control - resolution differ from the setting value.
  • Page 63: [Al. 045_Main Circuit Device Overheat]

    [AL. 045_Main circuit device overheat] • The inside of the servo amplifier overheated. [AL. 045.1_Main circuit device overheat error 1] Cause Check/action method Model The ambient temperature exceeded the Check the ambient temperature, and if the temperature exceeds the specified value, lower the ambient temperature.
  • Page 64: [Al. 046_Servo Motor Overheat]

    [AL. 046_Servo motor overheat] • The servo motor overheated. [AL. 046.1_Servo motor temperature error 1] Cause Check/action method Model The ambient temperature of the servo motor Check the ambient temperature of the servo motor, and if the temperature exceeds the specified value, lower the ambient temperature. has exceeded the specified value.
  • Page 65 [AL. 046.7_Servo motor temperature error 5] Cause Check/action method Model The values of the servo parameters for Restore the values of the servo parameters for manufacturer setting to the initial values. manufacturer setting were changed. [WG] 1 SERVO AMPLIFIER TROUBLESHOOTING 1.3 Handling methods for alarms/warnings...
  • Page 66: [Al. 047_Cooling Fan Error]

    [AL. 047_Cooling fan error] • The speed of the servo amplifier cooling fan decreased. • The fan speed decreased to 30 % or less of the rated speed of the alarm occurrence level. [AL. 047.1_Cooling fan stop error] Cause Check/action method Model A foreign object was caught in the cooling fan.
  • Page 67: [Al. 050_Overload 1]

    [AL. 050_Overload 1] • The load exceeded the overload protection characteristics of the servo amplifier. [AL. 050.1_Thermal overload error 1 during operation] Cause Check/action method Model The servo motor power cable was Check the servo motor power cable, then repair or replace the cable. disconnected.
  • Page 68 [AL. 050.4_Thermal overload error 1 during a stop] Cause Check/action method Model A moving part collided against the machine. Review the operation pattern to avoid collision. The servo motor power cable was Check the servo motor power cable, then repair or replace the cable. [WG] disconnected.
  • Page 69: [Al. 051_Overload 2]

    [AL. 051_Overload 2] • Maximum output current continuously flowed due to machine collision or other causes. [AL. 051.1_Thermal overload error 3 during operation] Cause Check/action method Model The servo motor power cable was Repair or replace the servo motor power cable. disconnected.
  • Page 70: [Al. 052_Excessive Error]

    [AL. 052_Excessive error] • Droop pulses exceeded the alarm occurrence level. [AL. 052.1_Excessive droop pulse 1] Cause Check/action method Model The servo motor power cable was Repair or replace the servo motor power cable. disconnected. [WG] The connection of the servo motor is incorrect. Check the U/V/W wiring for forgotten screws, loose screws, and incorrect wiring.
  • Page 71 [AL. 052.6_Excessive droop pulse at servo-off] Cause Check/action method Model The servo motor shaft was rotated by an Make sure that the servo motor is not rotated (moved) by an external force. external force. The moving part of the linear [WG] servo motor was moved by an external force.
  • Page 72: [Al. 054_Oscillation Detection]

    [AL. 054_Oscillation detection] • The oscillation of the servo motor was detected. [AL. 054.1_Oscillation detection error] Cause Check/action method Model The servo system is unstable and oscillating. Check the torque ripple with MR Configurator2. If the torque ripple is vibrating, adjust the servo gain with the auto tuning. Set the machine resonance suppression filter.
  • Page 73: [Al. 056_Forced Stop Error]

    [AL. 056_Forced stop error] • The servo motor failed to decelerate normally during a forced stop deceleration. [AL. 056.2_Over speed during forced stop] Cause Check/action method Model The forced stop deceleration time constant is Set a larger value in "Deceleration time constant at forced stop", then check the repeatability.
  • Page 74: [Al. 063_Sto Timing Error]

    [AL. 063_STO timing error] • STO signal turned off when the servo motor is rotating. [AL. 063.1_STO1 off] Cause Check/action method Model While detection by [AL. 063 STO timing error] After the servo motor stops, turn off (enable) STO1. Review the settings of "STO timing error selection" with the following has been enabled, STO1 was turned off parameters.
  • Page 75: [Al. 066_Encoder Initial Communication Error (Safety Sub-Function)]

    [AL. 066_Encoder initial communication error (safety sub- function)] • The connected encoder is not compatible with the servo amplifier. • There is a communication error between the encoder and servo amplifier. [AL. 066.1_Encoder initial communication - Receive data error 1 (safety sub-function)] Cause Check/action method Model...
  • Page 76: [Al. 067_Encoder Normal Communication Error 1 (Safety Sub-Function)]

    [AL. 067_Encoder normal communication error 1 (safety sub- function)] • There is a communication error between the encoder and servo amplifier. [AL. 067.1_Encoder normal communication - Receive data error 1 (safety sub-function)] Page 73 [AL. 066.1_Encoder initial communication - Receive data error 1 (safety sub-function)] [AL.
  • Page 77: [Al. 068_Sto Diagnosis Error]

    [AL. 068_STO diagnosis error] • An error was detected in the STO input signal. [AL. 068.1_STO signal mismatch error] Cause Check/action method Model STO1 or STO2 is inputted incorrectly. Check that STO1 and STO2 of the CN8 connector are wired correctly. Refer to "USING STO FUNCTION"...
  • Page 78: [Al. 069_Command Error]

    [AL. 069_Command error] • When the software limit was activated, the command position exceeded 32 bits (-2147483648 to 2147483647). • When the software limit was activated, the command position exceeded 30 bits (-536870912 to 536870911) from the value that was set. •...
  • Page 79 [AL. 069.4_Reverse rotation stroke end detection - Command excess error] Cause Check/action method Model The command position exceeded 30 bits from Review the operation pattern so that the command does not exceed 30 bits. [WG] the position which was detected after detecting LSN (Reverse rotation stroke end).
  • Page 80: [Al. 070_Load-Side Encoder Initial Communication Error 1]

    [AL. 070_Load-side encoder initial communication error 1] • There is a communication error between the load-side encoder and servo amplifier. [AL. 070.1_Load-side encoder initial communication - Receive data error 1] Cause Check/action method Model There is a problem with the load-side encoder Check if the load-side encoder cable has been disconnected, incorrectly wired, or has shorted.
  • Page 81 [AL. 070.3_Load-side encoder initial communication - Receive data error 3] Cause Check/action method Model Unused axes have not been disabled. Set the axis not used to disabled with disabling control axis switch (SW3-2/ [WG] SW3-3/SW3-4). The load-side encoder cable has been Check if the load-side encoder cable is connected correctly.
  • Page 82 [AL. 070.6_Load-side encoder initial communication - Transmission data error 2] Cause Check/action method Model If an A/B/Z-phase differential output type Check if the Z-phase pulse signals (PZ and PZR) of the encoder cable have been disconnected or have shorted. encoder is being used, the wiring of the Refer to "A/B/Z-phase differential output type encoder"...
  • Page 83: [Al. 071_Load-Side Encoder Normal Communication Error 1]

    [AL. 071_Load-side encoder normal communication error 1] • There is a communication error between the load-side encoder and servo amplifier. [AL. 071.1_Load-side encoder normal communication - Receive data error 1] Cause Check/action method Model There is a problem with the load-side encoder Check if the encoder cable has been disconnected, incorrectly wired, or has shorted.
  • Page 84 [AL. 071.6_Load-side encoder normal communication - Transmission data error 2] Cause Check/action method Model If an A/B/Z-phase differential output type Check if the A/B-phase pulse signals (PZ and PZR) of the encoder cable have been disconnected or have shorted. encoder is being used, the wiring of the Refer to the specifications provided by the encoder manufacturer or "A/B/Z- [WG] encoder is incorrect.
  • Page 85: [Al. 072_Load-Side Encoder Normal Communication Error 2]

    [AL. 072_Load-side encoder normal communication error 2] • The load-side encoder detected an error signal. [AL. 072.1_Load-side encoder data error 1] Cause Check/action method Model An excessive speed or acceleration was Decrease the control gain, then check the repeatability. If the error does not repeat, use the encoder with a lower gain.
  • Page 86: [Al. 076_Load-Side Encoder Error]

    [AL. 076_Load-side encoder error] • There is an error in a parameter. [AL. 076.2_Load-side encoder error 2] Cause Check/action method Model The values of the servo parameters for Restore the values of the servo parameters for manufacturer setting to the initial values.
  • Page 87: [Al. 086_Network Communication Error]

    [AL. 086_Network communication error] • An error occurred in the network communication. [AL. 086.1_Network communication error 1] Cause Check/action method Model A network cable has been disconnected. Check if the network cable is connected correctly. Turn off the control circuit power supply of the servo amplifier, then connect the [WG] network cable correctly.
  • Page 88: [Al. 088_Watchdog 1]/[Al. 888_Watchdog 1]/[Al. 88888_Watchdog 1]

    [AL. 088_Watchdog 1]/[AL. 888_Watchdog 1]/[AL. 88888_Watchdog 1] • The CPU or other component parts have malfunctioned. [AL. 088.1_Watchdog 1-1]/[AL. 088_Watchdog 1-1]/[AL. 888_Watchdog 1-1]/[AL. 88888_Watchdog 1-1] Cause Check/action method Model An internal part of the servo amplifier has Replace the servo amplifier. malfunctioned.
  • Page 89: [Al. 08A_Serial Communication Time-Out Error]

    • The communication between the servo amplifier and the personal computer or the controller was lost for the specified time or longer. • There is a problem with the serial communication (Mitsubishi Electric AC servo protocol). [AL. 08A.1_Serial communication time-out error]...
  • Page 90: [Al. 08E_Serial Communication Error]

    [AL. 08E_Serial communication error] • A communication error occurred between the servo amplifier and the personal computer or the controller. • There is a problem with the USB communication or serial communication (Mitsubishi Electric AC servo protocol). [AL. 08E.1_Serial communication receive error]...
  • Page 91: [Al. 090_Homing Incomplete Warning]

    [AL. 090_Homing incomplete warning] • Homing has not been finished. • Homing did not complete properly. • Homing was executed with the Z-phase unpassed. [AL. 090.1_Homing incomplete] Cause Check/action method Model Homing has not been executed. Check if homing was executed. If homing was not executed, execute homing.
  • Page 92: [Al. 091_Servo Amplifier Overheat Warning]

    [AL. 091_Servo amplifier overheat warning] • The temperature inside of the servo amplifier has reached a warning level. [AL. 091.1_Main circuit device overheat warning] Cause Check/action method Model The ambient temperature of the servo Lower the ambient temperature. amplifier exceeded the specified value (55 °C). [WG] The servo amplifier does not meet the Check the specifications of close mounting.
  • Page 93: [Al. 092_Battery Cable Disconnection Warning]

    [AL. 092_Battery cable disconnection warning] • The battery voltage for the absolute position detection system has decreased. [AL. 092.1_Encoder battery cable disconnection warning] Cause Check/action method Model The MR-BAT6V1SET(-A) battery or MR- Check if the battery is connected correctly. BT6VCASE battery case may not be [WG] connected to CN4.
  • Page 94: [Al. 093_Abs Data Transfer Warning]

    [AL. 093_ABS data transfer warning] • ABS data was not transferred. [AL. 093.1_Magnetic pole detection incomplete warning at ABS data transfer request] Cause Check/action method Model The Z-phase was not turned on at servo-on. Check if the position within one-revolution is "0". If the position within one- revolution is "0"...
  • Page 95: [Al. 095_Sto Warning]

    [AL. 095_STO warning] • STO input signal turned off during servo motor stop. [AL. 095.1_STO1 off detection] Cause Check/action method Model STO1 was not inputted correctly. Refer to the wiring diagram and correct the wiring. When the STO function is not used, install the short-circuit connector attached to the servo amplifier on CN8.
  • Page 96: [Al. 096_Home Position Setting Warning]

    [AL. 096_Home position setting warning] • Homing failed. [AL. 096.1_In-position warning at homing] Cause Check/action method Model During homing, INP (In-position) did not turn Adjust gains so that the droop pulses are set within the In-position range. Remove the cause of droop pulse occurrence, then perform homing. on within the specified time.
  • Page 97: [Al. 098_Software Position Limit Warning]

    [AL. 098_Software position limit warning] • The software position limit set by servo parameters has been reached. [AL. 098.1_Forward rotation-side software stroke limit reached] Cause Check/action method Model A software position limit has been reached. Check the operation pattern. [WG] A software position limit has been reached in Operate the system in the range of the software position limit.
  • Page 98: [Al. 099_Stroke Limit Warning]

    [AL. 099_Stroke limit warning] • The stroke limit signal is off. [AL. 099.1_Forward rotation stroke end off] Cause Check/action method Model The forward rotation stroke limit switch may Check if the limit switch is connected correctly. The status of the input signal can be confirmed on the I/O monitor screen of not be connected to LSP.
  • Page 99 [AL. 099.8_Upper stroke limit off 2] Page 96 [AL. 099.4_Upper stroke limit off] [AL. 099.9_Lower stroke limit off 2] Page 96 [AL. 099.5_Lower stroke limit off] 1 SERVO AMPLIFIER TROUBLESHOOTING 1.3 Handling methods for alarms/warnings...
  • Page 100: [Al. 09B_Excessive Error Warning]

    [AL. 09B_Excessive error warning] • Droop pulses exceeded the warning occurrence level. [AL. 09B.1_Excessive droop pulse 1 warning] Cause Check/action method Model The servo motor power cable was Repair or replace the servo motor power cable. disconnected. [WG] The connection of the servo motor is incorrect. Check the U/V/W wiring.
  • Page 101: [Al. 09E_Network Warning]

    [AL. 09E_Network warning] • An error exists in the network data reception. • An error exists in the network settings. [AL. 09E.2_Communication cycle setting warning] Cause Check/action method Model The communication cycle was set to 31.25 μs. [G]: Set [Pr. PA01.7 High speed mode] to "1". [WG]: Set the communication cycle to 62.5 μs or longer.
  • Page 102 [AL. 09E.9_Control mode setting warning] Cause Check/action method Model An unsupported control mode was selected. Check the synchronous/asynchronous mode and the control mode. Refer to "Availability of synchronous mode in control mode" in the User's [WG] Manual (Communication Function). [AL. 09E.A_Communication cycle setting warning] Cause Check/action method Model...
  • Page 103: [Al. 09F_Battery Warning]

    [AL. 09F_Battery warning] • The battery voltage for the absolute position detection system has decreased. [AL. 09F.1_Low battery] Cause Check/action method Model The battery may not be connected to CN4. Check if the battery is connected correctly. The battery voltage is too low. The battery is Check the voltage of the battery with a tester, and if the voltage is lower than [WG] 4.9 V DC, replace the battery.
  • Page 104: [Al. 0E0_Excessive Regeneration Warning]

    [AL. 0E0_Excessive regeneration warning] • [AL. 030.1 Regenerative heat error] may occur. [AL. 0E0.1_Excessive regeneration warning] Cause Check/action method Model The regenerative load ratio exceeded 85 %. Page 50 [AL. 030.1_Regenerative heat error] [WG] 1 SERVO AMPLIFIER TROUBLESHOOTING 1.3 Handling methods for alarms/warnings...
  • Page 105: [Al. 0E1_Overload Warning 1]

    [AL. 0E1_Overload warning 1] • [AL. 050 Overload 1] or [AL. 051 Overload 2] may occur. [AL. 0E1.1_Thermal overload warning 1 during operation] Cause Check/action method Model The load was over 85 % of the alarm trigger Page 65 [AL. 050.1_Thermal overload error 1 during operation] level of [AL.
  • Page 106 [AL. 0E1.8_Thermal overload warning 4 during a stop] Cause Check/action method Model The load was over 85 % of the alarm trigger Page 66 [AL. 050.6_Thermal overload error 4 during a stop] level of [AL. 050.6 Thermal overload error 4 [WG] during a stop].
  • Page 107: [Al. 0E2_Servo Motor Overheat Warning]

    [AL. 0E2_Servo motor overheat warning] • [AL. 046.2 Servo motor overheat] may occur. [AL. 0E2.1_Servo motor temperature warning] Cause Check/action method Model The temperature of the servo motor reached Page 62 [AL. 046.2_Servo motor temperature error 2] 85 % of the occurrence level of [AL. 046.2 [WG] Servo motor overheat].
  • Page 108: [Al. 0E3_Absolute Position Counter Warning]

    [AL. 0E3_Absolute position counter warning] • The multi-revolution counter of the absolute position encoder exceeded the maximum range. • There is an error in the absolute position encoder pulses. [AL. 0E3.1_Multi-revolution counter travel distance excess warning] Cause Check/action method Model In the absolute position system, the travel Review the operation range.
  • Page 109: [Al. 0E5_Abs Time-Out Warning]

    [AL. 0E5_ABS time-out warning] • When transferring the absolute position data, it took more than 5 s for the programmable controllers to respond. • During absolute position erased data transfer, ABSM (ABS transfer mode) turned off. • SON (Servo-on), RES (Reset), EM2 (Forced stop 2), or EM1 (Forced stop 1) turned off during absolute position erased data transfer.
  • Page 110: [Al. 0E6_Servo Forced Stop Warning]

    [AL. 0E6_Servo forced stop warning] • EM2 (Forced stop 2) or EM1 (Forced stop 1) was turned off. [AL. 0E6.1_Forced stop warning] Cause Check/action method Model EM2/EM1 was turned off. After ensuring safety, turn EM2/EM1 on. An external 24 V DC power supply has not Input the external 24 V DC power supply.
  • Page 111: [Al. 0E8_Cooling Fan Speed Reduction Warning]

    [AL. 0E8_Cooling fan speed reduction warning] • The cooling fan speed decreased to a warning level or lower. [AL. 0E8.1_Decreased cooling fan speed warning] Cause Check/action method Model A foreign object was caught in the cooling fan. Remove the foreign object. The cooling fan has reached the end of its Check the total of the power-on time of the servo amplifier.
  • Page 112: [Al. 0E9_Main Circuit Off Warning]

    [AL. 0E9_Main circuit off warning] • The servo-on command was input with the main circuit power supply off. • The bus voltage dropped when the servo motor was rotating at 50 r/min or lower. [AL. 0E9.1_Servo-on signal on during main circuit off] Cause Check/action method Model...
  • Page 113: [Al. 0Ea_Abs Servo-On Warning]

    [AL. 0EA_ABS servo-on warning] • The servo amplifier did not become servo-on status within 1 s after ABSM (ABS transfer mode) was turned on. [AL. 0EA.1_ABS servo-on warning] Cause Check/action method Model The wiring of input/output signals is incorrect. Check for disconnection or loose connection in the I/O signal wire. The sequence program is incorrect.
  • Page 114: [Al. 0Eb_The Other Axis Error Warning]

    [AL. 0EB_The other axis error warning] • An alarm, which stops all axes, such as [AL. 024 Main circuit error] or [AL. 032 Overcurrent] occurred on a different axis. • [Pr. PF02.0 Target alarm selection of the other axis error warning] is set to "1" (All alarms). [AL.
  • Page 115: [Al. 0Ec_Overload Warning 2]

    [AL. 0EC_Overload warning 2] • Operation was repeated with a high load ratio while the servo motor shaft was not rotating. [AL. 0EC.1_Overload warning 2] Cause Check/action method Model The load is excessive or the capacity is Reduce the load or replace the servo motor with a larger-capacity servo motor. insufficient.
  • Page 116: [Al. 0Ed_Output Watt Excess Warning]

    [AL. 0ED_Output watt excess warning] • The output wattage (speed × torque) of the servo motor exceeded the rated output, and that status continued steadily. [AL. 0ED.1_Output watt excess warning] Cause Check/action method Model The output wattage of the servo motor (speed Reduce the servo motor speed, reduce the load, or replace the servo motor with a larger-capacity servo motor.
  • Page 117: [Al. 0F0_Tough Drive Warning]

    [AL. 0F0_Tough drive warning] • The tough drive function was activated. [AL. 0F0.1_Instantaneous power failure tough drive warning] Cause Check/action method Model The voltage of the control circuit power supply Page 24 [AL. 010.1_Voltage drop in the control circuit power] has dropped.
  • Page 118: [Al. 0F2_Drive Recorder Warning]

    [AL. 0F2_Drive recorder warning] • Writing/reading/clearing of the drive recorder data failed. [AL. 0F2.1_Drive recorder warning 1] Cause Check/action method Model There is an error in the drive recorder data. Check if clearing the alarm history of the drive recorder with MR Configurator2 disables the warning.
  • Page 119: [Al. 0F3_Oscillation Detection Warning]

    [AL. 0F3_Oscillation detection warning] • The oscillation of the servo motor was detected. [AL. 0F3.1_Oscillation detection warning] Page 70 [AL. 054.1_Oscillation detection error] 1 SERVO AMPLIFIER TROUBLESHOOTING 1.3 Handling methods for alarms/warnings...
  • Page 120: [Al. 0F4_Positioning Warning]

    [AL. 0F4_Positioning warning] • The target position or the acceleration/deceleration time constant was set outside of the setting range. [AL. 0F4.4_Target position setting range error warning] Cause Check/action method Model The target position was set outside of the Set the target position correctly, then cancel the warning (turn on C_ORST). [WG] setting range.
  • Page 121: [Al. 0F7_Machine Diagnosis Warning]

    [AL. 0F7_Machine diagnosis warning] • The equipment on which the servo motor is installed may have malfunctioned. [AL. 0F7.1_Vibration failure prediction warning] Cause Check/action method Model Due to degradation of components in the When the increase in the vibration level during motor operation is less than 5 % of the rated torque from the initial operation, set a larger value for vibration equipment, the vibration at servo motor driving failure prediction threshold multiplication, then restart the equipment.
  • Page 122 [AL. 0F7.5_Static friction failure prediction warning] Cause Check/action method Model As the surrounding environment changed, the If the operating environment was changed from the initial operation, reset the threshold, then re-create a threshold. If the operating environment is friction of the equipment was also changed. unchanged, refer to 2 and examine the equipment.
  • Page 123: [Al. 118_Encoder Diagnosis]

    [AL. 118_Encoder diagnosis] • The servo amplifier is in the test operation mode. [AL. 118.1_Encoder communication circuit diagnosis in progress] Cause Check/action method Model The servo amplifier is in the encoder Cancel the encoder communication circuit diagnosis mode. Refer to "Encoder communication diagnosis function" in the following manual. communication circuit diagnosis mode.
  • Page 124: [Al. 119_Memory Error 4]

    [AL. 119_Memory error 4] • There is a memory error. [AL. 119.1_Memory error 4-1] Cause Check/action method Model There is a problem with the surrounding Check the power supply for noise. If there is noise, take countermeasures to reduce the noise. environment.
  • Page 125: [Al. 11A_Servo Motor Constant Error]

    [AL. 11A_Servo motor constant error] • The servo motor constant file is damaged. [AL. 11A.1_Servo motor constant file error] Cause Check/action method Model Writing of the servo motor constant file failed. There is a possibility that the servo motor constant file is damaged primarily due to noise entering the file while the file was written.
  • Page 126: [Al. 130_Regenerative Error 2]

    [AL. 130_Regenerative error 2] • The regenerative power exceeds the permissible regenerative power of the built-in regenerative resistor or regenerative option. • The regenerative transistor in the servo amplifier has malfunctioned. [AL. 130.1_Regenerative heat error] Cause Check/action method Model The settings of the regenerative resistor Refer to "Regenerative option"...
  • Page 127: [Al. 139_Open-Phase Error]

    [AL. 139_Open-phase error] • An open phase occurred in the main circuit power supply of the servo amplifier. • An open phase occurred in the servo motor power line. [AL. 139.1_Input open-phase error] Cause Check/action method Model An open phase occurred in the main circuit Check that the main circuit power line is connected with the servo amplifier.
  • Page 128: [Al. 168_Sto Function Error]

    [AL. 168_STO function error] • There is a problem with the STO function. [AL. 168.1_STO function error] Cause Check/action method Model A servo amplifier that is not compatible with Install the short-circuit connector attached to the servo amplifier in the CN8. the STO function does not have a short-circuit [WG] connector connected to its CN8 connector.
  • Page 129: [Al. 17A_Load-Side Linear Encoder Error 1]

    [AL. 17A_Load-side linear encoder error 1] • A problem with the linear encoder was detected in the fully closed loop control mode. The content of the errors varies depending on each encoder manufacturer. • A problem with the linear encoder (scale measurement encoder) was detected in the scale measurement mode. The content of the errors varies depending on each encoder manufacturer.
  • Page 130: [Al. 188_Watchdog 2]

    [AL. 188_Watchdog 2] • The CPU or other component parts have malfunctioned. [AL. 188.1_Watchdog 2-1] Cause Check/action method Model An internal part of the servo amplifier has Replace the servo amplifier. malfunctioned. [WG] 1 SERVO AMPLIFIER TROUBLESHOOTING 1.3 Handling methods for alarms/warnings...
  • Page 131: [Al. 19E_Network Warning 2]

    [AL. 19E_Network warning 2] • An error exists in the network settings. [AL. 19E.1_Parameter automatic backup setting warning] Cause Check/action method Model An error was detected in the parameter Check if the master station supports power interruption protection. If power interruption protection is not supported, set [Pr. PN20] to "0" to disable [WG] automatic backup setting.
  • Page 132: [Al. 1E9_Open Phase Warning]

    [AL. 1E9_Open phase warning] • An open phase occurred in the main circuit power supply of the servo amplifier. [AL. 1E9.1_Input open phase warning] Cause Check/action method Model An open phase occurred in the main circuit Page 125 [AL. 139.1_Input open-phase error] power line of the servo amplifier.
  • Page 133: [Al. 1F8_Memory Warning 1]

    [AL. 1F8_Memory warning 1] • There is a memory error. [AL. 1F8.1_Memory writing frequency warning] Cause Check/action method Model The frequency of writing to the memory Prepare for replacing the servo amplifier by making a backup of necessary data or by other means. exceeded the guaranteed number.
  • Page 134: [Al. 510_Voltage Diagnosis Error (Safety Sub-Function)]

    [AL. 510_Voltage diagnosis error (safety sub-function)] • There is a problem with the control circuit power supply voltage. [AL. 510.1_Power supply voltage diagnosis error A1 (safety sub-function)] Cause Check/action method Model The power supply connection is incorrect. Check the wiring. Refer to "SINGNALS AND WIRING"...
  • Page 135: [Al. 512_Memory Error 1 (Ram) (Safety Sub-Function)]

    [AL. 512_Memory error 1 (RAM) (safety sub-function)] • The internal part of the servo amplifier (RAM) has malfunctioned. [AL. 512.2_RAM diagnosis error A2 (safety sub-function)] Cause Check/action method Model An internal part of the servo amplifier has Noise from the power supply may have caused the failure. Disconnect all cables except for those for the control circuit power supply, then check the [WG] malfunctioned.
  • Page 136: [Al. 514_Control Process Error (Safety Sub-Function)]

    [AL. 514_Control process error (safety sub-function)] • The process did not complete within the specified time. [AL. 514.9_Control process error B (safety sub-function)] Cause Check/action method Model The servo parameter settings are incorrect. Return the servo parameter to the value it had before the alarm occurrence, then check if the problem occurs again.
  • Page 137: [Al. 515_Memory Error 2 (Rom) (Safety Sub-Function)]

    [AL. 515_Memory error 2 (ROM) (safety sub-function)] • The internal part of the servo amplifier (ROM) has malfunctioned. [AL. 515.9_ROM error B at power-on (safety sub-function)] Cause Check/action method Model There is a problem with operation of ROM at Noise from the power supply may have caused the failure. Disconnect all cables except for those for the control circuit power supply, then check the [WG] power-on.
  • Page 138: [Al. 516_Encoder Initial Communication Error 1 (Safety Sub-Function)]

    [AL. 516_Encoder initial communication error 1 (safety sub- function)] • There is a communication error between the encoder and servo amplifier. [AL. 516.1_Encoder initial communication - Receive data error A1 (safety sub-function)] Cause Check/action method Model There is a problem with the encoder cable. Check if the encoder cable has been disconnected or has shorted.
  • Page 139: [Al. 517_Board Error (Safety Sub-Function)]

    [AL. 517_Board error (safety sub-function)] • There is a problem with an internal part of the servo amplifier. [AL. 517.2_Board error A2 (safety sub-function)] Cause Check/action method Model An internal part of the servo amplifier has Replace the servo amplifier. [WG] malfunctioned.
  • Page 140: [Al. 518_Synchronous Control Error (Safety Sub-Function)]

    [AL. 518_Synchronous control error (safety sub-function)] • There is a problem with an internal part of the servo amplifier. [AL. 518.2_Synchronous control error A2 (safety sub-function)] Cause Check/action method Model An internal part of the servo amplifier has Replace the servo amplifier. [WG] malfunctioned.
  • Page 141: [Al. 519_Memory Error 3 (Flash-Rom) (Safety Sub-Function)]

    [AL. 519_Memory error 3 (Flash-ROM) (safety sub-function)] • There is a problem with an internal part of the servo amplifier. [AL. 519.2_Flash-ROM error A2 (safety sub-function)] Cause Check/action method Model The Flash-ROM has malfunctioned. Noise from the power supply may have caused the failure. Disconnect all cables except for those for the control circuit power supply, then check the [WG] repeatability.
  • Page 142 [AL. 520_Encoder normal communication diagnosis error 1 (safety sub-function)] • There is a communication error between the encoder and servo amplifier. [AL. 520.1_Encoder normal communication 1 - Receive data error A1 (safety sub- function)] Page 136 [AL. 516.1_Encoder initial communication - Receive data error A1 (safety sub-function)] [AL.
  • Page 143: [Al. 520_Encoder Normal Communication Diagnosis Error 1 (Safety Sub-Function)]

    [AL. 521_Encoder normal communication diagnosis error 2 (safety sub-function)] • The encoder detected an error signal. [AL. 521.1_Encoder normal communication 2 - Diagnosis error A1 (safety sub- function)] Cause Check/action method Model The voltage of the control circuit power supply Check the voltage of the control circuit power supply.
  • Page 144: [Al. 522_Encoder Normal Communication Diagnosis Error 3 (Safety Sub-Function)]

    [AL. 522_Encoder normal communication diagnosis error 3 (safety sub-function)] • The encoder detected an error signal. [AL. 522.1_Encoder normal communication 3 - Diagnosis error A1 (safety sub- function)] Page 136 [AL. 516.1_Encoder initial communication - Receive data error A1 (safety sub-function)] [AL.
  • Page 145: [Al. 523_Encoder Normal Communication Diagnosis Error 4 (Safety Sub-Function)]

    [AL. 523_Encoder normal communication diagnosis error 4 (safety sub-function)] • The encoder detected an error signal. [AL. 523.1_Encoder normal communication 4 - Diagnosis error A1 (safety sub- function)] Cause Check/action method Model The encoder has malfunctioned. Replace the servo motor. [AL.
  • Page 146: [Al. 524_Encoder Normal Communication Diagnosis Error 5 (Safety Sub-Function)]

    [AL. 524_Encoder normal communication diagnosis error 5 (safety sub-function)] • The encoder detected an error signal. [AL. 524.1_Encoder normal communication 5 - Diagnosis error A1 (safety sub- function)] Page 142 [AL. 522.1_Encoder normal communication 3 - Diagnosis error A1 (safety sub-function)] [AL.
  • Page 147: [Al. 525_Encoder Normal Communication Diagnosis Error 6 (Safety Sub-Function)]

    [AL. 525_Encoder normal communication diagnosis error 6 (safety sub-function)] • The encoder detected an error signal. [AL. 525.1_Encoder normal communication 6 - Diagnosis error A1 (safety sub- function)] Page 142 [AL. 522.1_Encoder normal communication 3 - Diagnosis error A1 (safety sub-function)] [AL.
  • Page 148: [Al. 526_Encoder Normal Communication Diagnosis Error 7 (Safety Sub-Function)]

    [AL. 526_Encoder normal communication diagnosis error 7 (safety sub-function)] • The encoder detected an error signal. [AL. 526.1_Encoder normal communication 7 - Diagnosis error A1 (safety sub- function)] Page 142 [AL. 522.1_Encoder normal communication 3 - Diagnosis error A1 (safety sub-function)] [AL.
  • Page 149: [Al. 527_Encoder Normal Communication Diagnosis Error 8 (Safety Sub-Function)]

    [AL. 527_Encoder normal communication diagnosis error 8 (safety sub-function)] • The encoder detected an error signal. [AL. 527.1_Encoder normal communication 8 - Diagnosis error A1 (safety sub- function)] Page 142 [AL. 522.1_Encoder normal communication 3 - Diagnosis error A1 (safety sub-function)] [AL.
  • Page 150: [Al. 528_Encoder Normal Communication Diagnosis Error 9 (Safety Sub-Function)]

    [AL. 528_Encoder normal communication diagnosis error 9 (safety sub-function)] • The encoder detected an error signal. [AL. 528.1_Encoder normal communication 9 - Diagnosis error A1 (safety sub- function)] Page 142 [AL. 522.1_Encoder normal communication 3 - Diagnosis error A1 (safety sub-function)] [AL.
  • Page 151: [Al. 529_Encoder Data Error (Safety Sub-Function)]

    [AL. 529_Encoder data error (safety sub-function)] • There is an error in the data of the encoder. [AL. 529.1_Encoder position data error A (safety sub-function)] Page 142 [AL. 522.1_Encoder normal communication 3 - Diagnosis error A1 (safety sub-function)] [AL. 529.9_Encoder position data error B (safety sub-function)] Page 142 [AL.
  • Page 152: [Al. 52A_Position Feedback Error (Safety Sub-Function)]

    [AL. 52A_Position feedback error (safety sub-function)] • There is an error in the data of the encoder. [AL. 52A.1_Position feedback diagnosis error A (safety sub-function)] Cause Check/action method Model The position feedback data does not change Review the setting of [Pr. PSA22]. Alternatively, operate the system within the time set in [Pr.
  • Page 153: [Al. 52B_Encoder Thermal Error (Safety Sub-Function)]

    [AL. 52B_Encoder thermal error (safety sub-function)] • There is a problem with the internal temperature of the encoder. [AL. 52B.1_Encoder thermal error A (safety sub-function)] Cause Check/action method Model The ambient temperature of the servo motor Check the ambient temperature, and if the temperature exceeds the specified value, lower the ambient temperature.
  • Page 154: [Al. 52C_ Encoder Normal Communication Error 10 (Safety Sub-Function)]

    [AL. 52C_ Encoder normal communication error 10 (safety sub- function)] • There is an error in the data of the encoder. [AL. 52C.1_Encoder normal communication 10 - Receive data error A1 (safety sub- function)] Page 136 [AL. 516.1_Encoder initial communication - Receive data error A1 (safety sub-function)] [AL.
  • Page 155: [Al. 537_Parameter Setting Range Error (Safety Sub-Function)]

    [AL. 537_Parameter setting range error (safety sub-function)] • There is an error in a functional safety parameter. [AL. 537.1_Parameter setting range error A (safety sub-function)] Cause Check/action method Model A functional safety parameter was set outside Check the parameter error No. on the alarm display screen of MR Configurator2 or with another method, then review the setting value of the [WG] of the setting range.
  • Page 156: [Al. 53A_Parameter Verification Error (Safety Sub-Function)]

    [AL. 53A_Parameter verification error (safety sub-function)] • An error occurred in the functional safety parameter. [AL. 53A.2_Parameter verification error A2 (safety sub-function)] Cause Check/action method Model There is a problem with the functional safety Confirm which parameter has an error by using MR Configurator2, then set the parameter correctly.
  • Page 157: [Al. 540_Internal Diagnosis Error 1 (Safety Sub-Function)]

    [AL. 540_Internal diagnosis error 1 (safety sub-function)] • There is an error in the result from the functional safety diagnosis. [AL. 540.1_Internal diagnosis error 1 - Data error A1 (safety sub-function)] Cause Check/action method The servo amplifier has malfunctioned. Replace the servo amplifier. [WG] There is a problem with the surrounding Check the power supply for noise.
  • Page 158: [Al. 541_Internal Diagnosis Error 2 (Safety Sub-Function)]

    [AL. 541_Internal diagnosis error 2 (safety sub-function)] • There is an error in the result from the functional safety diagnosis. [AL. 541.1_Internal diagnosis error 2 - Data error A1 (safety sub-function)] Page 155 [AL. 540.1_Internal diagnosis error 1 - Data error A1 (safety sub-function)] [AL.
  • Page 159: [Al. 542_Internal Diagnosis Error 3 (Safety Sub-Function)]

    [AL. 542_Internal diagnosis error 3 (safety sub-function)] • There is an error in the result from the functional safety diagnosis. [AL. 542.1_Internal diagnosis error 3 - Data error A1 (safety sub-function)] Page 155 [AL. 540.1_Internal diagnosis error 1 - Data error A1 (safety sub-function)] [AL.
  • Page 160: [Al. 543_Internal Diagnosis Error 4 (Safety Sub-Function)]

    [AL. 543_Internal diagnosis error 4 (safety sub-function)] • There is an error in the result from the functional safety diagnosis. [AL. 543.1_Internal diagnosis error 4 - Data error A1 (safety sub-function)] Page 155 [AL. 540.1_Internal diagnosis error 1 - Data error A1 (safety sub-function)] [AL.
  • Page 161: [Al. 544_Temperature Diagnosis Error (Safety Sub-Function)]

    [AL. 544_Temperature diagnosis error (safety sub-function)] • An error occurred in a temperature diagnosis. [AL. 544.1_Temperature diagnosis error A1 (safety sub-function)] Cause Check/action method Model The ambient temperature exceeded the Check the ambient temperature, and if the temperature exceeds the specified value, lower the ambient temperature.
  • Page 162: [Al. 545_Internal Diagnosis Error 5 (Safety Sub-Function)]

    [AL. 545_Internal diagnosis error 5 (safety sub-function)] • There is an error in the result from the functional safety diagnosis. [AL. 545.2_Internal diagnosis error 5 - Data error A2 (safety sub-function)] Page 155 [AL. 540.1_Internal diagnosis error 1 - Data error A1 (safety sub-function)] 1 SERVO AMPLIFIER TROUBLESHOOTING 1.3 Handling methods for alarms/warnings...
  • Page 163: [Al. 546_Internal Diagnosis Error 6 (Safety Sub-Function)]

    [AL. 546_Internal diagnosis error 6 (safety sub-function)] • There is an error in the result from the functional safety diagnosis. [AL. 546.1_Internal diagnosis error 6 - Data error A1 (safety sub-function)] Page 155 [AL. 540.1_Internal diagnosis error 1 - Data error A1 (safety sub-function)] [AL.
  • Page 164: [Al. 547_Internal Diagnosis Error 7 (Safety Sub-Function)]

    [AL. 547_Internal diagnosis error 7 (safety sub-function)] • There is an error in the result from the functional safety diagnosis. [AL. 547.1_Internal diagnosis error 7 - Data error A1 (safety sub-function)] Page 155 [AL. 540.1_Internal diagnosis error 1 - Data error A1 (safety sub-function)] [AL.
  • Page 165: [Al. 549_Internal Diagnosis Error 8 (Safety Sub-Function)]

    [AL. 549_Internal diagnosis error 8 (safety sub-function)] • There is an error in the result from the functional safety diagnosis. [AL. 549.1_Internal diagnosis error 8 - Data error A1 (safety sub-function)] Page 155 [AL. 540.1_Internal diagnosis error 1 - Data error A1 (safety sub-function)] [AL.
  • Page 166: [Al. 54A_Internal Diagnosis Error 9 (Safety Sub-Function)]

    [AL. 54A_Internal diagnosis error 9 (safety sub-function)] • There is an error in the result from the functional safety diagnosis. [AL. 54A.1_Internal diagnosis error 9 - Data error A1 (safety sub-function)] Page 155 [AL. 540.1_Internal diagnosis error 1 - Data error A1 (safety sub-function)] [AL.
  • Page 167: [Al. 54D_Internal Diagnosis Error 10 (Safety Sub-Function)]

    [AL. 54D_Internal diagnosis error 10 (safety sub-function)] • There is an error in the result from the functional safety diagnosis. [AL. 54D.1_Internal diagnosis error 10 - Data error A1 (safety sub-function)] Page 155 [AL. 540.1_Internal diagnosis error 1 - Data error A1 (safety sub-function)] [AL.
  • Page 168: [Al. 54F_Safety Software Error (Safety Sub-Function)]

    [AL. 54F_Safety software error (safety sub-function)] • An error occurred in the safety software. [AL. 54F.1_Register setting error A1 (safety sub-function)] Page 155 [AL. 540.1_Internal diagnosis error 1 - Data error A1 (safety sub-function)] 1 SERVO AMPLIFIER TROUBLESHOOTING 1.3 Handling methods for alarms/warnings...
  • Page 169: [Al. 550_Internal Diagnosis Error 11 (Safety Sub-Function)]

    [AL. 550_Internal diagnosis error 11 (safety sub-function)] • There is an error in the result from the functional safety diagnosis. [AL. 550.1_Internal diagnosis error 11 - Internal signal error A1 (safety sub-function)] Page 155 [AL. 540.1_Internal diagnosis error 1 - Data error A1 (safety sub-function)] [AL.
  • Page 170: [Al. 551_Internal Diagnosis Error 12 (Safety Sub-Function)]

    [AL. 551_Internal diagnosis error 12 (safety sub-function)] • There is an error in the result from the functional safety diagnosis. [AL. 551.1_Internal diagnosis error 12 - Internal signal error A1 (safety sub-function)] Page 167 [AL. 550.1_Internal diagnosis error 11 - Internal signal error A1 (safety sub-function)] [AL.
  • Page 171: [Al. 552_Internal Diagnosis Error 13 (Safety Sub-Function)]

    [AL. 552_Internal diagnosis error 13 (safety sub-function)] • There is an error in the result from the functional safety diagnosis. [AL. 552.1_Internal diagnosis error 13 - Internal signal error A1 (safety sub-function)] Page 167 [AL. 550.1_Internal diagnosis error 11 - Internal signal error A1 (safety sub-function)] [AL.
  • Page 172: [Al. 554_Input Device Internal Diagnosis Error (Safety Sub-Function)]

    [AL. 554_Input device internal diagnosis error (safety sub- function)] • There is an error in the input device. [AL. 554.1_DI1A internal diagnosis error (safety sub-function)] Cause Check/action method Model The servo amplifier has malfunctioned. Replace the servo amplifier. [WG] There is a problem with the surrounding Check the noise, ambient temperature, and other conditions, and implement appropriate countermeasures for the cause.
  • Page 173: [Al. 555_Output Device Diagnosis Error 1 (Safety Sub-Function)]

    [AL. 555_Output device diagnosis error 1 (safety sub-function)] • There is an error in the output device. [AL. 555.1_DO1A output mismatch error (safety sub-function)] Cause Check/action method Model A signal of an output device has been output Check if the output device cable is wired correctly, or check if the load of the output device is within specifications.
  • Page 174: [Al. 556_Output Device Diagnosis Error 2 (Safety Sub-Function)]

    [AL. 556_Output device diagnosis error 2 (safety sub-function)] • There is an error in the output device. [AL. 556.1_DO1A test pulse diagnosis error (safety sub-function)] Cause Check/action method Model [Pr. PSD30 Output device - Test pulse off time] Review the setting of [Pr. PSD30 Output device - Test pulse off time]. [WG] is set incorrectly.
  • Page 175: [Al. 557_Input Device Mismatch Detection (Safety Sub-Function)]

    [AL. 557_Input device mismatch detection (safety sub-function)] • An input device mismatch was detected. [AL. 557.1_DI1 input mismatch error A (safety sub-function)] Cause Check/action method Model The input signals of DI1A and DI1B remained Refer to "SIGNALS AND WIRING" in the following manual. MR-J5 User's Manual (Hardware) [WG] mismatched for longer than the specified time...
  • Page 176: [Al. 560_Stop Error (Safety Sub-Function)]

    [AL. 560_Stop error (safety sub-function)] • The safety sub-function detected an error of the stop position. [AL. 560.1_SOS feedback speed exceeded A] Cause Check/action method Model The state where the absolute value of the Review the parameter or the operation pattern. If the servo motor overshoots as it stops, take actions such as adjusting the servo motor speed exceeds the setting value gains or setting a larger value in [Pr.
  • Page 177 [AL. 560.B_SOS feedback position exceeded B] Page 174 [AL. 560.3_SOS feedback position exceeded A] 1 SERVO AMPLIFIER TROUBLESHOOTING 1.3 Handling methods for alarms/warnings...
  • Page 178: [Al. 561_Safety Speed Monitor Error 1 (Safety Sub-Function)]

    [AL. 561_Safety speed monitor error 1 (safety sub-function)] • The safety sub-function detected an error of the servo motor speed. [AL. 561.1_SLS1 feedback speed exceeded A] Cause Check/action method Model The state where the absolute value of the Review the parameter or the operation pattern. Take actions such as setting the speed command to a value equal to or lower servo motor speed exceeds the setting value than the value of [Pr.
  • Page 179 [AL. 561.4_SLS2 command speed exceeded A] Cause Check/action method Model The state where the absolute value of the Review the parameter or the operation pattern. Take actions such as setting the speed command to a value equal to or lower speed command exceeds the setting value of than the value of [Pr.
  • Page 180: [Al. 562_Safety Speed Monitor Error 2 (Safety Sub-Function)]

    [AL. 562_Safety speed monitor error 2 (safety sub-function)] • The safety sub-function detected an error of the servo motor speed. [AL. 562.1_SLS3 feedback speed exceeded A] Cause Check/action method Model The state where the absolute value of the Review the parameter or the operation pattern. Take actions such as setting the speed command to a value equal to or lower servo motor speed exceeds the setting value than the value of [Pr.
  • Page 181 [AL. 562.9_SLS3 feedback speed exceeded B] Page 178 [AL. 562.1_SLS3 feedback speed exceeded A] [AL. 562.A_SLS3 command speed exceeded B] Page 178 [AL. 562.2_SLS3 command speed exceeded A] [AL. 562.B_SLS4 feedback speed exceeded B] Page 178 [AL. 562.3_SLS4 feedback speed exceeded A] [AL.
  • Page 182: [Al. 563_Deceleration Monitor Error (Safety Sub-Function)]

    [AL. 563_Deceleration monitor error (safety sub-function)] • There is a problem with deceleration operation in the safety sub-function. [AL. 563.1_SS1 feedback speed exceeded A] Cause Check/action method Model The servo motor exceeded the observation Review the parameter or the operation pattern. Take actions such as setting a larger value in [Pr.
  • Page 183 [AL. 563.4_SS2 command speed exceeded A] Cause Check/action method Model A speed command was input exceeding the Review the parameter or the operation pattern. Take actions such as performing settings so that the deceleration command observation speed specified by [Pr. PSA24 from the controller does not exceed the deceleration monitor time constant.
  • Page 184: [Al. 564_Increment Monitor Error (Safety Sub-Function)]

    [AL. 564_Increment monitor error (safety sub-function)] • There is a problem with the travel distance in the safety sub-function. [AL. 564.1_SLI feedback position exceeded A] Cause Check/action method Model The feedback position moved by a distance Review the parameter or the operation pattern. Check if the SLI command was input before the motor stopped.
  • Page 185: [Al. 565_Direction Monitor Error (Safety Sub-Function)]

    [AL. 565_Direction monitor error (safety sub-function)] • There is a problem with the servo motor travel distance direction in the safety sub-function. [AL. 565.1_SDIP feedback speed exceeded A] Cause Check/action method Model The servo motor moved in the address Review the parameter or the operation pattern. Check if a command in the address increasing direction was input.
  • Page 186 [AL. 565.9_SDIP feedback speed exceeded B] Page 183 [AL. 565.1_SDIP feedback speed exceeded A] [AL. 565.A_SDIP command speed exceeded B] Page 183 [AL. 565.2_SDIP command speed exceeded A] [AL. 565.B_SDIN feedback speed exceeded B] Page 183 [AL. 565.3_SDIN feedback speed exceeded A] [AL.
  • Page 187: [Al. 568_Torque Monitor Error 1 (Safety Sub-Function)]

    [AL. 568_Torque monitor error 1 (safety sub-function)] • There is a problem with the torque in the safety sub-function. [AL. 568.1_SLT1 feedback torque exceeded error A] Cause Check/action method Model The torque feedback exceeded the torque set Review the parameter or the operation pattern. Check if the threshold for the torque monitor is too small or if the servo motor in [Pr.
  • Page 188 [AL. 568.C_SLT2 command torque exceeded error B] Page 185 [AL. 568.4_SLT2 command torque exceeded error A] 1 SERVO AMPLIFIER TROUBLESHOOTING 1.3 Handling methods for alarms/warnings...
  • Page 189: [Al. 569_Torque Monitor Error 2 (Safety Sub-Function)]

    [AL. 569_Torque monitor error 2 (safety sub-function)] • There is a problem with the torque in the safety sub-function. [AL. 569.1_SLT3 feedback torque exceeded error A] Cause Check/action method Model The torque feedback exceeded the torque set Review the parameter or the operation pattern. Check if the threshold for the torque monitor is too small or if the servo motor in [Pr.
  • Page 190 [AL. 569.C_SLT4 command torque exceeded error B] Page 187 [AL. 569.4_SLT4 command torque exceeded error A] 1 SERVO AMPLIFIER TROUBLESHOOTING 1.3 Handling methods for alarms/warnings...
  • Page 191: [Al. 580_Safety Communication Setting Error (Safety Sub-Function)]

    [AL. 580_Safety communication setting error (safety sub- function)] • There is a problem with the safety communication settings. [AL. 580.3_Safety verification code mismatch A] Cause Check/action method Model The safety verification code of the controller The controller may have communicated with an unintended servo amplifier. Check if the IP address designated in the safety communication settings of the does not match the setting of [Pr.
  • Page 192: [Al. 581_Safety Communication Error 1 (Safety Sub-Function)]

    [AL. 581_Safety communication error 1 (safety sub-function)] • There is a problem with data reception in the safety communication. [AL. 581.1_Safety communication error 1 - Receive data error A1 (safety sub-function)] Cause Check/action method Model The safety communication settings of the Review the safety communication settings.
  • Page 193 [AL. 581.F_Safety communication error 1 - Receive data error B7 (safety sub-function)] Page 190 [AL. 581.1_Safety communication error 1 - Receive data error A1 (safety sub-function)] 1 SERVO AMPLIFIER TROUBLESHOOTING 1.3 Handling methods for alarms/warnings...
  • Page 194: [Al. 582_Safety Communication Error 2 (Safety Sub-Function)]

    [AL. 582_Safety communication error 2 (safety sub-function)] • There is a problem with data reception in the safety communication. [AL. 582.1_Safety communication error 2 - Receive data error A1 (safety sub-function)] Page 190 [AL. 581.1_Safety communication error 1 - Receive data error A1 (safety sub-function)] [AL.
  • Page 195: [Al. 583_Safety Communication Error 3 (Safety Sub-Function)]

    [AL. 583_Safety communication error 3 (safety sub-function)] • There is a problem with data reception in the safety communication. [AL. 583.2_Safety communication error 3 - Receive data error A2 (safety sub-function)] Page 190 [AL. 581.1_Safety communication error 1 - Receive data error A1 (safety sub-function)] [AL.
  • Page 196: [Al. 595_Sto Command Off Warning (Safety Sub-Function)]

    [AL. 595_STO command off warning (safety sub-function)] • The STO command has been turned off. [AL. 595.1_STO command off warning A] Cause Check/action method Model The STO command of the functional safety Turn on (disable) the STO command of the functional safety. [WG] has been turned off (enabled).
  • Page 197: [Al. 596_Ss1 Time-Out Warning (Safety Sub-Function)]

    [AL. 596_SS1 time-out warning (safety sub-function)] • The deceleration monitor time has passed after the SS1 command was turned off. [AL. 596.1_SS1 time-out warning A] Cause Check/action method Model The time set in [Pr. PSA03 SS1/SS2 Turn on (disable) the SS1 command. [WG] deceleration monitor time] has passed after the SS1 command was turned off (enabled).
  • Page 198: [Al. 59D_Internal Diagnosis Error (Safety Sub-Function)]

    [AL. 59D_Internal diagnosis error (safety sub-function)] • There is an error with the result from functional safety diagnosis. [AL. 59D.1_Internal diagnosis error A1 (safety sub-function)] Cause Check/action method Model The servo amplifier has malfunctioned. Replace the servo amplifier. [WG] There is a problem with the surrounding Check the noise, ambient temperature, and other conditions, and implement appropriate countermeasures for the cause.
  • Page 199: [Al. 5E1_Test Mode Setting Mismatch Warning (Safety Sub-Function)]

    [AL. 5E1_Test mode setting mismatch warning (safety sub- function)] • The settings for the test mode are inconsistent. [AL. 5E1.1_Test mode setting mismatch warning A (safety sub-function)] Cause Check/action method Model The test operation mode has been set Check if the servo amplifier and [Pr. PSA01.1 Input mode selection] are both set for test mode.
  • Page 200: [Al. 5E2_Safety Communication Warning (Safety Sub-Function)]

    [AL. 5E2_Safety communication warning (safety sub-function)] • There is a problem with the safety communication. [AL. 5E2.1_Safety communication no connection warning A (safety sub-function)] Cause Check/action method Model Connection with the controller has not been Page 200 The display shows "A" (unconnected to the controller) established.
  • Page 201: [Al. 5E6_Ss1 Command Off Warning (Safety Sub-Function)]

    [AL. 5E6_SS1 command off warning (safety sub-function)] • The SS1 command was turned off. [AL. 5E6.1_SS1 command off warning A (safety sub-function)] Cause Check/action method Model The SS1 command has been turned off Turn on (disable) the SS1 command. [WG] (enabled).
  • Page 202: Trouble Which Does Not Trigger An Alarm/Warning

    Trouble which does not trigger an alarm/warning This section shows examples of trouble which will not trigger an alarm or warning as well as the possible causes of such trouble. Refer to this section and remove each cause of trouble. Precautions •...
  • Page 203: The Display Shows "Off

    The display shows "off" Possible cause Check/action method Model The operation mode for manufacturer setting Do not turn on all the DIP switches (SW3). Set SW3 correctly. Refer to "Switch setting and display of the servo amplifier" in the User's [WG] is enabled.
  • Page 204 Possible cause Check/action method Model RES (Reset) has been switched on. Switch off RES. The setting of the control mode is incorrect. Check the setting of [Pr. PA01.0 Control mode selection]. In the position control mode, the command Check if the pulse train has been inputted from the controller. pulse has not been inputted.
  • Page 205: The Increase In The Servo Motor Speed Is Insufficient Or Excessive

    The increase in the servo motor speed is insufficient or excessive Possible cause Check/action method Model The settings of the speed command, speed Review the settings of the speed command, speed limit, and electronic gear. limit, or electronic gear are incorrect. [WG] The connection of the servo motor is incorrect.
  • Page 206: There Is An Unusual Noise In The Servo Motor

    There is an unusual noise in the servo motor Possible cause Check/action method Model The servo gain is too high or the response of Increase the servo gain or the value of [Pr. PA09 Auto tuning response]. the auto tuning is too high. [WG] The bearing has reached the end of its service If the servo motor can be operated safely, remove the load and check for the...
  • Page 207: Poor Speed Accuracy (Unstable Speed Of Servo Motor)

    Poor speed accuracy (Unstable speed of servo motor) Possible cause Check/action method Model The servo gain is too low or the response of Increase the servo gain or the value of [Pr. PA09 Auto tuning response]. the auto tuning is too low. [WG] The servo gain is too high or the response of Decrease the servo gain to check if the trouble is solved.
  • Page 208: The Servo Motor Starts Moving Immediately After The Power-On Of The Servo Amplifier Or Servo-On

    The servo motor starts moving immediately after the power-on of the servo amplifier or servo-on Possible cause Check/action method Model The SON (Servo-on) had been already turned Review the wiring or the sequence program. on at power-on. ST1 (Forward rotation start) or ST2 (Reverse Review the wiring or the sequence program.
  • Page 209: The Position Deviates During Operation After The Homing

    The position deviates during operation after the homing Possible cause Check/action method Model The electronic gear or the feed length Review the setting of the electronic gear or the feed length multiplication. Refer to "Command unit select function" and "Electronic gear function" in the multiplication is incorrect.
  • Page 210: A Position Mismatch Occurs At Power Restoration In An Absolute Position Detection System

    A position mismatch occurs at power restoration in an absolute position detection system Possible cause Check/action method Model While the servo amplifier was in power-off Extend the acceleration time. Keep the speed under the maximum permissible speed at power failure. status, an external force rotated the servo [WG] motor at a speed exceeding the maximum...
  • Page 211: Coasting Distance Of The Servo Motor Became Longer

    Replace the servo motor. Refer to "Characteristics of electromagnetic brake" in the following manual. Rotary Servo Motor User's Manual (HK series) RS-422 communication (Mitsubishi Electric AC servo protocol) cannot be used Possible cause Check/action method Model The communication settings are incorrect.
  • Page 212: Revisions

    Degree function This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.
  • Page 213: Warranty

    WARRANTY Warranty 1. Warranty period and coverage We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment hereinafter referred to as the "Product" arisen during warranty period at no charge due to causes for which we are responsible through the distributor from which you purchased the Product or our service provider.
  • Page 214: Trademarks

    TRADEMARKS MELSERVO is a trademark or registered trademark of Mitsubishi Electric Corporation in Japan and/or other countries. All other product names and company names are trademarks or registered trademarks of their respective companies. SH(NA)-030312ENG-D...
  • Page 216 SH(NA)-030312ENG-D(2010)MEE MODEL: MODEL CODE: HEAD OFFICE : TOKYO BUILDING, 2-7-3 MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN NAGOYA WORKS : 1-14 , YADA-MINAMI 5-CHOME , HIGASHI-KU, NAGOYA , JAPAN When exported from Japan, this manual does not require application to the Ministry of Economy, Trade and Industry for service transaction permission. Specifications are subject to change without notice.