[Al. 052_Excessive Error] - Mitsubishi Electric MR-J5-G 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 has been enabled.
5.
A moving part collided against the machine.
6.
The electromagnetic brake has not been
released. (The electromagnetic brake has
been activated.)
7.
The torque is insufficient.
8.
Power supply voltage has dropped.
9.
Acceleration time constant is too short.
10.
The position control gain is too small.
11.
The excessive error alarm trigger level was not
set correctly.
12.
The servo motor shaft was rotated by an
external force or the moving part of the linear
servo motor was moved by an external force.
13.
The servo amplifier has malfunctioned.
14.
The encoder or linear encoder has
malfunctioned.
[AL. 052.3_Excessive droop pulse 2]
Page 68 [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 68 [AL. 052.1_Excessive droop pulse 1]
1 SERVO AMPLIFIER TROUBLESHOOTING
68
1.3 Handling methods for alarms/warnings
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 "Example power circuit connections" in the following manual.
MR-J5 User's Manual (Hardware)
Check if the encoder cable is connected correctly.
If the torque has been limited, increase the torque limit value.
Review the operation pattern to avoid collision.
Check if the electromagnetic brake has been released during operation.
Check the peak load ratio. If the torque is saturated, reduce the load or review
the operation pattern. Alternatively, replace the servo motor with a larger-
capacity servo motor.
If the bus voltage is too low, review the power supply voltage and power supply
capacity.
Set a longer acceleration/deceleration time constant, then check the
repeatability. If the error does not repeat, increase the acceleration/
deceleration time constant.
Increase the position control gain, 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 trigger 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.
Model
[A]
[G]
[WG]
Model
[A]
[G]
[WG]