Sh030312enga - MR-J5 User Manual (Troubleshooting)
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mdlc6878Sh030312enga - MR-J5 User Manual (Troubleshooting)
Uploaded by
mdlc6878Mitsubishi Electric AC Servo System
MR-J5
User's Manual
(Troubleshooting)
-MR-J5-_G_
-MR-J5W_-_G
-MR-J5-_A_
About the manual
This manual covers the following servo amplifiers. These include servo amplifiers with optional units.
MR-J5-_G_/MR-J5W_-_G/MR-J5-_A_
In this manual, the servo amplifier names are abbreviated as shown below.
Symbol Servo amplifier
[G] MR-J5-_G_
[WG] MR-J5W_-_G
[A] MR-J5-_A_
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 1 [(× 10-4 kg•m2)] 5.4675 [oz•inch2]
Load (thrust load/axial load) 1 [N] 0.2248 [lbf]
Temperature N [°C] × 9/5 + 32 N [°F]
1
CONTENTS
About the manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1
U.S. CUSTOMARY UNITS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1
CHAPTER 1 SERVO AMPLIFIER TROUBLESHOOTING 5
1.1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.2 The list of alarm No./warning No.. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Explanation of the lists. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.3 Handling methods for alarms/warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
[AL. 010_Undervoltage]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
[AL. 011_Switch setting error] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
[AL. 012_Memory error 1 (RAM)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
[AL. 013_Clock error]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
[AL. 014_Control process error] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
[AL. 016_Encoder initial communication error 1]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
[AL. 017_Board error] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
[AL. 019_Memory error 3] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
[AL. 01A_Servo motor combination error] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
[AL. 01E_Encoder initial communication error 2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
[AL. 01F_Encoder initial communication error 3]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
[AL. 020_Encoder normal communication error 1] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
[AL. 021_Encoder normal communication error 2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
[AL. 024_Main circuit error] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
[AL. 025_Absolute position erased]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
[AL. 027_Initial magnetic pole detection error] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
[AL. 028_Linear encoder error 2]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
[AL. 02A_Linear encoder error 1] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
[AL. 02B_Encoder counter error]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
[AL. 030_Regenerative error] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
[AL. 031_Overspeed]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
[AL. 032_Overcurrent] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
[AL. 033_Overvoltage]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
[AL. 035_Command frequency error] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
[AL. 037_Parameter error]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
[AL. 03A_Inrush current suppression circuit error] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
[AL. 042_Servo control error] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
[AL. 045_Main circuit device overheat] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
[AL. 046_Servo motor overheat] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
[AL. 047_Cooling fan error] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
[AL. 050_Overload 1]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
[AL. 051_Overload 2]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
[AL. 052_Excessive error] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
[AL. 054_Oscillation detection] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
[AL. 056_Forced stop error]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
[AL. 063_STO timing error] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
[AL. 068_STO diagnosis error] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
[AL. 069_Command error] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
[AL. 086_Network communication error] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
[AL. 088_Watchdog 1]/[AL. 888_Watchdog 1]/[AL. 88888_Watchdog 1] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
2
[AL. 08E_Serial communication error]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
[AL. 090_Homing incomplete warning] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
[AL. 091_Servo amplifier overheat warning] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
[AL. 092_Battery cable disconnection warning]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
[AL. 093_ABS data transfer warning] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
[AL. 095_STO warning] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
[AL. 096_Home position setting warning] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
[AL. 098_Software position limit warning] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
[AL. 099_Stroke limit warning]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
CONTENTS
[AL. 09B_Excessive error warning] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
[AL. 09E_Network warning] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
[AL. 09F_Battery warning] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
[AL. 0E0_Excessive regenerative error] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
[AL. 0E1_Overload warning 1]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
[AL. 0E2_Servo motor overheat warning] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
[AL. 0E3_Absolute position counter warning] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
[AL. 0E5_ABS time-out warning] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
[AL. 0E6_Servo forced stop warning] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
[AL. 0E8_Cooling fan speed reduction warning] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
[AL. 0E9_Main circuit off warning] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
[AL. 0EA_ABS servo-on warning] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
[AL. 0EB_The other axis error warning] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
[AL. 0EC_Overload warning 2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
[AL. 0ED_Output watt excess warning] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
[AL. 0F0_Tough drive warning] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
[AL. 0F2_Drive recorder warning] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
[AL. 0F3_Oscillation detection warning] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
[AL. 0F7_Machine diagnosis warning]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
[AL. 118_Encoder diagnosis]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
[AL. 119_Memory error 4] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
[AL. 11A_Servo motor constant error] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
[AL. 130_Regenerative error 2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
[AL. 139_Open phase error] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
[AL. 168_STO function error]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
[AL. 188_Watchdog 2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
[AL. 1E9_Open phase warning]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
[AL. 1F8_Memory warning 1] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
1.4 Trouble which does not trigger an alarm/warning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
The display shows "A" (unconnected to the controller) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
The display shows "r##" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
The display shows "TST". . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
The display shows "off" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
The display is turned off . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
The servo motor does not operate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
The increase in the servo motor speed is insufficient or excessive. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
The servo motor vibrates with low frequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
An unusual noise is occurring in the servo motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
The servo motor vibrates. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
Poor speed accuracy (Unstable speed of servo motor) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
The machine vibrates unsteadily when it stops . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
Overshoot/undershoot occurs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
3
The servo motor starts moving immediately after the power-on of the servo amplifier or servo-on . . . . . . . . . 105
The home position deviates at the homing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
The position deviates during operation after the homing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
In the absolute position detection system, a position mismatch occurs at power restoration . . . . . . . . . . . . . . 107
Communication with the servo amplifier fails using MR Configurator2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
Electromagnetic brake went out . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
Electromagnetic brake cannot be released . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
Coasting distance of the servo motor became longer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
REVISIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
WARRANTY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
TRADEMARKS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
4
1 SERVO AMPLIFIER TROUBLESHOOTING
1
Precautions
• MR-J5-_G_-RJ and -MR-J5-_A_-RJ will be available in the future.
• In MR-J5, the alarm No. and warning No. are changed to be shown with three digits followed by one digit indicating the
detailed No., which were shown with two digits and one detailed No. in MR-J4 series.
1.1 Outline
When an error occurs in the servo system, the corresponding alarm and warning is displayed. When an alarm occurs, ALM
(Malfunction) turns off.
When an alarm or warning is displayed, take appropriate measures according to the following:
Page 13 Handling methods for alarms/warnings
Restrictions
• The following alarms are not recorded in the alarm history.
[AL. 010.1 Voltage drop in the control circuit power]
[AL. 037 Parameter error]
• With exception of [AL. 0F0 Tough drive warning], warnings are not recorded in the alarm history.
Precautions
• As soon as an alarm occurs, switch to the servo-off status and shut off the main circuit power supply.
• Cool the equipment for approximately 30 minutes.
• The alarm canceling method in [AL. 042 Servo control error] can be changed with [Pr. PL04.3 [AL. 042 Servo control error]
detection controller reset condition selection].
• If an alarm which is related to the communication error with the controller occurs, resetting the communication may not
cancel the alarm.
• The alarms which have "○" in the safety reset column of the alarm list must be canceled while all the safety observation
functions have stopped. The alarms cannot be canceled unless all the safety observation functions have stopped.
• After performing the check/action, cycle the power of the servo amplifier.
• If the alarm remains active even after the check/action of each alarm of detail number, the servo amplifier may be
malfunctioning. Replace the servo amplifier, and then check the repeatability.
• If the malfunction continues even after replacing the servo amplifier, there is a possibility that there is an abnormality in the
surrounding area.
• To prevent unexpected operation, when [AL. 25 Absolute position erased] occurs, perform homing again.
• To prevent malfunctions of the servo amplifier and servo motor, when any of the following alarms occurs, do not deactivate
the alarm repeatedly to resume. Remove the cause of occurrence and allow 30 minutes or more for cooling, and then
resume the operation.
[AL. 030 Regenerative error]
[AL. 045 Main circuit device overheat]
[AL. 046 Servo motor overheat]
[AL. 050 Overload 1]
[AL. 051 Overload 2]
• To prevent malfunctions of the servo amplifier and servo motor, when any of the following warnings occurs, do not cycle the
power of the servo amplifier repeatedly to resume. If the power of the servo amplifier is switched off/on during the warnings,
allow more than 30 minutes for cooling before resuming operation.
[AL. 091 Servo amplifier overheat warning]
[AL. 0E0 Excessive regenerative warning]
[AL. 0E1 Overload warning 1]
1 SERVO AMPLIFIER TROUBLESHOOTING
1.1 Outline 5
• When [AL. 0E6 Servo forced stop warning], [AL. 0E9 Main circuit off warning], [AL. 0EA ABS servo-on warning], or [AL.
0EB The other axis error warning] occurs, the servo amplifier is changed to servo-off status. If any other warning occurs,
the operation can still be continued, but an alarm may occur.
1 SERVO AMPLIFIER TROUBLESHOOTING
6 1.1 Outline
1.2 The list of alarm No./warning No.
1
Explanation of the lists
Motor stop method
For the alarms and warnings in which "SD" is written in the stop method column, the servo motor stops with the dynamic
brake after forced stop deceleration. For the alarms and warnings in which "DB" or "EDB" is written in the stop method
column, the servo motor stops with the dynamic brake.
■ Stop method at occurrence of alarms/warnings
MR-J5 servo amplifier has the following stop methods:
DB: Dynamic brake stop (for a servo amplifier without the dynamic brake, the servo motor coasts)
SD: Forced stop deceleration
These stop methods are applicable when [Pr. PA04] is set to the initial value. With [Pr. PA04], the stop methods can be
changed from SD to DB.
■ Specific stop methods
For MR-J5-_G_ servo amplifiers (I/O mode), quick stop or slow stop can be selected with [Pr. PD12].
For MR-J5-_A_ servo amplifiers, quick stop or slow stop can be selected with [Pr. PD30].
Alarm deactivation
After the cause of the alarm has been removed, the alarm can be deactivated by the methods marked "○" in the alarm
deactivation column. Alarms are deactivated by alarm reset, communication reset, or power cycling. Alarms can be canceled
by software reset, instead of power cycling.
Refer to "Alarm function" in the following manual.
MR-5 User's Manual (Function)
Stop system
This stop system is applicable only for MR-J5W_-_G.
This indicates which axis to stop when an alarm or a warning occurs.
Each axis: Only the axis where the alarm or warning occurred will stop.
All axes: All axes will stop.
Motor stop warning
A warning with "○" indicates that a servo motor to stop when the warning occurs. When the servo motor stop warning occurs,
WNGSTOP (Motor stop warning) is turned on.
1 SERVO AMPLIFIER TROUBLESHOOTING
1.2 The list of alarm No./warning No. 7
No. Detail No. Alarm/Warning Motor stop Stop Alarm deactivation Motor stop
method system Safety Alarm Communic Power warning
reset reset ation reset cycling
010 010.1 Alarm EDB All axes
010.2 Alarm SD All axes
011 011.1 Alarm DB All axes
011.2 Alarm DB All axes
012 012.1 Alarm DB All axes
012.2 Alarm DB All axes
012.4 Alarm DB All axes
012.5 Alarm DB All axes
012.6 Alarm DB All axes
012.7 Alarm DB All axes
012.8 Alarm DB All axes
013 013.1 Alarm DB All axes
013.2 Alarm DB All axes
013.4 Alarm DB All axes
013.5 Alarm DB All axes
014 014.1 Alarm DB All axes
014.2 Alarm DB All axes
014.3 Alarm DB All axes
014.4 Alarm DB All axes
014.5 Alarm DB All axes
014.8 Alarm DB All axes
014.9 Alarm DB All axes
016 016.1 Alarm DB Each axis
016.2 Alarm DB Each axis
016.3 Alarm DB Each axis
016.5 Alarm DB Each axis
016.6 Alarm DB Each axis
016.7 Alarm DB Each axis
016.A Alarm DB Each axis
016.B Alarm DB Each axis
016.C Alarm DB Each axis
016.D Alarm DB Each axis
016.E Alarm DB Each axis
016.F Alarm DB Each axis
017 017.1 Alarm DB All axes
017.3 Alarm DB All axes
017.4 Alarm DB All axes
017.5 Alarm DB All axes
017.6 Alarm DB All axes
017.7 Alarm DB All axes
017.9 Alarm DB All axes
019 019.1 Alarm DB All axes
019.2 Alarm DB All axes
019.3 Alarm DB All axes
019.6 Alarm DB All axes
01A 01A.1 Alarm DB Each axis
01A.2 Alarm DB Each axis
01A.5 Alarm DB Each axis
01A.6 Alarm DB Each axis
01E 01E.1 Alarm DB Each axis
1 SERVO AMPLIFIER TROUBLESHOOTING
8 1.2 The list of alarm No./warning No.
No. Detail No. Alarm/Warning Motor stop Stop Alarm deactivation Motor stop
method system Safety Alarm Communic Power warning
reset reset ation reset cycling
1
01F 01F.1 Alarm DB Each axis
020 020.1 Alarm EDB Each axis
020.2 Alarm EDB Each axis
020.3 Alarm EDB Each axis
020.5 Alarm EDB Each axis
020.6 Alarm EDB Each axis
020.7 Alarm EDB Each axis
021 021.1 Alarm EDB Each axis
021.2 Alarm EDB Each axis
021.3 Alarm EDB Each axis
021.4 Alarm EDB Each axis
021.5 Alarm EDB Each axis
021.6 Alarm EDB Each axis
024 024.1 Alarm DB All axes
024.2 Alarm DB All axes
025 025.1 Alarm DB Each axis
027 027.1 Alarm DB Each axis
027.2 Alarm DB Each axis
027.3 Alarm DB Each axis
027.4 Alarm DB Each axis
027.5 Alarm DB Each axis
027.6 Alarm DB Each axis
027.7 Alarm DB Each axis
028 028.1 Alarm EDB Each axis
02A 02A.1 Alarm EDB Each axis
02A.2 Alarm EDB Each axis
02A.3 Alarm EDB Each axis
02A.4 Alarm EDB Each axis
02A.5 Alarm EDB Each axis
02A.6 Alarm EDB Each axis
02A.7 Alarm EDB Each axis
02A.8 Alarm EDB Each axis
02B 02B.1 Alarm EDB Each axis
02B.2 Alarm EDB Each axis
030 030.1 Alarm DB All axes
030.2 Alarm DB All axes
030.3 Alarm DB All axes
031 031.1 Alarm SD Each axis
032 032.1 Alarm DB All axes
032.2 Alarm DB All axes
032.3 Alarm DB All axes
032.4 Alarm DB All axes
033 033.1 Alarm EDB All axes
035 035.1 Alarm SD Each axis
037 037.1 Alarm DB Each axis
037.2 Alarm DB All axes
037.6 Alarm DB Each axis
037.7 Alarm DB Each axis
03A 03A.1 Alarm EDB All axes
1 SERVO AMPLIFIER TROUBLESHOOTING
1.2 The list of alarm No./warning No. 9
No. Detail No. Alarm/Warning Motor stop Stop Alarm deactivation Motor stop
method system Safety Alarm Communic Power warning
reset reset ation reset cycling
042 042.1 Alarm EDB Each axis
042.2 Alarm EDB Each axis
042.3 Alarm EDB Each axis
045 045.1 Alarm EDB All axes
045.2 Alarm EDB All axes
046 046.1 Alarm SD Each axis
046.2 Alarm SD Each axis
046.3 Alarm SD Each axis
046.4 Alarm SD Each axis
046.5 Alarm DB Each axis
046.6 Alarm DB Each axis
047 047.1 Alarm SD All axes
047.2 Alarm SD All axes
050 050.1 Alarm SD Each axis
050.2 Alarm SD Each axis
050.3 Alarm SD Each axis
050.4 Alarm SD Each axis
050.5 Alarm SD Each axis
050.6 Alarm SD Each axis
051 051.1 Alarm DB Each axis
051.2 Alarm DB Each axis
052 052.1 Alarm SD Each axis
052.3 Alarm SD Each axis
052.4 Alarm SD Each axis
052.5 Alarm EDB Each axis
052.6 Alarm SD Each axis
054 054.1 Alarm EDB Each axis
056 056.2 Alarm EDB Each axis
056.3 Alarm EDB Each axis
063 063.1 Alarm DB All axes
063.2 Alarm DB All axes
068 068.1 Alarm DB All axes
069 069.1 Alarm SD Each axis
069.2 Alarm SD Each axis
069.3 Alarm SD Each axis
069.4 Alarm SD Each axis
069.5 Alarm SD Each axis
069.6 Alarm SD Each axis
086 086.1 Alarm SD All axes
086.2 Alarm SD All axes
086.3 Alarm SD All axes
086.5 Alarm SD All axes
086.6 Alarm SD All axes
088 088.1/088/ Alarm DB All axes
888/88888
088.2 Alarm DB All axes
088.4 Alarm DB All axes
088.8 Alarm DB All axes
1 SERVO AMPLIFIER TROUBLESHOOTING
10 1.2 The list of alarm No./warning No.
No. Detail No. Alarm/Warning Motor stop Stop Alarm deactivation Motor stop
method system Safety Alarm Communic Power warning
reset reset ation reset cycling
1
08E 08E.1 Alarm SD All axes
08E.2 Alarm SD All axes
08E.3 Alarm SD All axes
08E.4 Alarm SD All axes
08E.5 Alarm SD All axes
090 090.1 Warning DB Each axis
090.2 Warning DB Each axis
090.5 Warning DB Each axis
091 091.1 Warning
092 092.1 Warning
092.3 Warning
093 093.1 Warning DB
095 095.1 Warning DB Each axis
095.2 Warning DB Each axis
096 096.1 Warning
096.2 Warning
096.3 Warning
096.4 Warning
098 098.1 Warning
098.2 Warning
099 099.1 Warning
099.2 Warning
099.4 Warning
099.5 Warning
09B 09B.1 Warning
09B.3 Warning
09B.4 Warning
09E 09E.2 Warning SD All axes
09E.3 Warning SD All axes
09E.4 Warning SD All axes
09E.5 Warning SD All axes
09E.6 Warning SD All axes
09E.7 Warning SD All axes
09E.8 Warning SD All axes
09F 09F.1 Warning
09F.2 Warning
0E0 0E0.1 Warning
0E1 0E1.1 Warning
0E1.2 Warning
0E1.3 Warning
0E1.4 Warning
0E1.5 Warning
0E1.6 Warning
0E1.7 Warning
0E1.8 Warning
0E2 0E2.1 Warning
0E2.2 Warning
0E3 0E3.1 Warning
0E3.2 Warning
0E3.5 Warning
1 SERVO AMPLIFIER TROUBLESHOOTING
1.2 The list of alarm No./warning No. 11
No. Detail No. Alarm/Warning Motor stop Stop Alarm deactivation Motor stop
method system Safety Alarm Communic Power warning
reset reset ation reset cycling
0E5 0E5.1 Warning
0E5.2 Warning
0E5.3 Warning
0E6 0E6.1 Warning SD All axes
0E8 0E8.1 Warning
0E8.2 Warning
0E9 0E9.1 Warning DB All axes
0E9.2 Warning DB All axes
0E9.3 Warning DB All axes
0EA 0EA.1 Warning Each axis
0EB 0EB.1 Warning DB Each axis
0EC 0EC.1 Warning
0ED 0ED.1 Warning
0F0 0F0.1 Warning
0F0.3 Warning
0F2 0F2.1 Warning
0F2.2 Warning
0F2.3 Warning
0F2.4 Warning
0F2.5 Warning
0F2.6 Warning
0F3 0F3.1 Warning
0F7 0F7.1 Warning
0F7.2 Warning
0F7.3 Warning
0F7.4 Warning
0F7.5 Warning
0F7.6 Warning
118 118.1 Alarm DB All axes
119 119.1 Alarm DB All axes
119.2 Alarm DB All axes
119.3 Alarm DB All axes
119.4 Alarm DB All axes
119.5 Alarm DB All axes
119.6 Alarm DB All axes
119.7 Alarm DB All axes
119.8 Alarm DB All axes
11A 11A.1 Alarm DB Each axis
130 130.1 Alarm DB All axes
139 139.1 Alarm SD All axes
139.2 Alarm DB Each axis
139.3 Alarm DB Each axis
168 168.1 Alarm DB All axes
188 188.1 Alarm DB All axes
1E9 1E9.1 Warning
1F8 1F8.1 Warning
1F8.2 Warning
1 SERVO AMPLIFIER TROUBLESHOOTING
12 1.2 The list of alarm No./warning No.
1.3 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
1
the cause of a warning.
[AL. 010_Undervoltage]
• The voltage of the control circuit power supply has dropped.
• The voltage of the main circuit power supply has dropped.
[AL. 010.1_Voltage drop in the control circuit power]
Cause Check/action method Model
1. The control circuit power supply connection is Check the connection of the control circuit power supply. [A]
Refer to "Connection example of power supply circuit" in the following manual. [G]
incorrect.
MR-J5 User's Manual (Hardware) [WG]
2. The voltage of the control circuit power supply Check if the voltage of the control circuit power supply is equal to or lower than
the specified value.
is low.
200 V class: 160 V AC
3. The power was cycled before the internal After shutting off the servo amplifier power supply, make sure that the seven-
segment LED of the servo amplifier is turned off, and then cycle the power.
control circuit power supply stopped.
4. An instantaneous power failure lasted for Check if the power supply has a problem.
After checking, cycle the power of the servo amplifier.
longer than the specified time.
• When [Pr. PA20.2 SEMI-F47 function selection] is set to "0"
(Disabled), the specified time is 60 ms.
• When [Pr. PA20.2] is set to "1" (Enabled), the value set in [Pr.
PF25 SEMI-F47 function - Instantaneous power failure detection
time (instantaneous power failure tough drive - detection time)]
is the specified time.
[AL. 010.2_Voltage drop in the main circuit power]
Cause Check/action method Model
1. The main circuit power supply wiring is Check the main circuit power supply wiring. [A]
Refer to "Connection example of power supply circuit" in the following manual. [G]
disconnected.
MR-J5 User's Manual (Hardware) [WG]
2. The wiring between P3 and P4 is Check the wiring between P3 and P4.
Refer to "Connection example of power supply circuit" in the following manual.
disconnected.
MR-J5 User's Manual (Hardware)
3. The voltage of the main circuit power supply is Check if the voltage of the main circuit power supply is equal to or lower than
the specified value. When the voltage is equal to or lower than the specified
low.
value, increase the voltage of the main circuit power supply.
• 200 V class: 160 V AC
4. When this alarm occurs, the bus voltage is low Check if the bus voltage during acceleration is lower than the specified value.
If the bus voltage is lower than the specified value, increase the acceleration
at acceleration.
time constant or the power supply capacity.
• 200 V class: 200 V DC
5. The fuse is disconnected. Check the charge light after a certain period of time.
6. The power supply capacity is insufficient. Check that the specified power supply capacity is satisfied.
7. Main circuit capacitor has deteriorated. After checking the operation time and ambient temperature, replace the servo
amplifier if the main circuit capacitor has reached its life.
Refer to "Parts having life" in the following manual.
MR-J5-A User's Manual (Introduction)
MR-J5-G/MR-J5W-G User's Manual (Introduction)
8. The servo amplifier is malfunctioning. Check the value of the bus voltage. When the bus voltage is lower than the
specified value though the voltage of the main circuit power supply is within
specifications, replace the servo amplifier.
• 200 V class: 200 V DC
1 SERVO AMPLIFIER TROUBLESHOOTING
1.3 Handling methods for alarms/warnings 13
[AL. 011_Switch setting error]
• The setting of the DIP switch is incorrect.
• The setting of the rotary switch is incorrect.
[AL. 011.1_Rotary switch setting error]
Cause Check/action method Model
1. Each selected network has its settable range, Check the settings of the rotary switches (SW1/SW2). [G]
When the value set with the rotary switch and the actual value do not match, [WG]
and the values set with the rotary switches
the servo amplifier may be malfunctioning. Replace the servo amplifier.
(SW1/SW2) were set out of the range. Specifications on the setting of the rotary switches vary depending on each
network.
Refer to "Switch setting and display of the servo amplifier" in the following
manual.
MR-J5-G/MR-J5W-G User's Manual (Introduction)
[AL. 011.2_Disabling control axis setting error]
Cause Check/action method Model
1. The setting of the disabling control axis switch Check the setting of the disabling control axis switch. [WG]
Refer to "Switch setting and display of the servo amplifier" in the following
is incorrect.
manual.
MR-J5-G/MR-J5W-G User's Manual (Introduction)
If the above case does not apply, the servo amplifier may be malfunctioning.
Replace the servo amplifier.
1 SERVO AMPLIFIER TROUBLESHOOTING
14 1.3 Handling methods for alarms/warnings
[AL. 012_Memory error 1 (RAM)]
• The internal parts of the servo amplifier (RAM) have malfunctioned. 1
[AL. 012.1_RAM error 1]
Cause Check/action method Model
1. The internal parts of the servo amplifier has Noise from the power supply may have caused the failure. Disconnect the [A]
cables except for the control circuit power supply, and then check the [G]
malfunctioned.
repeatability. If the failure continues, the servo amplifier may have [WG]
malfunctioned. Replace the servo amplifier.
2. There is an abnormality in the surrounding Check the power supply for noise. If there is noise, take countermeasures to
reduce the noise.
environment.
Refer to "Noise reduction techniques" in the following manual.
MR-J5 User's Manual (Hardware)
[AL. 012.2_RAM error 2]
Page 15 [AL. 012.1_RAM error 1]
[AL. 012.4_RAM error 4]
Page 15 [AL. 012.1_RAM error 1]
[AL. 012.5_RAM error 5]
Page 15 [AL. 012.1_RAM error 1]
[AL. 012.6_RAM error 6]
Page 15 [AL. 012.1_RAM error 1]
[AL. 012.7_RAM error 7]
Page 15 [AL. 012.1_RAM error 1]
[AL. 012.8_RAM error 8]
Page 15 [AL. 012.1_RAM error 1]
1 SERVO AMPLIFIER TROUBLESHOOTING
1.3 Handling methods for alarms/warnings 15
[AL. 013_Clock error]
• The internal parts of the servo amplifier have malfunctioned.
• A clock transmitted from the controller has an error.
[AL. 013.1_CPU error 1]
Cause Check/action method Model
1. The internal parts of the servo amplifier have Noise from the power supply may have caused the failure. Disconnect the [A]
cables except for the control circuit power supply, and then check the [G]
malfunctioned.
repeatability. If the failure continues, replace the servo amplifier. [WG]
2. A clock transmitted from the controller has an Check if this alarm occurs when the servo amplifier is connected to the [G]
controller. If the alarm occurs, replace the controller. [WG]
error.
3. The servo amplifier of the next axis is Replace the servo amplifier of the next axis, and then check the repeatability.
malfunctioning.
4. There is an abnormality in the surrounding Check the power supply for noise. If there is noise, take countermeasures to [A]
reduce the noise. [G]
environment.
Check if the connector is shorted. [WG]
Refer to "Noise reduction techniques" in the following manual.
MR-J5 User's Manual (Hardware)
[AL. 013.2_CPU error 2]
Page 16 [AL. 013.1_CPU error 1]
[AL. 013.4_CPU error 4]
Page 16 [AL. 013.1_CPU error 1]
[AL. 013.5_CPU error 5]
Page 16 [AL. 013.1_CPU error 1]
1 SERVO AMPLIFIER TROUBLESHOOTING
16 1.3 Handling methods for alarms/warnings
[AL. 014_Control process error]
• The process did not complete within the specified time. 1
• The internal parts of the servo amplifier (communication IC) have malfunctioned. [G]
[AL. 014.1_Control process error 1]
Cause Check/action method Model
1. The servo parameter setting is incorrect. Set the servo parameter to a value before the alarm occurrence, and then [A]
check the repeatability. [G]
2. There is an abnormality in the surrounding Check the power supply for noise. If there is noise, take countermeasures to [WG]
reduce the noise.
environment.
Check if the connector is shorted.
Refer to "Noise reduction techniques" in the following manual.
MR-J5 User's Manual (Hardware)
3. The servo amplifier is malfunctioning. Replace the servo amplifier.
[AL. 014.2_Control process error 2]
Cause Check/action method Model
1. A synchronous signal error transmitted from Replace the controller, and then check the repeatability. [G]
[WG]
the controller occurred.
2. The servo parameter setting is incorrect. Set the servo parameter to a value before the alarm occurrence, and then [A]
check the repeatability. [G]
3. There is an abnormality in the surrounding Check the power supply for noise. If there is noise, take countermeasures to [WG]
reduce the noise.
environment.
Check if the connector is shorted.
Refer to "Noise reduction techniques" in the following manual.
MR-J5 User's Manual (Hardware)
4. The servo amplifier is malfunctioning. Replace the servo amplifier.
[AL. 014.3_Control process error 3]
Page 17 [AL. 014.1_Control process error 1]
[AL. 014.4_Control process error 4]
Page 17 [AL. 014.1_Control process error 1]
[AL. 014.5_Control process error 5]
Page 17 [AL. 014.1_Control process error 1]
[AL. 014.8_Control process error 8]
Page 17 [AL. 014.1_Control process error 1]
[AL. 014.9_Control process error 9]
Page 17 [AL. 014.1_Control process error 1]
1 SERVO AMPLIFIER TROUBLESHOOTING
1.3 Handling methods for alarms/warnings 17
[AL. 016_Encoder initial communication error 1]
• An error has occurred in the communication between an encoder and servo amplifier.
[AL. 016.1_Encoder initial communication - Receive data error 1]
Cause Check/action method Model
1. There is an error in the encoder cable. Check if the encoder cable is disconnected, shorted, or incorrectly wired. [A]
If the encoder cable is malfunctioning, replace or repair the cable. [G]
Refer to "A/B/Z-phase differential output linear encode" in the following [WG]
manual.
MR-J5 Partner's Encoder User's Manual
2. When using an A/B/Z-phase differential output Check if the servo amplifier is compatible with the A/B/Z-phase differential [A]
output linear encoder. [G]
linear encoder on the servo motor side, the
Refer to "Corresponding linear encoder list" in the following manual.
servo amplifier is not compatible with the A/B/ MR-J5 Partner's Encoder User's Manual
Z-phase differential output linear encoder.
3. When using an A/B/Z-phase differential output Check if the wiring of the A/B/Z-phase differential output linear encoder is
correct. Check that the encoder is wired to PSEL.
linear encoder on the servo motor side, the A/
Refer to "A/B/Z-phase differential output linear encode" in the following
B/Z-phase differential output linear encoder is manual.
connected incorrectly. MR-J5 Partner's Encoder User's Manual
4. The servo amplifier is malfunctioning. Replace the servo amplifier. [A]
[G]
5. The encoder is malfunctioning. Replace the servo motor.
[WG]
6. There is an abnormality in the surrounding Check the power supply for noise. If there is noise, take countermeasures to
reduce the noise.
environment.
Check if the connector is shorted.
Refer to "Noise reduction techniques" in the following manual.
MR-J5 User's Manual (Hardware)
[AL. 016.2_Encoder initial communication - Receive data error 2]
Page 18 [AL. 016.1_Encoder initial communication - Receive data error 1]
[AL. 016.3_Encoder initial communication - Receive data error 3]
Cause Check/action method Model
1. Axis not used is not set as disabled-axis. Set the axis not used to disabled with disabling control axis switch (SW3-2/ [WG]
SW3-3/SW3-4).
2. The encoder cable is disconnected. Check if the encoder cable is connected correctly. [A]
[G]
3. The servo parameter setting of communication Check the setting value of the servo parameter.
[WG]
method is incorrect.
[A]: [Pr. PC22.3 Encoder cable communication method selection]
[G] [WG]: [Pr. PC04.3 Encoder cable communication method
selection]
4. There is an error in the encoder cable. Check if the encoder cable is disconnected or shorted. If the encoder cable is
malfunctioning, replace or repair the cable.
5. When using an A/B/Z-phase differential output Check if the wiring of the A/B/Z-phase differential output linear encoder is [A]
correct. Check that the encoder is wired to PSEL. [G]
linear encoder on the servo motor side, the
Refer to "A/B/Z-phase differential output linear encode" in the following
connection with the linear encoder is incorrect. manual.
MR-J5 Partner's Encoder User's Manual
6. The voltage of the control circuit power supply Check the voltage of the control circuit power supply. [A]
When an instantaneous power failure is occurring in the control circuit power [G]
has become unstable.
supply, review the power supply environment. [WG]
7. The servo amplifier is malfunctioning. Replace the servo amplifier.
8. The encoder is malfunctioning. Replace the servo motor.
9. There is an abnormality in the surrounding Check the power supply for noise. If there is noise, take countermeasures to
reduce the noise.
environment.
Check if the connector is shorted.
Refer to "Noise reduction techniques" in the following manual.
MR-J5 User's Manual (Hardware)
1 SERVO AMPLIFIER TROUBLESHOOTING
18 1.3 Handling methods for alarms/warnings
[AL. 016.5_Encoder initial communication - Transmission data error 1]
Page 18 [AL. 016.1_Encoder initial communication - Receive data error 1]
1
[AL. 016.6_Encoder initial communication - Transmission data error 2]
Page 18 [AL. 016.1_Encoder initial communication - Receive data error 1]
[AL. 016.7_Encoder initial communication - Transmission data error 3]
Page 18 [AL. 016.1_Encoder initial communication - Receive data error 1]
[AL. 016.A_Encoder initial communication - Process error 1]
Cause Check/action method Model
1. The servo amplifier is malfunctioning. Replace the servo amplifier. [A]
[G]
2. The encoder is malfunctioning. Replace the servo motor.
[WG]
3. There is an abnormality in the surrounding Check the power supply for noise. If there is noise, take countermeasures to
reduce the noise.
environment.
Check if the connector is shorted.
Refer to "Noise reduction techniques" in the following manual.
MR-J5 User's Manual (Hardware)
[AL. 016.B_Encoder initial communication - Process error 2]
Page 19 [AL. 016.A_Encoder initial communication - Process error 1]
[AL. 016.C_Encoder initial communication - Process error 3]
Page 19 [AL. 016.A_Encoder initial communication - Process error 1]
[AL. 016.D_Encoder initial communication - Process error 4]
Page 19 [AL. 016.A_Encoder initial communication - Process error 1]
[AL. 016.E_Encoder initial communication - Process error 5]
Page 19 [AL. 016.A_Encoder initial communication - Process error 1]
[AL. 016.F_Encoder initial communication - Process error 6]
Page 19 [AL. 016.A_Encoder initial communication - Process error 1]
1 SERVO AMPLIFIER TROUBLESHOOTING
1.3 Handling methods for alarms/warnings 19
[AL. 017_Board error]
• A part in the servo amplifier is malfunctioning.
[AL. 017.1_Board error 1]
Cause Check/action method Model
1. The current detection circuit is malfunctioning. Check that this alarm occurs in the servo-on status. If the alarm occurs, the [A]
servo amplifier may have malfunctioned. Replace the servo amplifier. [G]
2. There is an abnormality in the surrounding Check the noise, ambient temperature, and others, and implement appropriate [WG]
countermeasures for the cause.
environment.
If there is noise, take countermeasures to reduce the noise.
Refer to "Noise reduction techniques" in the following manual.
MR-J5 User's Manual (Hardware)
[AL. 017.3_Board error 2]
Page 20 [AL. 017.1_Board error 1]
[AL. 017.4_Board error 3]
Cause Check/action method Model
1. The recognition signal of the servo amplifier Disconnect the cables except for the control circuit power supply, and then [A]
check the repeatability. If the failure continues, the servo amplifier may have [G]
was not read properly.
malfunctioned. Replace the servo amplifier. [WG]
2. There is an abnormality in the surrounding Check the noise, ambient temperature, and others, and implement appropriate
countermeasures for the cause.
environment.
If there is noise, take countermeasures to reduce the noise.
Refer to "Noise reduction techniques" in the following manual.
MR-J5 User's Manual (Hardware)
[AL. 017.5_Board error 4]
Cause Check/action method Model
1. Rotary switches (SW1/SW2) are After checking the conditions of the rotary switches, cycle the power, and then [G]
check the repeatability. If the failure continues, the servo amplifier may have [WG]
malfunctioning.
malfunctioned. Replace the servo amplifier.
2. There is an abnormality in the surrounding Check the noise, ambient temperature, and others, and implement appropriate
countermeasures for the cause.
environment.
If there is noise, take countermeasures to reduce the noise.
Refer to "Noise reduction techniques" in the following manual.
MR-J5 User's Manual (Hardware)
[AL. 017.6_Board error 5]
Cause Check/action method Model
1. The DIP switch (SW3) is malfunctioning. After checking the conditions of the DIP switch, cycle the power, and then [G]
check the repeatability. If the failure continues, the servo amplifier may have [WG]
malfunctioned. Replace the servo amplifier.
2. There is an abnormality in the surrounding Check the noise, ambient temperature, and others, and implement appropriate
countermeasures for the cause. If there is noise, take countermeasures to
environment.
reduce the noise.
Refer to "Noise reduction techniques" in the following manual.
MR-J5 User's Manual (Hardware)
[AL. 017.7_Board error 7]
Page 20 [AL. 017.4_Board error 3]
1 SERVO AMPLIFIER TROUBLESHOOTING
20 1.3 Handling methods for alarms/warnings
[AL. 017.9_Board error 8]
Cause Check/action method Model 1
1. There is an abnormality in the surrounding Check the noise, ambient temperature, and others, and implement appropriate [G]
countermeasures for the cause.
environment.
If there is noise, take countermeasures to reduce the noise.
Refer to "Noise reduction techniques" in the following manual.
MR-J5 User's Manual (Hardware)
2. The servo amplifier is malfunctioning. Replace the servo amplifier.
1 SERVO AMPLIFIER TROUBLESHOOTING
1.3 Handling methods for alarms/warnings 21
[AL. 019_Memory error 3]
• The internal parts of the servo amplifier (Flash-ROM) have malfunctioned.
[AL. 019.1_Flash-ROM error 1]
Cause Check/action method Model
1. The Flash-ROM is malfunctioning. Noise from the power supply may have caused the failure. Disconnect the [A]
cables except for the control circuit power supply, and then check the [G]
repeatability. If the failure continues, replace the servo amplifier. [WG]
2. There is an abnormality in the surrounding Check the noise, ambient temperature, and others, and implement appropriate
countermeasures for the cause.
environment.
If there is noise, take countermeasures to reduce the noise.
Refer to "Noise reduction techniques" in the following manual.
MR-J5 User's Manual (Hardware)
[AL. 019.2_Flash-ROM error 2]
Page 22 [AL. 019.1_Flash-ROM error 1]
[AL. 019.3_Flash-ROM error 3]
Page 22 [AL. 019.1_Flash-ROM error 1]
[AL. 019.6_Flash-ROM error 6]
Page 22 [AL. 019.1_Flash-ROM error 1]
1 SERVO AMPLIFIER TROUBLESHOOTING
22 1.3 Handling methods for alarms/warnings
[AL. 01A_Servo motor combination error]
• The combination of the servo amplifier and servo motor is incorrect. 1
• 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
1. The servo amplifier and the servo motor have Refer to "Specifications" in the following manual. [A]
MR-J5-A User's Manual (Introduction) [G]
been connected incorrectly.
MR-J5-G/MR-J5W-G User's Manual (Introduction) [WG]
2. [Pr. PA17 Servo motor series setting] and [Pr. Check if [Pr. PA17] and [Pr. PA18] are set correctly.
PA18 Servo motor type setting] were not set
based on the servo motor to be used.
3. The encoder is malfunctioning. Replace the servo motor.
[AL. 01A.2_Servo motor control mode combination error]
Cause Check/action method Model
1. The combination of the servo amplifier to be Check the [Pr. PA01.1] setting. [A]
[G]
used and the setting of [Pr. PA01.1 Operation
[WG]
mode selection] is not appropriate.
[AL. 01A.5_Servo motor combination error 3]
Cause Check/action method Model
1. A servo motor, other than the one that was Check if a servo motor other than the one that was connected at the startup of [A]
the absolute position detection system is connected. If connected, re-connect [G]
connected at the startup of the absolute
to the servo motor that was connected at the startup of the absolute position [WG]
position detection system, is connected. detection system.
2. At occurrence of [AL. 025 Absolute position After changing the setting value of [Pr. PA03.1 Servo motor replacement
preparation] to "1" (enabled), cycle the power and then deactivate [AL. 01A
erased], the power was supplied after shutting
Servo motor combination error]. Perform homing again.
off without leaving the servo motor for 5 s.
3. The servo motor was replaced. After changing the setting value of [Pr. PA03.1] to "1" (enabled), cycle the
power and then deactivate [AL. 01A]. Perform homing again.
4. The servo amplifier is malfunctioning. Replace the servo amplifier.
5. The encoder is malfunctioning. Replace the servo motor.
6. Something near the device caused it. Take countermeasures against its cause.
[AL. 01A.6_Servo motor combination error 4]
Cause Check/action method Model
1. A scale measurement encoder, other than the Connect the scale measurement encoder that was connected at the startup of [A]
the absolute position detection system. [G]
one that was connected at the startup of the
[WG]
absolute position detection system, is
connected.
2. The servo amplifier is malfunctioning. Replace the servo amplifier.
3. The scale measurement encoder is Replace the scale measurement encoder.
malfunctioning.
4. Something near the device caused it. Take countermeasures against its cause.
1 SERVO AMPLIFIER TROUBLESHOOTING
1.3 Handling methods for alarms/warnings 23
[AL. 01E_Encoder initial communication error 2]
• The encoder is malfunctioning.
[AL. 01E.1_Encoder malfunction]
Cause Check/action method Model
1. The encoder is malfunctioning. Replace the servo motor. [A]
[G]
2. There is an abnormality in the surrounding Check the noise, ambient temperature, and others, and implement appropriate
[WG]
countermeasures for the cause.
environment.
If there is noise, take countermeasures to reduce the noise.
Refer to "Noise reduction techniques" in the following manual.
MR-J5 User's Manual (Hardware)
1 SERVO AMPLIFIER TROUBLESHOOTING
24 1.3 Handling methods for alarms/warnings
[AL. 01F_Encoder initial communication error 3]
• The connected encoder is not compatible with the servo amplifier. 1
[AL. 01F.1_Incompatible encoder]
Cause Check/action method Model
1. Incompatible servo motor or linear encoder Refer to "Specifications" in the following manual. [A]
MR-J5-A User's Manual (Introduction) [G]
was connected to the servo amplifier.
MR-J5-G/MR-J5W-G User's Manual (Introduction) [WG]
Refer to "Corresponding linear encoder list" in the following manual.
MR-J5 Partner's Encoder User's Manual
2. The software version of the servo amplifier Refer to "Corresponding linear encoder list" in the following manual.
MR-J5 Partner's Encoder User's Manual
does not support the servo motor or linear
encoder.
3. The encoder is malfunctioning. Replace the servo motor.
1 SERVO AMPLIFIER TROUBLESHOOTING
1.3 Handling methods for alarms/warnings 25
[AL. 020_Encoder normal communication error 1]
• An error has occurred in the communication between an encoder and servo amplifier.
[AL. 020.1_Encoder normal communication - Receive data error 1]
Cause Check/action method Model
1. There is an error in the encoder cable. Check if the encoder cable is disconnected or shorted. [A]
If there is a malfunction, repair or replace the cable. [G]
When an A/B/Z-phase differential output linear encoder is used, check if the [WG]
linear encoder is wired correctly.
Refer to "A/B/Z-phase differential output linear encode" in the following
manual.
MR-J5 Partner's Encoder User's Manual
2. The external conductor of the encoder cable is Check if the external conductor of the encoder cable is connected to the
ground plate of the connector.
not connected to the ground plate of the
Refer to "Ground plate connection" in the following manual.
connector. Rotary Servo Motor User's Manual (HK series)
3. The servo parameter setting of communication Refer to "Parameter detail list" in the following manual.
MR-J5-A User's Manual (Parameters)
method is incorrect.
MR-J5-G/MR-J5W-G User's Manual (Parameters)
[A]: [Pr. PC22.3 Encoder cable communication method selection]
[G] [WG]: [Pr. PC04.3 Encoder cable communication method
selection]
4. The servo amplifier is malfunctioning. Replace the servo amplifier.
5. The encoder is malfunctioning. Replace the servo motor.
6. There is an abnormality in the surrounding Check the noise, ambient temperature, and others, and implement appropriate
countermeasures for the cause.
environment.
If there is noise, take countermeasures to reduce the noise.
Refer to "Noise reduction techniques" in the following manual.
MR-J5 User's Manual (Hardware)
[AL. 020.2_Encoder normal communication - Receive data error 2]
Page 26 [AL. 020.1_Encoder normal communication - Receive data error 1]
[AL. 020.3_Encoder normal communication - Receive data error 3]
Page 26 [AL. 020.1_Encoder normal communication - Receive data error 1]
[AL. 020.5_Encoder normal communication - Transmission data error 1]
Cause Check/action method Model
1. When an A/B/Z-phase differential output linear Check if the A/B-phase pulse signals (PA, PAR, PB, and PBR) of the encoder [A]
cable are disconnected or shorted. [G]
encoder is used, the wiring of the linear
Refer to "A/B/Z-phase differential output linear encode" in the following [WG]
encoder has an error. manual.
MR-J5 Partner's Encoder User's Manual
2. There is an error in the encoder cable. Page 26 [AL. 020.1_Encoder normal communication - Receive data error
1]
3. The external conductor of the encoder cable is
not connected to the ground plate of the
connector.
4. When an A/B/Z-phase differential output linear
encoder is used, the servo parameter setting
is incorrect.
5. The servo amplifier is malfunctioning.
6. The encoder is malfunctioning.
7. There is an abnormality in the surrounding
environment.
1 SERVO AMPLIFIER TROUBLESHOOTING
26 1.3 Handling methods for alarms/warnings
[AL. 020.6_Encoder normal communication - Transmission data error 2]
Cause Check/action method Model 1
1. When an A/B/Z-phase differential output linear Check if the Z-phase pulse signals (PZ and PZR) of the encoder cable are [A]
disconnected or shorted. [G]
encoder is used, the wiring of the linear
Refer to "A/B/Z-phase differential output linear encode" in the following
encoder has an error. manual.
MR-J5 Partner's Encoder User's Manual
2. There is an error in the encoder cable. Page 26 [AL. 020.1_Encoder normal communication - Receive data error [A]
1] [G]
3. The external conductor of the encoder cable is [WG]
not connected to the ground plate of the
connector.
4. When an A/B/Z-phase differential output linear
encoder is used, the servo parameter setting
is incorrect.
5. The servo amplifier is malfunctioning.
6. The encoder is malfunctioning.
7. There is an abnormality in the surrounding
environment.
[AL. 020.7_Encoder normal communication - Transmission data error 3]
Page 26 [AL. 020.1_Encoder normal communication - Receive data error 1]
1 SERVO AMPLIFIER TROUBLESHOOTING
1.3 Handling methods for alarms/warnings 27
[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
1. An excessive speed or acceleration was Decrease the control gain, and then check the repeatability. If the error does [A]
not repeat, use the encoder with a lower gain. [G]
detected due to an oscillation or other factors.
[WG]
2. The external conductor of the encoder cable is Check if the external conductor of the encoder cable is connected to the
ground plate of the connector.
not connected to the ground plate of the
Refer to "Ground plate connection" in the following manual.
connector. Rotary Servo Motor User's Manual (HK series)
3. The encoder is malfunctioning. Replace the servo motor.
4. There is an abnormality in the surrounding Check the noise, ambient temperature, and others, and implement appropriate
countermeasures for the cause.
environment.
If there is noise, take countermeasures to reduce the noise.
Refer to "Noise reduction techniques" in the following manual.
MR-J5 User's Manual (Hardware)
[AL. 021.2_Encoder data update error]
Cause Check/action method Model
1. The encoder is malfunctioning. Replace the servo motor. [A]
[G]
2. The external conductor of the encoder cable is Check if the external conductor of the encoder cable is connected to the
[WG]
ground plate of the connector.
not connected to the ground plate of the
Refer to "Ground plate connection" in the following manual.
connector. Rotary Servo Motor User's Manual (HK series)
3. There is an abnormality in the surrounding Check the noise, ambient temperature, and others, and implement appropriate
countermeasures for the cause.
environment.
If there is noise, take countermeasures to reduce the noise.
Refer to "Noise reduction techniques" in the following manual.
MR-J5 User's Manual (Hardware)
[AL. 021.3_Encoder data waveform error]
Page 28 [AL. 021.2_Encoder data update error]
[AL. 021.4_Encoder non-signal error]
Cause Check/action method Model
1. A signal of the encoder has not been input. Check if the encoder cable is wired correctly. [A]
[G]
2. The external conductor of the encoder cable is Check if the external conductor of the encoder cable is connected to the
[WG]
ground plate of the connector.
not connected to the ground plate of the
Refer to "Ground plate connection" in the following manual.
connector. Rotary Servo Motor User's Manual (HK series)
3. There is an abnormality in the surrounding Check the noise, ambient temperature, and others, and implement appropriate
countermeasures for the cause.
environment.
If there is noise, take countermeasures to reduce the noise.
Refer to "Noise reduction techniques" in the following manual.
MR-J5 User's Manual (Hardware)
[AL. 021.5_Encoder hardware error 1]
Page 28 [AL. 021.2_Encoder data update error]
[AL. 021.6_Encoder hardware error 2]
Page 28 [AL. 021.2_Encoder data update error]
1 SERVO AMPLIFIER TROUBLESHOOTING
28 1.3 Handling methods for alarms/warnings
[AL. 024_Main circuit error]
• A ground fault occurred on the servo motor power lines. 1
• A ground fault occurred on the servo motor.
[AL. 024.1_Ground fault detected at hardware detection circuit]
Cause Check/action method Model
1. A ground fault or short occurred in the servo Check if the servo motor power cable has been shorted. If short occurs, [A]
replace the servo motor power cable. [G]
motor power cable.
[WG]
2. A ground fault occurred on the servo motor. After disconnecting the servo motor power cables on the servo motor side,
check the insulation between phases (U, V, W, and ). If short occurs,
replace the servo motor.
3. The main circuit power supply cable and servo After shutting off the power, make sure that the main circuit power cable and
the motor power cable are not in contact with each other. If the cables are
motor power cable have been shorted.
contacting, correct the wiring.
4. The servo amplifier is malfunctioning. Check that this alarm occurs as the servo motor power cables (U / V / W) are
disconnected. If the alarm occurs, replace the servo amplifier.
5. There is an abnormality in the surrounding Check the noise, ambient temperature, and others, and implement appropriate
countermeasures for the cause. If there is noise, take countermeasures to
environment.
reduce the noise.
Refer to "Noise reduction techniques" in the following manual.
MR-J5 User's Manual (Hardware)
[AL. 024.2_Ground fault detected by software detection function]
Cause Check/action method Model
1. A ground fault or short occurred in the servo Check if the servo motor power cable has been shorted. If short occurs, [A]
replace the servo motor power cable. [G]
motor power cable.
[WG]
2. A ground fault occurred on the servo motor. After disconnecting the servo motor power cables on the servo motor side,
check the insulation between phases (U, V, W, and ). If short occurs,
replace the servo motor.
3. The main circuit power supply cable and servo After shutting off the power, make sure that the main circuit power cable and
the motor power cable are not in contact with each other. If the cables are
motor power cable have been shorted.
contacting, correct the wiring.
4. The servo amplifier is malfunctioning. Check that this alarm occurs as the servo motor power cables (U / V / W) are
disconnected. If the alarm occurs, replace the servo amplifier.
5. There is an abnormality in the surrounding Check the noise, ambient temperature, and others, and implement appropriate
countermeasures for the cause. If there is noise, take countermeasures to
environment.
reduce the noise.
Refer to "Noise reduction techniques" in the following manual.
MR-J5 User's Manual (Hardware)
1 SERVO AMPLIFIER TROUBLESHOOTING
1.3 Handling methods for alarms/warnings 29
[AL. 025_Absolute position erased]
• The absolute position data have errors.
• Power was switched on for the first time in the absolute position detection system.
[AL. 025.1_Servo motor encoder - Absolute position erased]
Cause Check/action method Model
1. Power was switched on for the first time in the When the power was switched on for the first time after the absolute position [A]
detection system is set, check that the battery is mounted correctly before [G]
absolute position detection system.
homing. [WG]
When a servo motor with a batteryless absolute position encoder is used, wait
for 5 s in the alarm occurrence, and then cycle the power. Perform homing.
2. The servo motor, which is different from servo Connect the servo motor that was connected at the startup of the absolute
position detection system. Start up the absolute position detection system
motor that had been connected on the battery-
again.
less absolute position encoder loaded servo
motor that has been connected on startup of
the absolute position detection system, was
incorrectly connected.
3. After the control circuit power supply was shut If the battery was disconnected as described in the left column, check that the
battery is mounted correctly before homing.
off, the battery was removed in either of the
following situations:
• When using an MR-BAT6V1SET(-A) battery or MR-BT6VCASE
battery case, CN4 of the servo amplifier was disconnected with
the control circuit power supply off.
4. The power was shut off in either of the If the power supply was shut off as described in the left column, check that the
battery is mounted correctly before homing.
following situations:
If the power supply was not shut off as described in the left column, check if
• When using an MR-BAT6V1SET(-A) battery or MR-BT6VCASE, the following cases apply:
the power was shut off with the battery disconnected from CN4. When MR-BAT6V1SET(-A) or MR-BT6VCASE is used, see 6.
5. The battery voltage is low. The battery is Check the battery voltage with a tester. If the voltage is lower than 3 V DC,
replace the battery.
exhausted.
6. The voltage dropped considerably in the Check if recommended cable is used for the encoder cable.
Refer to "Optional power cable" in the following manual.
encoder cable wired to the battery.
Rotary Servo Motor User's Manual (HK series)
7. A battery cable is malfunctioning. Check for a loose connection with a tester.
If there is a loose connection, use a recommended cable.
8. There is a loose connection of the encoder Check for a loose connection with a tester. Measure the voltage on the servo
motor side.
cable on the servo motor side.
If there is a loose connection, repair or replace the encoder cable.
9. When using direct drive motor, the absolute Refer to "Encoder cable combination" in the following manual.
MR-J5 Direct Drive Motor User's Manual
position storage unit is not connected.
10. The servo amplifier is malfunctioning. Replace the servo amplifier.
11. The encoder is malfunctioning. Replace the servo motor.
1 SERVO AMPLIFIER TROUBLESHOOTING
30 1.3 Handling methods for alarms/warnings
[AL. 027_Initial magnetic pole detection error]
• The initial magnetic pole detection cannot be performed properly. 1
[AL. 027.1_Initial magnetic pole detection - Abnormal termination]
Cause Check/action method Model
1. A moving part collided against the machine. If the moving part collides, move the start position of the magnetic pole [A]
detection. [G]
2. The wiring of the servo motor power cable is Check the motor power cable for abnormality. [WG]
Refer to "Power cable wiring diagram" in the following manual.
incorrect.
MR-J5 Linear Servo Motor User's Manual
Refer to "Direct drive motor power cable wiring diagram" in the following
manual.
MR-J5 Direct Drive Motor User's Manual
3. The linear encoder resolution setting differs Check the setting of [Pr. PL02 Linear encoder resolution setting - Numerator]
and [Pr. PL03 Linear encoder resolution setting - Denominator].
from the setting value.
4. The mounting direction of the linear encoder is Check the polarities of the linear encoder and the linear servo motor.
If the mounting direction is incorrect, mount the encoder correctly. Change the
incorrect.
setting of "Encoder pulse count polarity selection" as required.
[A]: [Pr. PC45.0 Encoder pulse count polarity selection]
MR-J5-A User's Manual (Parameters)
[G] [WG]: [Pr. PC27.0 Encoder pulse count polarity selection]
MR-J5-G/MR-J5W-G User's Manual (Parameters)
Refer to "Setting of linear encoder direction and linear servo motor direction" in
the following manual.
MR-J5 User's Manual (Hardware)
5. An excitation level of the magnetic pole • When in position detection method
Check if the travel distance in the magnetic pole detection is small. If the travel
detection voltage level is small.
distance is small, set a larger value in [Pr. PL09 Magnetic pole detection -
Voltage level].
• When in minute position detection method
Check if the travel distance in the magnetic pole detection is large, or if a
vibration is occurring. If the travel distance is large or a vibration is occurring,
refer to the magnetic pole detection method, and review the setting of [Pr.
PL17.0 Response selection] and [Pr. PL17.1 Load to motor mass ratio/load to
motor inertia ratio selection].
Refer to "Magnetic pole detection" in the following manual.
MR-J5 User's Manual (Hardware)
[AL. 027.2_Initial magnetic pole detection - Time out error]
Cause Check/action method Model
1. Servo-on was enabled when the primary side Stop the linear servo motor and the direct drive motor, and then turn the servo- [A]
on again. [G]
of linear servo motor and rotor of direct drive
[WG]
motor was not stopped.
2. Only one of the limit switches is on during Check the limit switches and remove the cause.
Move the start position of the magnetic pole detection.
magnetic pole detection.
In the magnetic pole detection, only one of the
limit switches is turned off.
3. The excitation level in the magnetic pole • When in position detection method
Check if the travel distance in the magnetic pole detection is small. If the travel
detection is small.
distance is small, set a larger value in [Pr. PL09 Magnetic pole detection -
Voltage level].
1 SERVO AMPLIFIER TROUBLESHOOTING
1.3 Handling methods for alarms/warnings 31
[AL. 027.3_Initial magnetic pole detection - Limit switch error]
Cause Check/action method Model
1. In the magnetic pole detection, both limit Check the limit switch status. [A]
If both of the limit switches are turned off, turn on the limit switches. [G]
switches are turned off.
When using a direct drive motor, see also 2. [WG]
2. When using a direct drive motor in a system Check the setting of [Pr. PL08.2 Magnetic pole detection - Stroke limit enabled/
disabled selection]
where the motor rotates one revolution or
more, the following stroke limit signals are not
disabled with a servo parameter.
[A]: LSP and LSN
[GF] [WG]: LSP and LSN (FLS and RLS from the controller)
3. The setting of the magnetic pole detection is Check the setting of the servo parameter and others.
Refer to "Magnetic pole detection" in the following manual.
incorrect.
MR-J5 User's Manual (Hardware)
[AL. 027.4_Initial magnetic pole detection - Estimated error]
Page 31 [AL. 027.1_Initial magnetic pole detection - Abnormal termination]
[AL. 027.5_Initial magnetic pole detection - Speed deviation error]
Page 31 [AL. 027.1_Initial magnetic pole detection - Abnormal termination]
[AL. 027.6_Initial magnetic pole detection - Position deviation error]
Page 31 [AL. 027.1_Initial magnetic pole detection - Abnormal termination]
[AL. 027.7_Initial magnetic pole detection - Current error]
Page 31 [AL. 027.1_Initial magnetic pole detection - Abnormal termination]
1 SERVO AMPLIFIER TROUBLESHOOTING
32 1.3 Handling methods for alarms/warnings
[AL. 028_Linear encoder error 2]
• There is an abnormality in the using environment of the linear encoder. 1
[AL. 028.1_Linear encoder environmental error]
Cause Check/action method Model
1. The ambient temperature of the linear encoder Check the ambient temperature and the specifications of the linear encoder. [A]
[G]
is outside of specifications.
[WG]
2. The signal level of the linear encoder dropped. Check the mounting condition of the linear encoder.
3. The temperature detection circuit of the linear Contact the manufacturer of the linear encoder.
encoder is malfunctioning.
1 SERVO AMPLIFIER TROUBLESHOOTING
1.3 Handling methods for alarms/warnings 33
[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
1. Mounting condition of the linear encoder and Adjust the positions of the linear encoder and head. [A]
[G]
head is failure.
[WG]
2. The external conductor of the encoder cable is Check if the external conductor of the encoder cable is connected to the
ground plate of the connector.
not connected to the ground plate of the
Refer to "Ground plate connection" in the following manual.
connector. Rotary Servo Motor User's Manual (HK series)
3. There is an abnormality in the surrounding Check the noise, ambient temperature, and others, and implement appropriate
countermeasures for the cause.
environment.
If there is noise, take countermeasures to reduce the noise.
Refer to "Noise reduction techniques" in the following manual.
MR-J5 User's Manual (Hardware)
4. A linear encoder alarm was detected. Refer to "[AL. 02A Linear encoder error 1]" in the following manual.
MR-J5 Partner`s Encoder User's Manual
[AL. 02A.2_Linear encoder error 1-2]
Page 34 [AL. 02A.1_Linear encoder error 1-1]
[AL. 02A.3_Linear encoder error 1-3]
Page 34 [AL. 02A.1_Linear encoder error 1-1]
[AL. 02A.4_Linear encoder error 1-4]
Page 34 [AL. 02A.1_Linear encoder error 1-1]
[AL. 02A.5_Linear encoder error 1-5]
Page 34 [AL. 02A.1_Linear encoder error 1-1]
[AL. 02A.6_Linear encoder error 1-6]
Page 34 [AL. 02A.1_Linear encoder error 1-1]
[AL. 02A.7_Linear encoder error 1-7]
Page 34 [AL. 02A.1_Linear encoder error 1-1]
[AL. 02A.8_Linear encoder error 1-8]
Page 34 [AL. 02A.1_Linear encoder error 1-1]
1 SERVO AMPLIFIER TROUBLESHOOTING
34 1.3 Handling methods for alarms/warnings
[AL. 02B_Encoder counter error]
• There is an error in the data created by the encoder. 1
[AL. 02B.1_Encoder counter error 1]
Cause Check/action method Model
1. There is an error in the encoder cable. Check if the encoder cable is disconnected or shorted. [A]
[G]
2. The external conductor of the encoder cable is Check if the external conductor of the encoder cable is connected to the
[WG]
ground plate of the connector.
not connected to the ground plate of the
Refer to "Ground plate connection" in the following manual.
connector. Rotary Servo Motor User's Manual (HK series)
3. There is an abnormality in the surrounding Check the noise, ambient temperature, and others, and implement appropriate
countermeasures for the cause. If there is noise, take countermeasures to
environment.
reduce the noise.
Refer to "Noise reduction techniques" in the following manual.
MR-J5 User's Manual (Hardware)
4. The encoder is malfunctioning. Replace the direct drive motor.
[AL. 02B.2_Encoder counter error 2]
Page 35 [AL. 02B.1_Encoder counter error 1]
1 SERVO AMPLIFIER TROUBLESHOOTING
1.3 Handling methods for alarms/warnings 35
[AL. 030_Regenerative error]
• The permissible regenerative power of the built-in regenerative resistor or regenerative option was exceeded.
• A regenerative transistor in the servo amplifier is malfunctioning.
[AL. 030.1_Regenerative heat error]
Cause Check/action method Model
1. The setting of the regenerative resistor Check the regenerative resistor (regenerative option) in use and the setting [A]
value of [Pr. PA02 Regenerative option]. [G]
(regenerative option) is incorrect.
Refer to "Regenerative option" in the following manual. [WG]
MR-J5 User's Manual (Hardware)
2. The regenerative resistor (regenerative option) Check that the regenerative resistor (regenerative option) is connected
correctly.
is not connected.
Refer to "Regenerative option" in the following manual.
MR-J5 User's Manual (Hardware)
3. The regenerative resistor (regenerative option) Check that the regenerative resistor (regenerative option) and the servo
amplifier are the specified combination.
and the servo amplifier are connected in a
Refer to "Regenerative option" in the following manual.
wrong combination. MR-J5 User's Manual (Hardware)
4. The power supply voltage is high. Check if the voltage of the input power supply exceeds the upper limit of the
permissible voltage. If the power supply voltage exceeds the upper limit,
reduce the power supply voltage.
200 V class: 264 V AC
5. The regenerative power is large. Check whether the regenerative load ratio exceeds the upper limit value when
the alarm occurs.
Take the corrective actions as follows.
• Reduce the frequency of positioning.
• Set a longer deceleration time constant.
• Reduce the load.
• Use a regenerative option if it is not being used.
[WG]
• Ensure that each axis does not decelerate simultaneously.
[AL. 030.2_Regenerative signal error]
Cause Check/action method Model
1. A detection circuit of the servo amplifier is Check if the regenerative resistor (regenerative option) is overheating. If the [A]
regenerative resistor is overheating, replace the servo amplifier. [G]
malfunctioning.
[WG]
[AL. 030.3_Regenerative feedback signal error]
Cause Check/action method Model
1. A detection circuit of the servo amplifier is Remove the regenerative option or built-in regenerative resistor, and then [A]
check if the alarm occurs at power on. If the alarm occurs, replace the servo [G]
malfunctioning.
amplifier. [WG]
2. There is an abnormality in the surrounding Check the noise, ground fault, ambient temperature, and others, and then take
countermeasures against its cause.
environment.
If there is noise, take countermeasures to reduce the noise.
Refer to "Noise reduction techniques" in the following manual.
MR-J5 User's Manual (Hardware)
1 SERVO AMPLIFIER TROUBLESHOOTING
36 1.3 Handling methods for alarms/warnings
[AL. 031_Overspeed]
• The servo motor speed exceeded the maximum speed. 1
[AL. 031.1_Servo motor speed error]
Cause Check/action method Model
1. The command pulse frequency is high. Check the command pulse frequency. If the command pulse frequency [A]
exceeds the maximum input pulse frequency, review the operation pattern.
2. The setting of the electronic gear is incorrect. Check the setting value of the electronic gear.
Refer to "Parameter detail list" in the following manual.
MR-J5-A User's Manual (Parameters)
3. The command from the controller is excessive. Check if the command from the controller exceeds the maximum speed. [A]
When changing the judged value to the permissible speed, set in [Pr. PA 28.4 [G]
Speed range limit selection]. [WG]
4. A speed command exceeding the overspeed Check that the actual servo motor speed is higher than the overspeed alarm
level.
alarm level was inputted.
5. The servo motor at the acceleration is at the Check if the torque (thrust) is the maximum torque (maximum thrust) at the
acceleration. If the torque (thrust) is the maximum torque (maximum thrust),
maximum torque (maximum thrust).
increase the acceleration/deceleration time constants. Or reduce the load.
6. The servo system is unstable and oscillating. Check if the servo motor is oscillating. If the servo motor is oscillating, adjust
the servo gain. Or reduce the load.
7. The velocity waveform overshot. Check if the velocity waveform is overshooting because of the short
acceleration/deceleration time constant. If the velocity waveform is
overshooting, increase the acceleration/deceleration time constant.
8. The connection destination of the servo motor Check for any incorrect connection destination of the motor power cable or
encoder cable.
power cable or the encoder cable is incorrect.
Refer to "Connection example of power supply circuit" in the following manual.
MR-J5 User's Manual (Hardware)
9. The connection of the servo motor is incorrect. Check the U/V/W wiring.
Refer to "Connection example of power supply circuit" in the following manual.
MR-J5 User's Manual (Hardware)
Refer to "When switching on the power for the first time" in the following
manual.
MR-J5-A User's Manual (Introduction)
MR-J5-G/MR-J5W-G User's Manual (Introduction)
10. The encoder or linear encoder is Check if this alarm occurs when the servo motor rotates at the lower speed
than the maximum speed. If the alarm occurs, replace the servo motor or the
malfunctioning.
linear encoder.
When changing the judged value to the permissible speed, set in [Pr. PA 28.4
Speed range limit selection].
1 SERVO AMPLIFIER TROUBLESHOOTING
1.3 Handling methods for alarms/warnings 37
[AL. 032_Overcurrent]
• A higher than the permissible current was applied to the servo amplifier.
[AL. 032.1_Overcurrent detected at hardware detection circuit (during operation)]
Cause Check/action method Model
1. The servo amplifier is malfunctioning. Check that this alarm occurs as the servo motor power cables (U / V / W) are [A]
disconnected. [G]
If the alarm occurs, replace the servo amplifier. [WG]
2. A ground fault or short occurred in the servo Check if the servo motor power cable has been shorted.
If short occurs, replace the servo motor power cable.
motor power cable.
3. The servo motor is malfunctioning. After disconnecting the servo motor power cables on the servo motor side,
check the insulation between phases (U, V, W , or ).
If a ground fault is present, replace the servo motor.
4. The dynamic brake is malfunctioning. After confirming that the Cause 1, 2, and 3 did not apply, check if this alarm
occurs when turning on the servo-on command.
If the alarm occurs, replace the servo amplifier.
If the alarm does not occur, check 5.
5. The connection destination of the servo motor Check the connection destination of the motor power cable or encoder cable.
Refer to "Connection example of power supply circuit" in the following manual.
power cable or the encoder cable is incorrect.
MR-J5 User's Manual (Hardware)
6. There is an abnormality in the surrounding Check the noise, ambient temperature, and others, and implement appropriate
countermeasures for the cause.
environment.
If a failure is not found in the surrounding environment, carry out the check/
action method for [AL. 045.1].
If there is noise, take countermeasures to reduce the noise.
Refer to "Noise reduction techniques" in the following manual.
MR-J5 User's Manual (Hardware)
[AL. 032.2_Overcurrent detected by software detection process (during operation)]
Cause Check/action method Model
1. The servo gain is high. Check if an oscillation is occurring. [A]
If an oscillation is occurring, reduce the value in [Pr. PB09 Speed control gain]. [G]
2. The servo amplifier is malfunctioning. Check that this alarm occurs as the servo motor power cables (U / V / W) are [WG]
disconnected.
If the alarm occurs, replace the servo amplifier.
3. A ground fault or short occurred in the servo Check if the servo motor power cable has been shorted.
If short occurs, replace the servo motor power cable.
motor power cable.
4. The servo motor is malfunctioning. After disconnecting the servo motor power cables on the servo motor side,
check the insulation between phases (U, V, W , or ). If a ground fault is
present, replace the servo motor.
5. The connection destination of the servo motor Check the connection destination of the motor power cable or encoder cable.
Refer to "Connection example of power supply circuit" in the following manual.
power cable or the encoder cable is incorrect.
MR-J5 User's Manual (Hardware)
6. There is an abnormality in the surrounding Check the noise, ambient temperature, and others, and implement appropriate
countermeasures for the cause.
environment.
If there is noise, take countermeasures to reduce the noise.
Refer to "Noise reduction techniques" in the following manual.
MR-J5 User's Manual (Hardware)
[AL. 032.3_Overcurrent detected at hardware detection circuit (during a stop)]
Page 38 [AL. 032.1_Overcurrent detected at hardware detection circuit (during operation)]
[AL. 032.4_Overcurrent detected at software detection function (during a stop)]
Page 38 [AL. 032.2_Overcurrent detected by software detection process (during operation)]
1 SERVO AMPLIFIER TROUBLESHOOTING
38 1.3 Handling methods for alarms/warnings
[AL. 033_Overvoltage]
• The value of the bus voltage exceeded the specified value. 1
200 V class: 400 V DC
[AL. 033.1_Main circuit voltage error]
Cause Check/action method Model
1. The setting of the regenerative resistor Check the regenerative resistor (regenerative option) in use and the setting [A]
value of [Pr. PA02.0-1 Regenerative option selection]. [G]
(regenerative option) is incorrect.
Refer to "Regenerative option" in the following manual. [WG]
MR-J5 User's Manual (Hardware)
2. The regenerative resistor (regenerative option) Check that the regenerative resistor (regenerative option) is connected
correctly.
is not connected.
Refer to "Regenerative option" in the following manual.
MR-J5 User's Manual (Hardware)
3. The built-in regenerative resistor or Measure the resistance value of the built-in regenerative resistor or
regenerative option.
regenerative option is disconnected.
If the resistance value is abnormal, take the corrective actions as follows:
• When using a built-in regenerative resistor, replace the servo amplifier.
• When using a regenerative option, replace the regenerative option.
Refer to "Regenerative option" in the following manual.
MR-J5 User's Manual (Hardware)
4. Insufficient regeneration capacity Set a longer deceleration time constant, and then check the repeatability.
If the error does not repeat, take corrective actions as follows:
• When using a built-in regenerative resistor, use a regenerative option.
• When using a regenerative option, use one with a larger capacity.
5. The power supply voltage is high. Check if the voltage of the input power supply exceeds the upper limit of the
permissible voltage. If the power supply voltage exceeds the upper limit,
reduce the power supply voltage.
200 V class: 264 V AC
6. There is an abnormality in the surrounding Check the noise, ambient temperature, and others, and implement appropriate
countermeasures for the cause.
environment.
If there is noise, take countermeasures to reduce the noise.
Refer to "Noise reduction techniques" in the following manual.
MR-J5 User's Manual (Hardware)
1 SERVO AMPLIFIER TROUBLESHOOTING
1.3 Handling methods for alarms/warnings 39
[AL. 035_Command frequency error]
• The input command pulse frequency is high.
[AL. 035.1_Command frequency error]
Cause Check/action method Model
1. The command pulse frequency is high. Check the command pulse frequency, and if the command pulse frequency [A]
exceeds the maximum input pulse frequency, review the operation pattern.
2. The setting of [Pr. PA13.2 Command input Check that the setting value of [Pr. PA13.2] is the value that matches the
command pulse frequency.
pulse train filter selection] is incorrect.
3. The command from the controller is excessive. Check if the command from the controller exceeds the maximum speed. If the [G]
command exceeds the maximum speed, review the operation pattern. [WG]
When changing the judged value to the permissible speed, set in [Pr. PA 28.4
Speed range limit selection].
4. The controller is malfunctioning. Replace the controller.
5. There is an abnormality in the surrounding Check the noise, ambient temperature, and others, and implement appropriate [A]
countermeasures for the cause. [G]
environment.
If there is noise, take countermeasures to reduce the noise. [WG]
Refer to "Noise reduction techniques" in the following manual.
MR-J5 User's Manual (Hardware)
1 SERVO AMPLIFIER TROUBLESHOOTING
40 1.3 Handling methods for alarms/warnings
[AL. 037_Parameter error]
• Servo parameter setting value is incorrect. 1
[AL. 037.1_Parameter setting range error]
Cause Check/action method Model
1. The servo parameter was set outside of the [A]: Check the servo parameter error No. display screen of the servo amplifier [A]
display section, the MR Configurator2 alarm display screen, and other relevant [G]
setting range.
screens and review the servo parameter setting value. [WG]
[G] [WG]: Check the servo parameter error No. and review the setting value of
the servo parameter on the alarm display screen of MR Configurator2 or
others.
2. Inconsistent combination of the servo [A]: Check the servo parameter error No. display screen of the servo amplifier
display section, the MR Configurator2 alarm display screen, and other relevant
parameters that have been set.
screens and review the servo parameter setting value.
[G] [WG]: Check the servo parameter error No. and review the setting value of
the servo parameter on the alarm display screen of MR Configurator2 or
others.
3. The setting value of the servo parameter has Replace the servo amplifier.
changed due to the servo amplifier
malfunction.
[AL. 037.2_Parameter combination error]
Cause Check/action method Model
1. Inconsistent combination of the servo [A]: Check the servo parameter error No. display screen of the servo amplifier [A]
display section, the MR Configurator2 alarm display screen, and other relevant [G]
parameters that have been set.
screens and review the servo parameter setting value. [WG]
[G] [WG]: Check the servo parameter error No. and review the setting value of
the servo parameter on the alarm display screen of MR Configurator2 or
others.
[AL. 037.6_Parameter mismatch error]
Cause Check/action method Model
1. Mismatching with the saved parameters [A]: Check the parameter error No. on the servo amplifier display, the alarm [A]
display screen of MR Configurator2, and others. Rewrite the setting value [G]
occurred because of the error in writing
because the value before or after writing has been displayed. [WG]
parameters. [G] [WG]: Check the servo parameter error No. on the alarm display screen of
MR Configurator2 or others. Rewrite the setting value because the value
before or after writing has been displayed.
2. The setting value of the parameter changed as Replace the servo amplifier.
the servo amplifier malfunctioned.
[AL. 037.7_Network parameter setting error]
Cause Check/action method Model
1. An error exists in the network parameter Check if the setting value of the network parameter is within the setting range. [A]
[A]: Check the parameter error No. on the parameter error No. display screen [G]
setting.
of the servo amplifier display, the alarm display screen of MR Configurator2, [WG]
and others. Rewrite the setting value because the value before or after writing
has been displayed.
[G] [WG]: Check the servo parameter error No. on the alarm display screen of
MR Configurator2 or others. Rewrite the setting value because the value
before or after writing has been displayed.
2. The setting value of the network parameter Replace the servo amplifier.
changed as the servo amplifier malfunctioned.
1 SERVO AMPLIFIER TROUBLESHOOTING
1.3 Handling methods for alarms/warnings 41
[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
1. The inrush current suppressor circuit is Replace the servo amplifier. [A]
[G]
malfunctioning.
[WG]
1 SERVO AMPLIFIER TROUBLESHOOTING
42 1.3 Handling methods for alarms/warnings
[AL. 042_Servo control error]
• A servo control error occurred. 1
[AL. 042.1_Servo control error by position deviation]
Cause Check/action method Model
1. The setting of the encoder resolution differs Check the setting of [Pr. PL02 Linear encoder resolution setting - Numerator] [A]
and [Pr. PL03 Linear encoder resolution setting - Denominator]. [G]
from the actual value.
Refer to "Linear encoder resolution setting" in the following manual. [WG]
MR-J5 User's Manual (Hardware)
2. The mounting direction of the encoder is Check the polarities of the linear encoder and the linear servo motor.
If the mounting direction is incorrect, mount the encoder correctly.
incorrect.
Change the setting of "Encoder pulse count polarity selection" as required.
[A]: [Pr. PC45.0 Encoder pulse count polarity selection]
MR-J5-A User's Manual (Parameters)
[G] [WG]: [Pr. PC27.0 Encoder pulse count polarity selection]
MR-J5-G/MR-J5W-G User's Manual (Parameters)
Refer to "Setting of linear encoder direction and linear servo motor direction" in
the following manual.
MR-J5 User's Manual (Hardware)
3. The connection of the servo motor is incorrect. Check the wiring.
Refer to "Signals and wiring" in the following manual.
MR-J5 User's Manual (Hardware)
4. The initial magnetic pole detection was not Execute the magnetic pole detection, and then check the repeatability.
Refer to "Magnetic pole detection" in the following manual.
executed.
MR-J5 User's Manual (Hardware)
5. The setting value is low in the position Check the value of the droop pulses.
If the deviation is large, review the operation status. Review the setting of [Pr.
deviation error detection level.
PL05 Position deviation error detection level], as required.
[AL. 042.2_Servo control error by speed deviation]
Cause Check/action method Model
1. The setting of the encoder resolution differs Check the setting of [Pr. PL02 Linear encoder resolution setting - Numerator] [A]
and [Pr. PL03 Linear encoder resolution setting - Denominator]. [G]
from the actual value.
Refer to "Linear encoder resolution setting" in the following manual. [WG]
MR-J5 User's Manual (Hardware)
2. The mounting direction of the encoder is Check the polarities of the linear encoder and the linear servo motor.
Change the setting of "Encoder pulse count polarity selection" as required.
incorrect.
[A]: [Pr. PC45.0 Encoder pulse count polarity selection]
MR-J5-A User's Manual (Parameters)
[G] [WG]: [Pr. PC27.0 Encoder pulse count polarity selection]
MR-J5-G/MR-J5W-G User's Manual (Parameters)
Refer to "Setting of linear encoder direction and linear servo motor direction" in
the following manual.
MR-J5 User's Manual (Hardware)
3. The connection of the servo motor is incorrect. Check the wiring.
Refer to "Signals and wiring" in the following manual.
MR-J5 User's Manual (Hardware)
4. The initial magnetic pole detection was not Execute the magnetic pole detection, and then check the repeatability.
Refer to "Magnetic pole detection" in the following manual.
executed.
MR-J5 User's Manual (Hardware)
5. The setting value in the speed deviation error Calculate the deviation between the speed command and actual speed. If the
deviation is large, review the operation status. Review the setting of [Pr. PL06
detection level is low.
Speed deviation - Error detection level], as required.
1 SERVO AMPLIFIER TROUBLESHOOTING
1.3 Handling methods for alarms/warnings 43
[AL. 042.3_Servo control error by torque/thrust deviation]
Cause Check/action method Model
1. The setting of the encoder resolution differs Check the setting of [Pr. PL02 Linear encoder resolution setting - Numerator] [A]
and [Pr. PL03 Linear encoder resolution setting - Denominator]. [G]
from the actual value.
Refer to "Linear encoder resolution setting" in the following manual. [WG]
MR-J5 User's Manual (Hardware)
2. The mounting direction of the encoder is Check the polarities of the linear encoder and the linear servo motor.
Change the setting of "Encoder pulse count polarity selection" as required.
incorrect.
[A]: [Pr. PC45.0 Encoder pulse count polarity selection]
MR-J5-A User's Manual (Parameters)
[G] [WG]: [Pr. PC27.0 Encoder pulse count polarity selection]
MR-J5-G/MR-J5W-G User's Manual (Parameters)
Refer to "Setting of linear encoder direction and linear servo motor direction" in
the following manual.
MR-J5 User's Manual (Hardware)
3. The connection of the servo motor is incorrect. Check the wiring.
Refer to "Signals and wiring" in the following manual.
MR-J5 User's Manual (Hardware)
4. The initial magnetic pole detection was not Check the repeatability.
Refer to "Magnetic pole detection" in the following manual.
executed.
MR-J5 User's Manual (Hardware)
5. The setting value in the torque/thrust deviation Calculate the deviation between the current command and torque/thrust. If the
deviation is large, review the power-supply environment or the operation
error detection level is low.
status. Review the setting of [Pr. PL07 Torque deviation error detection level],
as required.
1 SERVO AMPLIFIER TROUBLESHOOTING
44 1.3 Handling methods for alarms/warnings
[AL. 045_Main circuit device overheat]
• The inside of the servo amplifier overheated. 1
[AL. 045.1_Main circuit device overheat error 1]
Cause Check/action method Model
1. Ambient temperature exceeded the specified Check the ambient temperature, and if the temperature exceeds the specified [A]
value, lower the ambient temperature. [G]
value.
[WG]
2. The close mounting does not meet Check the specifications of close mounting.
Refer to "Mounting direction and spacing" in the following manual.
specifications.
MR-J5 User's Manual (Hardware)
3. The power was turned on and off repeatedly Check if the overload status occurred frequently.
If the overload status occurred frequently, review the operation pattern.
under the overload status.
4. A cooling fan, heat sink, or opening is clogged. Clean the cooling fan, heat sink, or openings.
5. The servo amplifier is malfunctioning. Replace the servo amplifier.
[AL. 045.2_Main circuit device overheat error 2]
Page 45 [AL. 045.1_Main circuit device overheat error 1]
1 SERVO AMPLIFIER TROUBLESHOOTING
1.3 Handling methods for alarms/warnings 45
[AL. 046_Servo motor overheat]
• The servo motor overheated.
[AL. 046.1_Abnormal temperature of servo motor 1]
Cause Check/action method Model
1. Ambient temperature of the servo motor has Check the ambient temperature of the servo motor, and if the temperature [A]
exceeds the specified value, lower the ambient temperature. [G]
exceeded the specified value.
[WG]
2. The servo motor is overloaded. Check the effective load ratio.
If the effective load ratio exceeds 100 %, reduce the load or review the
operation pattern.
3. The thermal sensor in the encoder is Replace the servo motor.
malfunctioning.
[AL. 046.2_Abnormal temperature of servo motor 2]
Cause Check/action method Model
1. Ambient temperature of the servo motor has Check the ambient temperature of the servo motor. If the ambient temperature [A]
exceeds the specified value, lower the ambient temperature. [G]
exceeded the specified value.
[WG]
2. The servo motor is overloaded. Check the effective load ratio.
If the effective load ratio exceeds 100 %, reduce the load or review the
operation pattern.
[AL. 046.3_Thermistor disconnected error]
Cause Check/action method Model
1. A servo motor thermistor wire is not Check if the servo motor thermistor wire is connected. [A]
[G]
connected.
[WG]
2. A servo motor thermistor wire is disconnected. Check for disconnection in the servo motor thermistor wire. If the servo motor
thermistor wire is disconnected, repair the wire.
[AL. 046.4_Thermistor circuit error]
Cause Check/action method Model
1. A thermistor circuit of the servo amplifier is Replace the servo amplifier. [A]
[G]
malfunctioning.
[WG]
[AL. 046.5_Abnormal temperature of servo motor 3]
Page 46 [AL. 046.1_Abnormal temperature of servo motor 1]
[AL. 046.6_Abnormal temperature of servo motor 4]
Cause Check/action method Model
1. An electrical current was applied to the servo Check the effective load ratio. [A]
If the effective load ratio is high, reduce the load or review the operation [G]
motor in excess of continuous output current.
pattern. Otherwise, replace the servo motor with a larger-capacity servo motor. [WG]
1 SERVO AMPLIFIER TROUBLESHOOTING
46 1.3 Handling methods for alarms/warnings
[AL. 047_Cooling fan error]
• The speed of the servo amplifier cooling fan decreased. 1
• 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
1. A foreign object was caught in the cooling fan. Check if a foreign object is caught in the cooling fan. If a foreign object is [A]
found, remove it. [G]
2. The cooling fan has reached its life. Replace the cooling fan. [WG]
[AL. 047.2_Cooling fan speed reduction error]
Cause Check/action method Model
1. A foreign object was caught in the cooling fan. Check if a foreign object is caught in the cooling fan. If a foreign object is [A]
found, remove it. [G]
2. The cooling fan has reached its life. Replace the cooling fan.
[WG]
1 SERVO AMPLIFIER TROUBLESHOOTING
1.3 Handling methods for alarms/warnings 47
[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
1. The servo motor power cable was Check the servo motor power cable, and then repair or replace the cable. [A]
[G]
disconnected.
[WG]
2. The connection of the servo motor is incorrect. Check the U/V/W wiring.
Refer to "Connection example of power supply circuit" in the following manual.
MR-J5 User's Manual (Hardware)
3. The electromagnetic brake has not been Check if the electromagnetic brake is released during operation.
released. (Electromagnetic brake is activated.)
4. An electrical current was applied to the servo Check the effective load ratio.
If the effective load ratio is high, reduce the load. Otherwise, replace the servo
amplifier in excess of continuous output
motor with a larger-capacity servo motor.
current.
5. The connection destination of the encoder Check the connection destinations of CN2A, CN2B, and CN2C. [WG]
cable is incorrect.
6. The servo system is unstable and resonating. Adjust gain so the resonance does not occur. [A]
Refer to the following manual. [G]
MR-J5 User's Manual (Adjustment) [WG]
7. The servo amplifier is malfunctioning. Replace the servo amplifier.
8. The encoder or linear encoder is Replace the servo motor or linear encoder.
malfunctioning.
[AL. 050.2_Thermal overload error 2 during operation]
Page 48 [AL. 050.1_Thermal overload error 1 during operation]
[AL. 050.3_Thermal overload error 4 during operation]
Page 48 [AL. 050.1_Thermal overload error 1 during operation]
[AL. 050.4_Thermal overload error 1 during a stop]
Cause Check/action method Model
1. A moving part collided against the machine. Review the operation pattern to avoid collision. [A]
[G]
2. The servo motor power cable was Check the servo motor power cable, and then repair or replace the cable.
[WG]
disconnected.
3. Hunting occurs during servo-lock. Adjust the gain to ensure hunting does not occur.
Refer to the following manual.
MR-J5 User's Manual (Adjustment)
4. The electromagnetic brake has not been Check if the electromagnetic brake is released during operation.
released. (Electromagnetic brake is activated.)
5. An electrical current was applied to the servo Check the effective load ratio.
If the effective load ratio is high, reduce the load. Otherwise, replace the servo
amplifier in excess of continuous output
motor with a larger-capacity servo motor.
current.
6. The connection destination of the encoder Check the connection destinations of CN2A, CN2B, and CN2C. [WG]
cable is incorrect.
7. The servo system is unstable and resonating. Adjust gain so the resonance does not occur. [A]
Refer to the following manual. [G]
MR-J5 User's Manual (Adjustment) [WG]
8. The servo amplifier is malfunctioning. Replace the servo amplifier.
9. The encoder or linear encoder is Replace the servo motor or linear encoder.
malfunctioning.
1 SERVO AMPLIFIER TROUBLESHOOTING
48 1.3 Handling methods for alarms/warnings
[AL. 050.5_Thermal overload error 2 during a stop]
Page 48 [AL. 050.4_Thermal overload error 1 during a stop]
1
[AL. 050.6_Thermal overload error 4 during a stop]
Page 48 [AL. 050.4_Thermal overload error 1 during a stop]
1 SERVO AMPLIFIER TROUBLESHOOTING
1.3 Handling methods for alarms/warnings 49
[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
1. The servo motor power cable was Repair or replace the servo motor power cable. [A]
[G]
disconnected.
[WG]
2. The connection of the servo motor is incorrect. Check the U/V/W wiring.
Refer to "Connection example of power supply circuit" in the following manual.
MR-J5 User's Manual (Hardware)
3. The connection of the encoder cable is Check if the encoder cable is connected correctly.
incorrect.
4. Insufficient torque 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.
5. The servo amplifier is malfunctioning. Replace the servo amplifier.
6. The encoder or linear encoder is Replace the servo motor or linear encoder.
malfunctioning.
[AL. 051.2_Thermal overload error 3 during a stop]
Cause Check/action method Model
1. A moving part collided against the machine. Review the operation pattern to avoid collision. [A]
[G]
2. The servo motor power cable was Page 50 [AL. 051.1_Thermal overload error 3 during operation]
[WG]
disconnected.
3. The connection of the servo motor is incorrect.
4. The connection of the encoder cable is
incorrect.
5. The torque is saturated.
6. The servo amplifier is malfunctioning.
7. The encoder or linear encoder is
malfunctioning.
1 SERVO AMPLIFIER TROUBLESHOOTING
50 1.3 Handling methods for alarms/warnings
[AL. 052_Excessive error]
• Droop pulses exceeded the alarm occurrence level. 1
[AL. 052.1_Excessive droop pulse 1]
Cause Check/action method Model
1. The servo motor power cable was Repair or replace the servo motor power cable. [A]
[G]
disconnected.
[WG]
2. The connection of the servo motor is incorrect. 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)
3. The connection of the encoder cable is Check if the encoder cable is connected correctly.
incorrect.
4. The torque limit is enabled. When torque is limited, increase the torque limit value.
5. A moving part collided against the machine. Review the operation pattern to avoid collision.
6. The electromagnetic brake has not been Check if the electromagnetic brake is released during operation.
released. (Electromagnetic brake is activated.)
7. Insufficient torque 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.
8. Power supply voltage has dropped. If the bus voltage is low, review the power supply voltage and power supply
capacity.
9. Acceleration time constant is short. Set a longer acceleration/deceleration time constants, and then check the
repeatability. If the error does not repeat, increase the acceleration/
deceleration time constant.
10. The position control gain is small. 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].
11. The excessive error alarm level was not set Check the setting of the excessive error alarm level.
[A]: [Pr. PC24.3], [Pr. PC43]
correctly.
[G] [WG]: [Pr. PC01], [Pr. PC06.3]
12. The servo motor shaft was rotated by external Measure the actual position under the servo-lock status.
When an external force rotates the servo motor or moves the linear servo
force. The moving part of the linear servo
motor, review the machine.
motor was moved by external force.
13. The servo amplifier is malfunctioning. Replace the servo amplifier.
14. The encoder or linear encoder is Replace the servo motor or linear encoder.
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 Check/action method Model
1. The torque limit value is 0. Do not input a command when the torque limit value is 0. [A]
[G]
[WG]
[AL. 052.5_Excessive droop pulse 3]
Page 51 [AL. 052.1_Excessive droop pulse 1]
1 SERVO AMPLIFIER TROUBLESHOOTING
1.3 Handling methods for alarms/warnings 51
[AL. 052.6_Excessive droop pulse at servo-off]
Cause Check/action method Model
1. The servo motor shaft was rotated by external Make sure that the servo motor is not rotated (moved) by external force. [A]
[G]
force. The moving part of the linear servo
[WG]
motor was moved by external force.
2. When the servo motor was rotating, servo-on Turn servo-on when the servo motor stops.
was executed. When the linear servo motor
was moving, servo-on was executed.
3. The controller is malfunctioning. Replace the controller, and then check the repeatability.
4. The encoder or the servo motor is Replace the controller, and then check the repeatability.
malfunctioning.
5. The servo amplifier is malfunctioning. Replace the controller, and then check the repeatability.
1 SERVO AMPLIFIER TROUBLESHOOTING
52 1.3 Handling methods for alarms/warnings
[AL. 054_Oscillation detection]
• An oscillation was detected on the servo motor. 1
[AL. 054.1_Oscillation detection error]
Cause Check/action method Model
1. The servo system is unstable and oscillating. Check the torque ripple with MR Configurator2. [A]
If the torque ripple is vibrating, adjust the servo gain with the auto tuning. Set [G]
the machine resonance suppression filter. [WG]
2. The resonance frequency has changed due to Measure the resonance frequency of the equipment and compare the value
with the setting value of the machine resonance suppression filter. If the
aging.
resonance frequency of the equipment and the value of the filter differs,
change the setting of the machine resonance suppression filter.
3. The encoder or linear encoder is Replace the servo motor or linear encoder.
malfunctioning.
1 SERVO AMPLIFIER TROUBLESHOOTING
1.3 Handling methods for alarms/warnings 53
[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
1. The forced stop deceleration time constant is Set a larger value in "Deceleration time constant at forced stop", and then [A]
check the repeatability. If the error does not repeat, adjust the deceleration [G]
short.
time constant. [WG]
[A]: [Pr. PC51 Deceleration time constant at forced stop]
[G] [WG]: [Pr. PC24 Deceleration time constant at forced stop]
2. The torque limit is enabled. When torque is limited, review the torque limit value.
3. 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.
4. The encoder or linear encoder is Replace the servo motor or linear encoder.
malfunctioning.
[AL. 056.3_Estimated excess distance during forced stop]
Cause Check/action method Model
1. The forced stop deceleration time constant is Set a larger value in "Deceleration time constant at forced stop", and then [A]
check the repeatability. If the error does not repeat, adjust the deceleration [G]
short.
time constant. [WG]
[A]: [Pr. PC51 Deceleration time constant at forced stop]
[G] [WG]: [Pr. PC24 Deceleration time constant at forced stop]
2. The torque limit is enabled. When torque is limited, review the torque limit value.
3. The encoder or linear encoder is Replace the servo motor or linear encoder.
malfunctioning.
1 SERVO AMPLIFIER TROUBLESHOOTING
54 1.3 Handling methods for alarms/warnings
[AL. 063_STO timing error]
• STO signal turned off when the servo motor is rotating. 1
[AL. 063.1_STO1 off]
Cause Check/action method Model
1. STO1 was turned off (enabled) under the After the servo motor stops, turn off (enable) STO1. [A]
[G]
following speed conditions.
• Rotary servo motor speed: 50 r/min or higher
• Linear servo motor speed: 50 mm/s or higher
• Direct drive motor speed: 5 r/min or higher
[AL. 063.2_STO2 off]
Cause Check/action method Model
1. STO2 was turned off (enabled) under the After the servo motor stops, turn off (enable) STO2. [A]
[G]
following speed conditions.
• Rotary servo motor speed: 50 r/min or higher
• Linear servo motor speed: 50 mm/s or higher
• Direct drive motor speed: 5 r/min or higher
1 SERVO AMPLIFIER TROUBLESHOOTING
1.3 Handling methods for alarms/warnings 55
[AL. 068_STO diagnosis error]
• An error was detected in the STO input signal.
[AL. 068.1_Mismatched STO signal error]
Cause Check/action method Model
1. STO1 or STO2 is inputted incorrectly. Check that STO1 and STO2 of the CN8 connector are wired correctly. [A]
Refer to "When using STO function" in the following manual. [G]
MR-J5 User's Manual (Hardware)
2. The input status of STO1 and STO2 are If the on/off status of STO1 and STO2 are different, create the same input
status for STO1 and STO2.
different.
3. The setting of [Pr. PF18 STO diagnosis error Set a longer time in the servo parameter setting, and then check the
repeatability. If the error does not repeat, review the value of the servo
detection time] is incorrect.
parameter.
4. The STO circuit is malfunctioning. Replace the servo amplifier.
5. There is an abnormality in the surrounding Check the noise, ambient temperature, and others, and implement appropriate
countermeasures for the cause.
environment.
If there is noise, take countermeasures to reduce the noise.
Refer to "Noise reduction techniques" in the following manual.
MR-J5 User's Manual (Hardware)
1 SERVO AMPLIFIER TROUBLESHOOTING
56 1.3 Handling methods for alarms/warnings
[AL. 069_Command error]
• When the software limit is activated, the command position exceeded 32 bits (-2147483648 to 2147483647). 1
• When the software limit is activated, the command position exceeded 30 bits (-536870912 to 536870911) from the value
that was set.
• The command position exceeded 30 bits (-536870912 to 536870911) from the position which was detected after detecting
LSP (Forward rotation stroke end) or LSN (Reverse rotation stroke end).
• The command position exceeded 30 bits (-536870912 to 536870911) from the position which was detected after detecting
FLS (Upper stroke limit) or RLS (Lower stroke limit).
[AL. 069.1_Forward rotation-side software limit detection - Command excess error]
Cause Check/action method Model
1. The command position exceeded 32 bits when Check if the command is set for a position which exceeds 32 bits. Set the [G]
command position correctly. [WG]
the software limit is activated.
2. The command position has exceeded 30 bits Check the software limit.
[Pr. PT15 Software position limit +]
from the software limit setting value.
[Pr. PT17 Software position limit -]
3. The controller is malfunctioning. Replace the controller.
4. There is an abnormality in the surrounding Check the noise, ambient temperature, and others, and implement appropriate
countermeasures for the cause.
environment.
If there is noise, take countermeasures to reduce the noise.
Refer to "Noise reduction techniques" in the following manual.
MR-J5 User's Manual (Hardware)
[AL. 069.2_Reverse rotation-side software limit detection - Command excess error]
Page 57 [AL. 069.1_Forward rotation-side software limit detection - Command excess error]
[AL. 069.3_Forward rotation stroke end detection - Command excess error]
Cause Check/action method Model
1. The command position exceeded 30 bits from Review the operation pattern so that the command does not exceed 30 bits. [G]
[WG]
the position which was detected after detecting
LSP (Forward rotation stroke end).
2. The forward rotation stroke limit switch is not Check if the limit switch is connected correctly.
connected to LSP (Forward rotation stroke
end).
3. The controller is malfunctioning. Replace the controller.
4. There is an abnormality in the surrounding Check the noise, ambient temperature, and others, and implement appropriate
countermeasures for the cause.
environment.
If there is noise, take countermeasures to reduce the noise.
Refer to "Noise reduction techniques" in the following manual.
MR-J5 User's Manual (Hardware)
1 SERVO AMPLIFIER TROUBLESHOOTING
1.3 Handling methods for alarms/warnings 57
[AL. 069.4_Reverse rotation stroke end detection - Command excess error]
Cause Check/action method Model
1. The command position exceeded 30 bits from Review the operation pattern so that the command does not exceed 30 bits. [G]
[WG]
the position which was detected after detecting
LSN (Reverse rotation stroke end).
2. The reverse rotation stroke limit switch is not Check if the limit switch is connected correctly.
connected to LSN (Reverse rotation stroke
end).
3. The controller is malfunctioning. Replace the controller.
4. There is an abnormality in the surrounding Check the noise, ambient temperature, and others, and implement appropriate
countermeasures for the cause.
environment.
If there is noise, take countermeasures to reduce the noise.
Refer to "Noise reduction techniques" in the following manual.
MR-J5 User's Manual (Hardware)
[AL. 069.5_Upper stroke limit detection - Command excess error]
Cause Check/action method Model
1. The command position exceeded 30 bits from Review the operation pattern so that the command does not exceed 30 bits. [G]
[WG]
the position which was detected after detecting
FLS (Upper stroke limit).
2. The upper stroke limit switch is not wired. Or Check if the limit switch is connected correctly. Or check if the switch is
positioned incorrectly.
the switch is positioned incorrectly.
3. There is an abnormality in the surrounding Check the noise, ambient temperature, and others, and implement appropriate
countermeasures for the cause.
environment.
If there is noise, take countermeasures to reduce the noise.
Refer to "Noise reduction techniques" in the following manual.
MR-J5 User's Manual (Hardware)
4. The controller is malfunctioning. Replace the controller.
[AL. 069.6_Lower stroke limit detection - Command excess error]
Cause Check/action method Model
1. The command position exceeded 30 bits from Review the operation pattern so that the command does not exceed 30 bits. [G]
[WG]
the position which was detected after detecting
RLS (Lower stroke limit).
2. The lower stroke limit switch is not wired. Or Check if the limit switch is connected correctly. Or check if the switch is
positioned incorrectly.
the switch is positioned incorrectly.
3. There is an abnormality in the surrounding Check the noise, ambient temperature, and others, and implement appropriate
countermeasures for the cause.
environment.
If there is noise, take countermeasures to reduce the noise.
Refer to "Noise reduction techniques" in the following manual.
MR-J5 User's Manual (Hardware)
4. The controller is malfunctioning. Replace the controller.
1 SERVO AMPLIFIER TROUBLESHOOTING
58 1.3 Handling methods for alarms/warnings
[AL. 086_Network communication error]
• An error occurred in the network communication. 1
[AL. 086.1_Network communication error 1]
Cause Check/action method Model
1. A network cable was disconnected. Check if the network cable is connected correctly. [G]
Turn off the control circuit power supply of the servo amplifier, and then [WG]
connect the network cable correctly.
2. The wiring of the network cable was incorrect. Check if the connection of network cable is correct.
3. A network cable was disconnected. Check for disconnection in the network cable.
4. Devices on the network (including repeaters Check that the devices on the network are turned on.
such as hubs) are turned off.
5. The network was disconnected by an incorrect Check if the network was disconnected by a correct procedure for each type of
network.
procedure.
Refer to "Disconnecting the communication" in the following manual.
MR-J5 User's Manual (Communication Function)
6. Data transmission from the controller was Check if data transmission from the controller is not interrupted. If the data
transmission is interrupted, review the controller communication setting.
interrupted for a certain time.
7. The setting of the controller was incorrect. Check the controller setting.
8. There is an abnormality in the surrounding Check the noise, ambient temperature, and others, and implement appropriate
countermeasures for the cause.
environment.
If there is noise, take countermeasures to reduce the noise.
Refer to "Noise reduction techniques" in the following manual.
MR-J5 User's Manual (Hardware)
9. The servo amplifier is malfunctioning. Replace the servo amplifier.
10. The controller is malfunctioning. Replace the controller.
11. Devices on the network (including repeaters Replace the devices on the network.
such as hubs) have malfunctioned.
[AL. 086.2_Network communication error 2]
Page 59 [AL. 086.1_Network communication error 1]
[AL. 086.3_Network communication error 3]
Page 59 [AL. 086.1_Network communication error 1]
[AL. 086.5_Network communication error 5]
Page 59 [AL. 086.1_Network communication error 1]
[AL. 086.6_Network communication error 6]
Page 59 [AL. 086.1_Network communication error 1]
1 SERVO AMPLIFIER TROUBLESHOOTING
1.3 Handling methods for alarms/warnings 59
[AL. 088_Watchdog 1]/[AL. 888_Watchdog 1]/[AL.
88888_Watchdog 1]
• CPU or other component parts are malfunctioning.
[AL. 088.1_Watchdog 1]/[AL. 088_Watchdog 1]/[AL. 888_Watchdog 1]/[AL.
88888_Watchdog 1]
Cause Check/action method Model
1. The internal parts of the servo amplifier have Replace the servo amplifier. [A]
[G]
malfunctioned.
[WG]
1 SERVO AMPLIFIER TROUBLESHOOTING
60 1.3 Handling methods for alarms/warnings
[AL. 08E_Serial communication error]
• A communication error occurred between the servo amplifier and a personal computer or controller. 1
• An error occurred in Mitsubishi Electric serial communication (USB communication).
[AL. 08E.1_Serial communication receive error]
Cause Check/action method Model
1. The setting of the personal computer or other Check the setting of the personal computer and others. [A]
[G]
equipment is incorrect.
[WG]
2. A communication cable is malfunctioning. Check the communication cable, and then check the repeatability.
3. The servo amplifier is malfunctioning. Replace the servo amplifier, and then check the repeatability.
4. There is an abnormality in the surrounding Check the power supply for noise. If there is noise, take countermeasures to
reduce the noise.
environment.
Check if the connector is shorted.
Refer to "Noise reduction techniques" in the following manual.
MR-J5 User's Manual (Hardware)
[AL. 08E.2_Serial communication checksum error]
Cause Check/action method Model
1. The setting of the personal computer or other Check the setting of the personal computer and others. [A]
[G]
equipment is incorrect.
[WG]
[AL. 08E.3_Serial communication character error]
Cause Check/action method Model
1. An unspecified character is transmitted. Check the character code at the time of transmission. If an unspecified [A]
character is transmitted, correct the transmission data. [G]
2. The communication protocol has a problem. Check if the transmission data conforms to the communication protocol. [WG]
3. The setting of the personal computer or other Check the setting of the personal computer and others.
equipment is incorrect.
[AL. 08E.4_Serial communication command error]
Cause Check/action method Model
1. An unspecified command is transmitted. Check the command at the time of transmission. If an unspecified command is [A]
transmitted, correct the transmission data. [G]
2. The communication protocol has a problem. Check if the transmission data conforms to the communication protocol.
[WG]
3. The setting of the personal computer or other Check the setting of the personal computer and others.
equipment is incorrect.
[AL. 08E.5_Serial communication data number error]
Cause Check/action method Model
1. An unspecified data number is transmitted. Check the data number at the time of transmission. If an unspecified data [A]
number is transmitted, data number is out of specifications, correct the [G]
transmission data. [WG]
2. The communication protocol has a problem. Check if the transmission data conforms to the communication protocol.
3. The setting of the personal computer or other Check the setting of the personal computer and others.
equipment is incorrect.
1 SERVO AMPLIFIER TROUBLESHOOTING
1.3 Handling methods for alarms/warnings 61
[AL. 090_Homing incomplete warning]
• Homing did not complete properly with the positioning function.
[AL. 090.1_Homing incomplete]
Cause Check/action method Model
1. An automatic operation was executed while Check if homing was not executed. [G]
If homing was not executed, execute homing. [WG]
homing was incomplete.
2. When the absolute position detection system Execute homing after dealing with [AL. 025].
Refer to " Homing mode (hm) and homing" in the following manual.
is used, positioning operation was executed
MR-J5 User's Manual (Function)
without homing after [AL. 025 Absolute
position erased] has occurred.
3. [AL. 069 Command error] has occurred. Execute homing after dealing with [AL. 069].
Refer to " Homing mode (hm) and homing" of the following manual.
MR-J5 User's Manual (Function)
[AL. 090.2_Homing termination error]
Cause Check/action method Model
1. The proximity dog was not connected to DOG. Check if the proximity dog is connected correctly. [G]
Check the status of the input signal on the I/O monitor screen of MR [WG]
Configurator2.
2. The stroke limit was detected after homing Check if the stroke limit is connected correctly.
Or check if the stroke limit is not reached.
was started.
3. Deceleration from the homing speed to the There is a possibility that the proximity dog turned off before deceleration from
the homing speed to the creep speed was completed.
creep speed was not possible.
Review the dog position.
Or review the parameter values of the homing speed, the creep speed, and the
travel distance after proximity dog.
[AL. 090.5_Z-phase unpassed]
Cause Check/action method Model
1. Homing was executed while the servo motor Review the homing start position and the proximity dog position so that the [G]
servo motor passes the Z-phase signal until the proximity dog turns off after [WG]
did not pass the Z-phase.
homing started.
2. The Z-phase signal was not detected normally. Check if the Z-phase signal of the servo motor was detected normally.
Replace the servo motor.
1 SERVO AMPLIFIER TROUBLESHOOTING
62 1.3 Handling methods for alarms/warnings
[AL. 091_Servo amplifier overheat warning]
• The temperature inside of the servo amplifier has reached a warning level. 1
[AL. 091.1_Main circuit device overheat warning]
Cause Check/action method Model
1. Ambient temperature of the servo amplifier Lower the ambient temperature. [A]
[G]
exceeded the specified value.
[WG]
2. The close mounting does not meet Check the specifications of close mounting.
Refer to "Mounting direction and spacing" in the following manual.
specifications.
MR-J5 User's Manual (Hardware)
3. Cooling performance has deteriorated due to Remove the causes such as the clogging of the heat sink and others.
clogging of the heat sink and other factors.
1 SERVO AMPLIFIER TROUBLESHOOTING
1.3 Handling methods for alarms/warnings 63
[AL. 092_Battery cable disconnection warning]
• The battery voltage for the absolute position detection system decreased.
[AL. 092.1_Encoder battery cable disconnection warning]
Cause Check/action method Model
1. When a MR-BAT6V1SET(-A) battery or MR- Check if the battery is connected correctly. [A]
[G]
BT6VCASE battery case is used, the battery is
[WG]
not connected to CN4.
2. A battery cable was disconnected. Check if the battery cable is malfunctioning.
3. The battery voltage is low. The battery is Check the battery voltage with a tester. If the voltage is lower than 3.1 V DC,
replace the battery.
exhausted.
4. The encoder cable is disconnected. Check for disconnection in the BAT wiring of the encoder cable.
[AL. 092.3_Battery degradation]
Cause Check/action method Model
1. The battery voltage is low. The battery is Check the battery voltage with a tester. If the voltage is lower than 3.0 V DC, [A]
replace the battery. [G]
exhausted.
[WG]
2. The battery has malfunctioned. Replace the battey, and then check the repeatability.
1 SERVO AMPLIFIER TROUBLESHOOTING
64 1.3 Handling methods for alarms/warnings
[AL. 093_ABS data transfer warning]
• ABS data were not transferred. 1
[AL. 093.1_Magnetic pole detection incomplete warning at ABS data transfer request]
Cause Check/action method Model
1. The Z-phase was not turned on at servo-on. Check if the position within one-revolution is "0". If the position within one- [A]
revolution is "0" (with the Z-phase unpassed), turn on the Z-phase, and then
disable the magnetic pole detection. Perform homing again.
2. The magnetic pole detection was executed. If the ABS data was transferred during a magnetic pole detection, disable the
magnetic pole detection. Afterwards, cycle SON (Servo-on), and then transfer
the ABS data.
1 SERVO AMPLIFIER TROUBLESHOOTING
1.3 Handling methods for alarms/warnings 65
[AL. 095_STO warning]
• STO input signal turned off during servo motor stop.
[AL. 095.1_STO1 off detection]
Cause Check/action method Model
1. STO1 is not inputted correctly. Refer to the wiring diagram and correct the wiring. When the STO function is [A]
not used, install the short-circuit connector attached to the servo amplifier on [G]
CN8.
Refer to "When using STO function" in the following manual.
MR-J5 User's Manual (Hardware)
2. STO1 was turned off (enabled) under the Turn on STO1 (disabled).
following speed conditions.
• Rotary servo motor speed: 50 r/min or lower
• Linear servo motor speed: 50 mm/s or lower
• Direct drive motor speed: 5 r/min or lower
[AL. 095.2_STO2 off detection]
Cause Check/action method Model
1. STO2 was not input correctly. Refer to the wiring diagram and correct the wiring. When the STO function is [A]
not used, install the short-circuit connector attached to the servo amplifier on
CN8.
Refer to "When using STO function" in the following manual.
MR-J5 User's Manual (Hardware)
2. STO2 was turned off (enabled) under the Turn on STO2 (disabled).
following speed conditions.
• Rotary servo motor speed: 50 r/min or lower
• Linear servo motor speed: 50 mm/s or lower
• Direct drive motor speed: 5 r/min or lower
1 SERVO AMPLIFIER TROUBLESHOOTING
66 1.3 Handling methods for alarms/warnings
[AL. 096_Home position setting warning]
• Homing failed. 1
[AL. 096.1_In-position warning at homing]
Cause Check/action method Model
1. At the time of homing, INP (In-position) did not Adjust gains so that the droop pulses are set within the In-position range. [A]
Remove the cause of droop pulse occurrence, and then perform homing. [G]
turn on within the specified time.
[WG]
[AL. 096.2_Command input warning at homing]
Cause Check/action method Model
1. A command was inputted at the time of Avoid commands to be inputted at homing. [A]
[G]
homing.
[WG]
2. Creep speed is high. Decelerate the creep speed, and then perform homing.
[AL. 096.3_Servo off warning at homing]
Cause Check/action method Model
1. An attempt to execute a homing was made After servo-on, execute the homing. [A]
during servo-off.
[AL. 096.4_Magnetic pole detection incomplete warning at homing]
Cause Check/action method Model
1. Z-phase was not turned on after servo-on. Rotate the direct drive motor to turn on the Z-phase, and then perform homing. [A]
[G]
[WG]
1 SERVO AMPLIFIER TROUBLESHOOTING
1.3 Handling methods for alarms/warnings 67
[AL. 098_Software position limit warning]
• A software position limit, which is set with a servo parameter, is reached.
[AL. 098.1_Forward rotation-side software stroke limit reached]
Cause Check/action method Model
1. A software position limit was set within the Check if [Pr. PT15] and [Pr. PT17] are set correctly. [G]
[WG]
actual operation range.
[AL. 098.2_Reverse rotation-side software stroke limit reached]
Page 68 [AL. 098.1_Forward rotation-side software stroke limit reached]
1 SERVO AMPLIFIER TROUBLESHOOTING
68 1.3 Handling methods for alarms/warnings
[AL. 099_Stroke limit warning]
• The stroke limit signal is off. 1
[AL. 099.1_Forward rotation stroke end off]
Cause Check/action method Model
1. The forward rotation stroke limit switch is not Check if the limit switch is connected correctly. [A]
The status of the input signal can be confirmed on the I/O monitor screen of [G]
connected to LSP.
the MR Configurator2. [WG]
2. The forward rotation stroke end was exceeded Check the operation pattern.
during driving.
3. The limit switch has malfunctioned. The Check that the limit switch is not malfunctioning, and the sensor is adjusted
correctly.
sensor has not been adjusted correctly.
[AL. 099.2_Reverse rotation stroke end off]
Cause Check/action method Model
1. The reverse rotation stroke limit switch is not Check if the limit switch is connected correctly. [A]
The status of the input signal can be confirmed on the I/O monitor screen of [G]
connected to LSN.
the MR Configurator2. [WG]
2. The reverse rotation stroke end was exceeded Check the operation pattern.
during driving.
3. The limit switch has malfunctioned. The Check that the limit switch is not malfunctioning, and the sensor is adjusted
correctly.
sensor has not been adjusted correctly.
[AL. 099.4_Upper stroke limit off]
Cause Check/action method Model
1. The upper stroke limit switch is not connected Check if the limit switch is connected correctly. [G]
The status of the input signal can be confirmed on the I/O monitor screen of [WG]
to FLS of the controller.
the MR Configurator2.
2. The upper stroke limit was exceeded during Check the operation pattern.
driving.
3. The limit switch has malfunctioned. The Check that the limit switch is not malfunctioning, and the sensor is adjusted
correctly.
sensor has not been adjusted correctly.
[AL. 099.5_Lower stroke limit off]
Cause Check/action method Model
1. The lower stroke limit switch is not connected Check if the limit switch is connected correctly. [G]
The status of the input signal can be confirmed on the I/O monitor screen of [WG]
to RLS of the controller.
the MR Configurator2.
2. The lower stroke limit was exceeded during Check the operation pattern.
driving.
3. The limit switch has malfunctioned. The Check that the limit switch is not malfunctioning, and the sensor is adjusted
correctly.
sensor has not been adjusted correctly.
1 SERVO AMPLIFIER TROUBLESHOOTING
1.3 Handling methods for alarms/warnings 69
[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
1. The servo motor power cable was Repair or replace the servo motor power cable. [A]
[G]
disconnected.
[WG]
2. The connection of the servo motor is incorrect. Check the U/V/W wiring.
Refer to "Connection example of power supply circuit" in the following manual.
MR-J5 User's Manual (Hardware)
3. The connection of the encoder cable is Check if the encoder cable is connected correctly.
incorrect.
4. The torque limit is enabled. When torque is limited, increase the torque limit value.
5. A moving part collided against the machine. Review the operation pattern to avoid collision.
6. Insufficient torque 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.
7. Power supply voltage has dropped. If the bus voltage is low, review the power supply voltage and power supply
capacity.
8. Acceleration/deceleration time constant is Set a longer acceleration/deceleration time constants, and then check the
repeatability.
insufficient.
9. The position control gain is small. Increase the value of [Pr. PB08 Position control gain].
10. The servo motor shaft was rotated by external Measure the actual position under the servo-lock status.
When an external force rotates the servo motor or moves the linear servo
force. The moving part of the linear servo
motor, review the machine.
motor was moved by external force.
11. The encoder or linear encoder is Replace the servo motor or linear encoder.
malfunctioning.
[AL. 09B.3_Excessive droop pulse 2 warning]
Page 70 [AL. 09B.1_Excessive droop pulse 1 warning]
[AL. 09B.4_Excessive error warning during 0 torque limit]
Cause Check/action method Model
1. The torque limit value is 0. Do not input a command when the torque limit value is 0. [A]
[G]
[WG]
1 SERVO AMPLIFIER TROUBLESHOOTING
70 1.3 Handling methods for alarms/warnings
[AL. 09E_Network warning]
• Error exists in the network data reception. 1
• An error exists in the network setting.
[AL. 09E.2_Communication cycle setting warning]
Cause Check/action method Model
1. The communication cycle was set to 31.25 μs. [G]: Set [Pr. PA01.7 High speed mode] to "1". [G]
[WG]: Set the communication cycle to 62.5 μs or longer. [WG]
2. An unsupported communication cycle was set. Review the setting on the master side.
[AL. 09E.3_Cyclic points warning]
Cause Check/action method Model
1. When setting the communication cycle of Change the communication cycle, or review the mapping. [G]
31.25 μs, a value larger than 32 bytes was set
to the cyclic points number.
[AL. 09E.4_Parameter file warning]
Cause Check/action method Model
1. There is an error on the parameter file of the Replace the parameter automatic setting file. [G]
[WG]
parameter automatic setting.
2. The processing of the automatic parameter Perform [AL. 086.1] check method.
setting was interrupted.
[AL. 09E.5_Cyclic communication setting warning]
Cause Check/action method Model
1. The cyclic communication time setting for the Review the cyclic communication time on the master side. [G]
[WG]
communication cycle is long.
[AL. 09E.6_IP address setting warning]
Cause Check/action method Model
1. Duplication of an IP address has been To ensure that there is no duplication of IP addresses, review [Pr. NPA01 IP [G]
address setting], [Pr. NPA02 IP address], and the rotary switch setting. [WG]
detected.
[AL. 09E.7_Parameter unreflected warning]
Cause Check/action method Model
1. Parameter automatic setting was performed Cycle the power. [G]
[WG]
for the parameters that require power cycling.
[AL. 09E.8_Master station error detection warning]
Cause Check/action method Model
1. An error was detected on the master side. Check the status on the master side. [G]
[WG]
1 SERVO AMPLIFIER TROUBLESHOOTING
1.3 Handling methods for alarms/warnings 71
[AL. 09F_Battery warning]
• The battery voltage for the absolute position detection system decreased.
[AL. 09F.1_Low battery]
Cause Check/action method Model
1. The battery cable is not connected to CN4. Check if the battery is connected correctly. [A]
[G]
2. The battery voltage is 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.
exhausted.
[AL. 09F.2_Battery degradation warning]
Cause Check/action method Model
1. The absolute position storage unit is not Check if the absolute position storage unit is connected correctly. [A]
[G]
connected.
[WG]
2. The battery voltage is low. The battery is Replace the battery.
exhausted.
1 SERVO AMPLIFIER TROUBLESHOOTING
72 1.3 Handling methods for alarms/warnings
[AL. 0E0_Excessive regenerative error]
• [AL. 030.1 Regenerative heat error] may occur. 1
[AL. 0E0.1_Excessive regenerative warning]
Cause Check/action method Model
1. The regenerative load ratio exceeded 85 %. Page 36 [AL. 030.1_Regenerative heat error] [A]
[G]
[WG]
1 SERVO AMPLIFIER TROUBLESHOOTING
1.3 Handling methods for alarms/warnings 73
[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
1. The load was over 85 % of the alarm level of Page 48 [AL. 050.1_Thermal overload error 1 during operation] [A]
[G]
[AL. 050.1 Thermal overload error 1 during
[WG]
operation].
[AL. 0E1.2_Thermal overload warning 2 during operation]
Cause Check/action method Model
1. The load was over 85 % of the alarm level of Page 48 [AL. 050.2_Thermal overload error 2 during operation] [A]
[G]
[AL. 050.2 Thermal overload error 2 during
[WG]
operation].
[AL. 0E1.3_Thermal overload warning 3 during operation]
Cause Check/action method Model
1. The load was over 85 % of the alarm level of Page 50 [AL. 051.1_Thermal overload error 3 during operation] [A]
[G]
[AL. 051.1 Thermal overload error 3 during
[WG]
operation].
[AL. 0E1.4_Thermal overload warning 4 during operation]
Cause Check/action method Model
1. The load was over 85 % of the alarm level of Page 48 [AL. 050.3_Thermal overload error 4 during operation] [A]
[G]
[AL. 050.3 Thermal overload error 4 during
[WG]
operation].
[AL. 0E1.5_Thermal overload warning 1 during a stop]
Cause Check/action method Model
1. The load was over 85 % of the alarm level of Page 48 [AL. 050.4_Thermal overload error 1 during a stop] [A]
[G]
[AL. 050.4 Thermal overload error 1 during a
[WG]
stop].
[AL. 0E1.6_Thermal overload warning 2 during a stop]
Cause Check/action method Model
1. The load was over 85 % of the alarm level of Page 49 [AL. 050.5_Thermal overload error 2 during a stop] [A]
[G]
[AL. 050.5 Thermal overload error 2 during a
[WG]
stop].
[AL. 0E1.7_Thermal overload warning 3 during a stop]
Cause Check/action method Model
1. The load was over 85 % of the alarm level of Page 50 [AL. 051.2_Thermal overload error 3 during a stop] [A]
[G]
[AL. 051.2 Thermal overload error 3 during a
[WG]
stop].
1 SERVO AMPLIFIER TROUBLESHOOTING
74 1.3 Handling methods for alarms/warnings
[AL. 0E1.8_Thermal overload warning 4 during a stop]
Cause Check/action method Model 1
1. The load was over 85 % of the alarm level of Page 49 [AL. 050.6_Thermal overload error 4 during a stop] [A]
[G]
[AL. 050.6 Thermal overload error 4 during a
[WG]
stop].
1 SERVO AMPLIFIER TROUBLESHOOTING
1.3 Handling methods for alarms/warnings 75
[AL. 0E2_Servo motor overheat warning]
• [AL. 046.2 Abnormal temperature of servo motor 2] may occur.
[AL. 0E2.1_Servo motor temperature warning]
Cause Check/action method Model
1. The temperature of the servo motor reached Page 46 [AL. 046.2_Abnormal temperature of servo motor 2] [A]
[G]
85 % of the occurrence level of [AL. 046.2
[WG]
Abnormal temperature of servo motor 2].
[AL. 0E2.2_Servo motor temperature warning 2]
Cause Check/action method Model
1. The temperature inside of the servo motor has Page 46 [AL. 046.1_Abnormal temperature of servo motor 1] [A]
[G]
reached a warning level.
[WG]
1 SERVO AMPLIFIER TROUBLESHOOTING
76 1.3 Handling methods for alarms/warnings
[AL. 0E3_Absolute position counter warning]
• The multi-revolution counter of the absolute position encoder exceeded the maximum range. 1
• 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
1. In the absolute position system, the travel Review the operation range. [A]
After the power is cycled, perform a homing again. [G]
distance from the home position became
[WG]
32768 rev or more .
[AL. 0E3.2_Absolute position counter warning]
Cause Check/action method Model
1. There is an abnormality in the surrounding Check the noise, ambient temperature, and others, and implement appropriate [A]
countermeasures for the cause. [G]
environment.
If there is noise, take countermeasures to reduce the noise. [WG]
Refer to "Noise reduction techniques" in the following manual.
MR-J5 User's Manual (Hardware)
After the power is cycled, perform a homing again.
2. The encoder is malfunctioning. Replace the servo motor.
[AL. 0E3.5_Encoder absolute position counter warning]
Page 77 [AL. 0E3.2_Absolute position counter warning]
1 SERVO AMPLIFIER TROUBLESHOOTING
1.3 Handling methods for alarms/warnings 77
[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.
[AL. 0E5.1_Time-out during ABS data transfer]
Cause Check/action method Model
1. The wiring of input/output signals is incorrect. Check for disconnection or loose connection in the I/O signal wire. [A]
2. The sequence program is incorrect. Modify the sequence program.
[AL. 0E5.2_ABSM off during ABS data transfer]
Page 78 [AL. 0E5.1_Time-out during ABS data transfer]
[AL. 0E5.3_SON off during ABS data transfer]
Page 78 [AL. 0E5.1_Time-out during ABS data transfer]
1 SERVO AMPLIFIER TROUBLESHOOTING
78 1.3 Handling methods for alarms/warnings
[AL. 0E6_Servo forced stop warning]
• EM2 (Forced stop 2) or EM1 (Forced stop 1) was turned off. 1
[AL. 0E6.1_Forced stop warning]
Cause Check/action method Model
1. EM2/EM1 was turned off. After ensuring safety, turn EM2/EM1 on. [A]
[G]
2. An external 24 V DC power supply has not Input the external 24 V DC power supply.
[WG]
been inputted.
3. The servo amplifier is malfunctioning. Replace the servo amplifier.
1 SERVO AMPLIFIER TROUBLESHOOTING
1.3 Handling methods for alarms/warnings 79
[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
1. A foreign object was caught in the cooling fan. Remove the foreign matter. [A]
[G]
2. The cooling fan has reached its life. Check the total of the power-on time of the servo amplifier. If the life of the
[WG]
cooling fan is exceeded, replace the servo amplifier or the cooling fan.
[AL. 0E8.2_Cooling fan stop]
Page 80 [AL. 0E8.1_Decreased cooling fan speed warning]
1 SERVO AMPLIFIER TROUBLESHOOTING
80 1.3 Handling methods for alarms/warnings
[AL. 0E9_Main circuit off warning]
• The servo-on command was inputted with main circuit power supply off. 1
• 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
1. The servo-on command was inputted with Turn on the main circuit power. [A]
[G]
main circuit power supply off.
[WG]
2. The wiring between P3 and P4 is Wire between P3 and P4.
disconnected.
3. The main circuit power supply wiring is Wire the main circuit power supply.
disconnected.
4. The bus voltage is less than the specified Review the wiring. Check the power supply capacity.
value.
• 200 V class: 215 V DC
5. The fuse is disconnected. Check the charge light after a certain period of time.
6. The power supply capacity is insufficient. Check that the specified power supply capacity is satisfied.
7. Main circuit capacitor has deteriorated. After checking the operation time and ambient temperature, replace the servo
amplifier if the main circuit capacitor has reached its life.
Refer to "Parts having life" in the following manual.
MR-J5-A User's Manual (Introduction)
MR-J5-G/MR-J5W-G User's Manual (Introduction)
8. The servo amplifier is malfunctioning. Replace the servo amplifier.
[AL. 0E9.2_Bus voltage drop during low speed operation]
Cause Check/action method Model
1. The bus voltage dropped under the specified Review the power supply capacity. Increase the acceleration time constant. [A]
[G]
value when the servo motor was rotating at 50
[WG]
r/min or lower.
• 200 V class: 200 V DC
[AL. 0E9.3_Ready-on signal on during main circuit off]
Page 81 [AL. 0E9.1_Servo-on signal on during main circuit off]
1 SERVO AMPLIFIER TROUBLESHOOTING
1.3 Handling methods for alarms/warnings 81
[AL. 0EA_ABS servo-on warning]
• The servo amplifier did not go to the 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
1. The wiring of input/output signals is incorrect. Check for disconnection or loose connection in the I/O signal wire. [A]
2. The sequence program is incorrect. Modify the sequence program so that servo-on is enabled within 1 s after
ABSM (ABS transfer mode) is turned on.
1 SERVO AMPLIFIER TROUBLESHOOTING
82 1.3 Handling methods for alarms/warnings
[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. 1
• [Pr. PF02.0 Target alarm selection of the other axis error warning] is set to "1" (All alarms).
[AL. 0EB.1_The other axis error warning]
Cause Check/action method Model
1. [AL. 024 Main circuit error] occurred on a Eliminate the cause of [AL. 024] on the axis. [WG]
different axis.
2. [AL. 032 Overcurrent] occurred in a different Eliminate the cause of [AL. 032] on the axis.
axis.
3. [Pr. PF02.0 Target alarm selection of the other Remove the cause of the occurring alarm on a different axis.
axis error warning] is set to "1" (All alarms).
1 SERVO AMPLIFIER TROUBLESHOOTING
1.3 Handling methods for alarms/warnings 83
[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
1. The load is excessive or the capacity is Reduce the load. Otherwise, replace the servo motor with a larger-capacity [A]
servo motor. [G]
insufficient.
[WG]
1 SERVO AMPLIFIER TROUBLESHOOTING
84 1.3 Handling methods for alarms/warnings
[AL. 0ED_Output watt excess warning]
• The output wattage (speed × torque) of the servo motor exceeded the rated output, and that status continued steadily. 1
[AL. 0ED.1_Output watt excess warning]
Cause Check/action method Model
1. The output wattage of the servo motor (speed Reduce the servo motor speed. Reduce the load. Otherwise, replace the servo [A]
motor with a larger-capacity servo motor. [G]
× torque or thrust) steadily exceeds 120 % of
[WG]
the rated output (continuous thrust).
1 SERVO AMPLIFIER TROUBLESHOOTING
1.3 Handling methods for alarms/warnings 85
[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
1. The voltage of the control circuit power supply Page 13 [AL. 010.1_Voltage drop in the control circuit power] [A]
[G]
has dropped.
[WG]
[AL. 0F0.3_Vibration tough drive warning]
Cause Check/action method Model
1. The setting value of the machine resonance Set the machine resonance suppression filter. Check the machine status for [A]
loose screws or others. [G]
suppression filter was changed due to a
[WG]
machine resonance.
1 SERVO AMPLIFIER TROUBLESHOOTING
86 1.3 Handling methods for alarms/warnings
[AL. 0F2_Drive recorder warning]
• Writing/reading/clearing of the drive recorder data failed. 1
[AL. 0F2.1_Drive recorder warning 1]
Cause Check/action method Model
1. There is an error in the drive recorder data. Check if clearing the alarm history of the drive recorder with MR Configurator2 [A]
disables the warning. [G]
2. There is an error in memory. Page 92 [AL. 119.1_Memory error 4-1] [WG]
Page 92 [AL. 119.7_Memory free space error 4-1]
Page 92 [AL. 119.8_Memory free space error 4-2]
3. The Flash-ROM has malfunctioned. Replace the servo amplifier.
[AL. 0F2.2_Drive recorder warning 2]
Page 87 [AL. 0F2.1_Drive recorder warning 1]
[AL. 0F2.3_Drive recorder warning 3]
Page 87 [AL. 0F2.1_Drive recorder warning 1]
[AL. 0F2.4_Drive recorder warning 4]
Page 87 [AL. 0F2.1_Drive recorder warning 1]
[AL. 0F2.5_Drive recorder warning 5]
Page 87 [AL. 0F2.1_Drive recorder warning 1]
[AL. 0F2.6_Drive recorder warning 6]
Page 87 [AL. 0F2.1_Drive recorder warning 1]
1 SERVO AMPLIFIER TROUBLESHOOTING
1.3 Handling methods for alarms/warnings 87
[AL. 0F3_Oscillation detection warning]
• An oscillation was detected on the servo motor.
[AL. 0F3.1_Oscillation detection warning]
Page 53 [AL. 054.1_Oscillation detection error]
1 SERVO AMPLIFIER TROUBLESHOOTING
88 1.3 Handling methods for alarms/warnings
[AL. 0F7_Machine diagnosis warning]
• The equipment on which the servo motor is installed may be malfunctioning. 1
[AL. 0F7.1_Vibration failure prediction warning]
Cause Check/action method Model
1. Due to degradation of components in the When the increase in the vibration level during motor operation is less than 5 [A]
% of the rated torque from the initial operation, set a larger value for vibration [G]
equipment, the vibration became larger.
failure prediction threshold multiplication, and then restart the equipment. [WG]
[A]: [Pr. PF52.1 Vibration failure prediction - Threshold multiplication]
[G] [WG]: [Pr. PF40.1 Vibration failure prediction - Threshold multiplication]
When the increase in the vibration level during motor operation is equal to or
more than 5 % of the rated torque from the initial operation, perform an
inspection and maintenance of the equipment as necessary.
2. The servo system is unstable and oscillating. Check if the gain is changed after the vibration failure prediction function is
activated. Adjust the servo gain with the auto tuning. Set the machine
resonance suppression filter.
[AL. 0F7.2_Friction failure prediction warning]
Cause Check/action method Model
1. Due to degradation of components in the If the friction torques are the same at the initial operation and at the rated [A]
speed, set a larger value for vibration failure prediction threshold multiplication, [G]
equipment, the friction of the equipment
and then restart the equipment. [WG]
changed. [A]: [Pr. PF52.1 Vibration failure prediction - Threshold multiplication]
[G] [WG]: [Pr. PF40.1 Vibration failure prediction - Threshold multiplication]
If the friction torque at the rated speed changed from the initial operation,
perform an inspection and maintenance of the equipment as necessary.
2. As the surrounding environment changed, the If the operating environment, such as the ambient temperature, was changed
from the initial operation, reset the threshold, and then re-create the threshold.
friction of the equipment also changed.
[AL. 0F7.3_Servo motor total travel distance failure prediction warning]
Cause Check/action method Model
1. The servo motor total travel distance has Check if the threshold is set correctly. [A]
If the threshold value is incorrect, set each servo parameter so that the setting [G]
exceeded the threshold.
value of the servo motor total travel distance will be an approximation of the [WG]
rated life, and then restart the device.
[A]: [Pr. PF53 Failure prediction - Servo motor total travel distance]
[G] [WG]: [Pr. PF41 Failure prediction - Servo motor total travel distance]
If the threshold setting is correct, perform an inspection and maintenance of
the equipment.
Refer to "Total travel distance failure prediction function" in the following
manual.
MR-J5 User's Manual (Function)
[AL. 0F7.4_Gear failure prediction warning]
Cause Check/action method Model
1. Gear abrasion made the backlash larger. Compare the backlash estimation value with the backlash presented by the [A]
gear manufacturer. If the backlash estimation value is larger than the backlash [G]
presented by the gear manufacturer, perform an inspection and maintenance [WG]
of the equipment.
2. The value for the backlash estimation was set Set [Pr. PF66.0-3 Gear ratio for backlash estimation - Numerator] and [Pr.
PF66.4-7 Gear ratio for backlash estimation - Denominator] to the same value
incorrectly.
as the gear ratio of the gear connected to the servo motor.
Check that [Pr. PF67 Backlash nominal value] is equivalent to the value shown
by the manufacturer of the gears connected to the servo motor.
When setting "0" for [Pr. PF66.0-3] or [Pr. PF66.4-7], set [Pr. PF67] by
converting the value into the rotation angle on the servo motor side.
When setting other than "0" for [Pr. PF66.0-3] and [Pr. PF66.4-7], set [Pr.
PF67] by converting the value into the rotational load on the load side.
Set [Pr. PF68 Backlash threshold multiplication] to a value more than two
times larger.
1 SERVO AMPLIFIER TROUBLESHOOTING
1.3 Handling methods for alarms/warnings 89
[AL. 0F7.5_Static friction failure prediction warning]
Cause Check/action method Model
1. As the surrounding environment changed, the If the operating environment was changed from the initial operation, reset the [A]
threshold, and then re-create a threshold. If the operating environment is [G]
friction of the equipment was also changed.
unchanged, refer to 2 and examine the equipment. [WG]
2. Changes in the equipment configuration If the equipment configuration is changed, reset the threshold, and then create
a threshold again. If the equipment configuration is unchanged, refer to 3 and
changed the friction of the equipment.
examine the equipment.
3. Due to degradation of components in the Check that the static friction has changed from the initial operation. If the static
friction has not changed, set a larger value for friction failure prediction
equipment, the friction of the equipment
threshold multiplication, and then restart the equipment.
changed. [A]: [Pr. PF52.4 Static friction failure prediction - Threshold multiplication]
[G] [WG]: [Pr. PF40.4 Static friction failure prediction - Threshold multiplication]
If the static friction has changed, perform an inspection and maintenance of
the equipment as necessary.
[AL. 0F7.6_Belt failure prediction warning]
Cause Check/action method Model
1. Belt extension made the belt tension smaller. If the value of the belt tension estimation is small, perform an inspection and [A]
maintenance of the equipment. [G]
2. The setting of the belt tension threshold is Set the value of the initial belt stretch to [Pr. PF76 Belt tension irregular
[WG]
threshold].
incorrect.
1 SERVO AMPLIFIER TROUBLESHOOTING
90 1.3 Handling methods for alarms/warnings
[AL. 118_Encoder diagnosis]
• The servo amplifier is in the test operation mode. 1
[AL. 118.1_Encoder communication circuit diagnosing]
Cause Check/action method Model
1. The servo amplifier is in the encoder Cancel the encoder communication circuit diagnosis mode. [A]
Refer to "Encoder communication diagnosis function" in the following manual. [G]
communication circuit diagnosis mode.
MR-J5 User's Manual (Function) [WG]
1 SERVO AMPLIFIER TROUBLESHOOTING
1.3 Handling methods for alarms/warnings 91
[AL. 119_Memory error 4]
• There is an error in memory.
[AL. 119.1_Memory error 4-1]
Cause Check/action method Model
1. There is an abnormality in the surrounding Check the power supply for noise. If there is noise, take countermeasures to [A]
reduce the noise. [G]
environment.
Check if the connector is shorted. [WG]
Refer to "Noise reduction techniques" in the following manual.
MR-J5 User's Manual (Hardware)
2. The internal parts of the servo amplifier has Replace the servo amplifier.
malfunctioned.
[AL. 119.2_Memory error 4-2]
Page 92 [AL. 119.1_Memory error 4-1]
[AL. 119.3_Memory error 4-3]
Page 92 [AL. 119.1_Memory error 4-1]
[AL. 119.4_Memory error 4-4]
Page 92 [AL. 119.1_Memory error 4-1]
[AL. 119.5_Memory error 4-5]
Page 92 [AL. 119.1_Memory error 4-1]
[AL. 119.6_Memory error 4-6]
Page 92 [AL. 119.1_Memory error 4-1]
[AL. 119.7_Memory free space error 4-1]
Cause Check/action method Model
1. The available free space in the memory is After making a backup of necessary data such as parameters, initialize the [A]
servo amplifier and check the repeatability. If the failure continues, replace the [G]
insufficient.
servo amplifier. [WG]
Refer to "Servo amplifier setting initialization" in the following manual.
MR-J5-A User's Manual (Introduction)
MR-J5-G/MR-J5W-G User's Manual (Introduction)
[AL. 119.8_Memory free space error 4-2]
Cause Check/action method Model
1. Too many files are saved in the memory. After making a backup of necessary data such as parameters, initialize the [A]
servo amplifier and check the repeatability. If the failure continues, replace the [G]
servo amplifier. [WG]
Refer to "Servo amplifier setting initialization" in the following manual.
MR-J5-A User's Manual (Introduction)
MR-J5-G/MR-J5W-G User's Manual (Introduction)
1 SERVO AMPLIFIER TROUBLESHOOTING
92 1.3 Handling methods for alarms/warnings
[AL. 11A_Servo motor constant error]
• The servo motor constant file is damaged. 1
[AL. 11A.1_Servo motor constant file error]
Cause Check/action method Model
1. Writing of the servo motor constant file failed. During the servo motor constant file writing, due to noise mixing and the like, [A]
there is a possibility that the servo motor constant file is damaged. [G]
After writing the servo motor constant again, cycle the power. [WG]
2. There is an abnormality in the surrounding Check the noise, ambient temperature, and others, and implement appropriate
countermeasures for the cause.
environment.
If there is noise, take countermeasures to reduce the noise.
Refer to "Noise reduction techniques" in the following manual.
MR-J5 User's Manual (Hardware)
3. The Flash-ROM is malfunctioning. Replace the servo amplifier.
1 SERVO AMPLIFIER TROUBLESHOOTING
1.3 Handling methods for alarms/warnings 93
[AL. 130_Regenerative error 2]
• The regenerative power exceeds the permissible regenerative power of the built-in regenerative resistor or regenerative
option.
• A regenerative transistor in the servo amplifier is malfunctioning.
[AL. 130.1_Regenerative heat error]
Cause Check/action method Model
1. The setting of the regenerative resistor Refer to "Regenerative option" in the following manual. [A]
MR-J5 User's Manual (Hardware) [G]
(regenerative option) is incorrect.
[WG]
2. The regenerative resistor (regenerative option) Refer to "Regenerative option" in the following manual.
MR-J5 User's Manual (Hardware)
is not connected.
3. The regenerative resistor (regenerative option) Check the combination of the regenerative resistor (regenerative option) and
the servo amplifier.
and the servo amplifier are connected in a
Refer to "Regenerative option" in the following manual.
wrong combination. MR-J5 User's Manual (Hardware)
4. The power supply voltage is high. Check if the voltage of the input power supply exceeds the upper limit of the
permissible voltage. If it exceeds the limit, lower the power supply voltage.
200 V class: 264 V AC
5. The regenerative power is large. Check whether the regenerative load ratio exceeds the upper limit value when
the alarm occurs.
Take the corrective actions as follows.
• Reduce the frequency of positioning.
• Set a longer deceleration time constant.
• Reduce the load.
• Use a regenerative option if it is not being used.
[WG]
• Ensure that each axis does not decelerate simultaneously.
1 SERVO AMPLIFIER TROUBLESHOOTING
94 1.3 Handling methods for alarms/warnings
[AL. 139_Open phase error]
• An open phase occurred in the main circuit power supply of the servo amplifier. 1
• An open phase occurred in the servo motor power line.
[AL. 139.1_Input open phase error]
Cause Check/action method Model
1. An open phase occurred in the main circuit Check that the main circuit power line is connected with the servo amplifier. [A]
Make sure that single-phase AC power supply is not inputted to the servo [G]
power line of the servo amplifier.
amplifier that cannot use single-phase AC power supply. [WG]
Check that the main circuit power line of the servo amplifier is closed. If the
main circuit power line of the servo amplifier is open, replace the main circuit
power line.
2. The main circuit power supply is distorted. Review the power-supply environment of the main circuit.
[AL. 139.2_Output open phase error]
Cause Check/action method Model
1. An open phase occurred in the servo motor Check that the servo motor power line is connected with the servo amplifier. [A]
Check that the servo motor power supply is connected with the servo amplifier. [G]
power line.
Check that the servo motor power line is closed. If the servo motor power line [WG]
is open, replace the servo motor power line.
2. The winding inside the servo motor is Replace the servo motor, and then check the repeatability.
disconnected.
[AL. 139.3_Motor wiring error]
Cause Check/action method Model
1. The servo motor that has been connected with Check the servo motor of the connection destination of the servo motor power [A]
line and encoder cable. [G]
the servo motor power line is not the servo
Check the conduction of the servo motor power line. If the servo motor power [WG]
motor to be connected. The servo motor that line is open, replace the servo motor power line.
has been connected with the encoder cable is
not the servo motor to be connected.
2. The winding inside the servo motor is Replace the servo motor, and then check the repeatability.
disconnected.
1 SERVO AMPLIFIER TROUBLESHOOTING
1.3 Handling methods for alarms/warnings 95
[AL. 168_STO function error]
• There is an error in the STO function.
[AL. 168.1_STO function error]
Cause Check/action method Model
1. A servo amplifier that is not compatible with Install the short-circuit connector attached to the servo amplifier in the CN8. [A]
[G]
the STO function does not have a short-circuit
[WG]
connector connected to its CN8 connector.
1 SERVO AMPLIFIER TROUBLESHOOTING
96 1.3 Handling methods for alarms/warnings
[AL. 188_Watchdog 2]
• CPU or other components are malfunctioning. 1
[AL. 188_Watchdog 2]
Cause Check/action method Model
1. The internal parts of the servo amplifier have Replace the servo amplifier. [A]
[G]
malfunctioned.
[WG]
1 SERVO AMPLIFIER TROUBLESHOOTING
1.3 Handling methods for alarms/warnings 97
[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
1. An open phase occurred in the main circuit Page 95 [AL. 139.1_Input open phase error] [A]
[G]
power line of the servo amplifier.
[WG]
1 SERVO AMPLIFIER TROUBLESHOOTING
98 1.3 Handling methods for alarms/warnings
[AL. 1F8_Memory warning 1]
• There is an error in a memory. 1
[AL. 1F8.1_Memory writing frequency warning]
Cause Check/action method Model
1. The frequency of writing to the memory Prepare for replacing the servo amplifier, by making a backup of necessary [A]
data, or by other means. [G]
exceeded the guaranteed number.
This warning can be disabled by [Pr. PF02.4 Memory writing frequency [WG]
warning enable/disable selection]. The memory may be broken if the memory
is used continuously while [Pr. PF02.4] is disabled.
[AL. 1F8.2_Memory free space warning]
Cause Check/action method Model
1. The available free space in the memory is After making a backup of necessary data such as parameters, initialize the [A]
servo amplifier. [G]
insufficient.
Refer to "Servo amplifier setting initialization" in the following manual. [WG]
MR-J5-A User's Manual (Introduction)
MR-J5-G/MR-J5W-G User's Manual (Introduction)
This warning can be disabled by [Pr. PF02.5 Memory free space warning
enable/disable selection]. [AL. 119.7 Memory free space error 4-1] may occur
if the memory is used continuously while [Pr. PF02.5] is disabled.
1 SERVO AMPLIFIER TROUBLESHOOTING
1.3 Handling methods for alarms/warnings 99
1.4 Trouble which does not trigger an alarm/warning
This section shows the examples of possible causes of trouble which does not trigger an alarm or warning. Refer to this
section and remove each cause of trouble.
Precautions
• When the servo amplifier, servo motor, controller, or encoder malfunctions, the cases shown in this section may occur.
The display shows "A" (unconnected to the controller)
• The display shows "A". (The controller is not connected.)
• The status of each axis is indicated in each digit.
1-axis servo amplifier: "A _ _"
2-axis servo amplifier: "AA _"
3-axis servo amplifier: "AAA"
Possible cause Check/action method Model
1. The power supply of the servo system Switch on the power supply of the servo system controller. [G]
[WG]
controller is turned off.
2. The power supply of the device between the Turn on the power of the device between the controller and servo amplifier.
controller and servo amplifier is turned off.
3. The amplifier-less operation function of the Cancel the amplifier-less operation function of the servo system controller.
servo system controller is enabled.
4. An Ethernet cable was disconnected. Replace the Ethernet cable.
Check if the connector (CN1A/CN1B) is disconnected.
5. An incompatible controller is connected. Connect with a compatible controller.
6. The setting of the rotary switch is incorrect. Check that another servo amplifier is not assigned to the same axis No.
7. The communication cycle does not match. Refer to the controller instruction manual and check the communication cycle.
8. The axis is disabled. Turn off the disabling control axis switch. [WG]
The display shows "r##"
• The display shows "r##". (## indicates network addresses.)
Possible cause Check/action method Model
1. The system is in the servo-off or ready-off Turn the servo-on for all the axes. [G]
[WG]
state.
The display shows "TST"
• The display shows "TST".
Possible cause Check/action method Model
1. The test operation mode is enabled. Turn off the test operation select switch (SW3-1). [G]
Refer to "Switch setting and display of the servo amplifier" in the following [WG]
manual.
MR-J5-G/MR-J5W-G User's Manual (Introduction)
1 SERVO AMPLIFIER TROUBLESHOOTING
100 1.4 Trouble which does not trigger an alarm/warning
The display shows "off"
• The display shows "off". 1
Possible cause Check/action method Model
1. Operation mode for manufacturer setting is Do not turn on all the DIP switches (SW3). Set SW3 correctly. [G]
Refer to "Switch setting and display of the servo amplifier" in the following [WG]
enabled.
manual.
MR-J5-G/MR-J5W-G User's Manual (Introduction)
Cycle the power. [A]
The display is turned off
• The display is turned off.
Possible cause Check/action method Model
1. The external I/O terminal is shorted. If disconnecting the following connectors solves the trouble, the cable wiring [A]
may be shorted. Review the wiring. [G]
[A]: CN1, CN2, CN2L, CN3 [WG]
[G]: CN2, CN2L, CN3
[WG]: CN2A, CN2B, CN2C, CN3
2. The power is not supplied to the control circuit. Turn on the control circuit power supply.
3. The voltage of the control circuit power supply Increase the voltage of the control circuit power supply.
has dropped.
The servo motor does not operate
• The servo motor does not operate.
Possible cause Check/action method Model
1. The connection of the servo motor is incorrect. Check the U/V/W wiring. [A]
Refer to "Connection example of power supply circuit" in the following manual. [G]
MR-J5 User's Manual (Hardware) [WG]
2. A servo motor power cable or an encoder Check if the encoder cable and the servo motor power cable are connected to
the same axis.
cable is connected to an incorrect axis.
3. An alarm or warning is occurring. Check the contents of the alarm or warning, and remove its cause.
4. The system is in the test operation mode. Cancel the test operation mode.
Disable the motor-less operation.
[A]: The point in the lower right of the display is blinking.
[A]: [Pr. PC60.0 Motor-less operation selection]
[G] [WG]: Test operation select switch (SW3-1) has been turned
[G] [WG]: [Pr. PC05.0 Motor-less operation selection]
on (up) (The motor-less operation has been enabled).
5. The torque is insufficient for the large load. Check the instantaneous torque on the status display ([A]) or with MR
Configurator2. If the torque reaches the maximum torque or the torque limit
value, reduce the load or replace the servo motor with a larger-capacity servo
motor.
6. An unintended torque limit has been enabled. Cancel the torque limit.
7. The setting value for the torque limit is Check if the torque limit value is "0".
Refer to "Torque limit" in the following manual.
incorrect.
MR-J5 User's Manual (Function)
8. The machine is interfering with the servo Remove the interference.
motor.
9. For a servo motor with an electromagnetic Turn on the electromagnetic brake power.
brake, the brake has not been released.
10. LSP (Forward rotation stroke end) and LSN Check if [AL. 099 Stroke limit warning] is occurring.
Turn on LSP and LSN.
(Reverse rotation stroke end) are not on.
11. A software position limit is reached. Check if [AL. 098 Software limit warning] is occurring.
Place the moving part in the range of the software position limit.
12. SON (Servo-on) is not switched on. Switch on SON.
13. The setting of the electronic gear is incorrect. Set a proper value of the electronic gear.
14. PUS (Temporary stop) is switched on. Cancel PUS.
1 SERVO AMPLIFIER TROUBLESHOOTING
1.4 Trouble which does not trigger an alarm/warning 101
Possible cause Check/action method Model
15. RES (Reset) is switched on. Switch off RES. [A]
16. The setting of the control mode is incorrect. Check the setting of [Pr. PA01.0 Control mode selection].
17. In the position control mode, the command Check if the pulse train is outputted from the controller.
pulse is not inputted.
18. In the position control mode, wiring of the Review the wiring. When the signal is used in open-collector type, input 24 V
DC to OPC.
command pulse train signal is incorrect.
19. In the position control mode, the setting of the Check that the pulse train form, which is outputted by the controller, is the
same with the setting of [Pr. PA13.0 Command input pulse line - Form
command pulse input form is incorrect.
selection].
20. In the speed control mode or the positioning Switch on either one of ST1 or ST2.
mode, both ST1 (Forward rotation start) and
ST2 (Reverse rotation start) are turned on, or
both are turned off.
21. In the torque control mode, both of RS1 Switch on either one of RS1 or RS2.
(Forward rotation selection) and RS2 (Reverse
rotation selection) are turned on, or both are
turned off.
22. An insufficient value was selected in the speed Review the setting of the internal speed and the selections of SP1 (Speed
selection 1), SP2 (Speed selection 2), and SP3 (Speed selection 3).
control mode and the torque control mode.
23. An analog signal is inputted incorrectly. Check the values of the analog speed command and the analog torque
command on the status display or on MR Configurator2. Input the analog
signal correctly.
24. When using the absolute position detection Turn off ABSM.
system, the ABS transfer mode is selected.
25. Power is not supplied to OPC (Open collector - Connect between DICOM and OPC of the CN3 connector of the servo
amplifier.
Sync interface power supply input).
26. Quick Stop is activated. Cancel Quick Stop. [G]
[WG]
27. Halt is activated. Cancel Halt.
28. An error is occurring on the servo system Remove the error of the servo system controller.
controller side.
29. The parameter setting is incorrect on the servo Review the parameter setting on the servo system controller side.
system controller side.
30. The position command is inputted incorrectly. Review the setting of the servo system controller or the servo program. [WG]
31. The axis is disabled. Check if the disabling control axis switch is turned on.
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
1. The setting of the speed command, speed Review the settings of the speed command, speed limit, and electronic gear. [A]
[G]
limit, or electronic gear is incorrect.
[WG]
2. The connection of the servo motor is incorrect. Check the U/V/W wiring.
Refer to "Connection example of power supply circuit" in the following manual.
MR-J5 User's Manual (Hardware)
3. The voltage of the main circuit power supply Increase the voltage of the main circuit power supply.
has dropped.
4. For a servo motor with an electromagnetic Turn on the electromagnetic brake power.
brake, the brake has not been released.
1 SERVO AMPLIFIER TROUBLESHOOTING
102 1.4 Trouble which does not trigger an alarm/warning
Possible cause Check/action method Model
5. In the speed control mode and the torque Review the settings of SP1, SP2, SP3, and setting of internal speed. [A]
control mode, the selection of SP1 (Speed 1
selection 1), SP2 (Speed selection 2), or SP3
(Speed selection 3) is incorrect.
6. In the speed control mode and the torque Check the values of the analog speed command and the analog torque
command on the status display or on MR Configurator2.
control mode, the analog signal is incorrectly
inputted.
The servo motor vibrates with low frequency
• The servo motor vibrates with low frequency
Possible cause Check/action method Model
1. The estimated value of the load to motor Execute the auto tuning or one-touch tuning to set the load to motor inertia [A]
ratio again. When setting manually, set the load to motor inertia ratio correctly. [G]
inertia ratio by auto tuning is incorrect. When
Refer to the following manual. [WG]
the load to motor inertia ratio is set by manual, MR-J5 User's Manual (Adjustment)
the setting value is incorrect.
2. The command from the controller is unstable. Review the command from the controller.
Check for disconnection or other failure in the Ethernet cable.
3. When the servo motor stops, torque or thrust If the torque at acceleration/deceleration reaches the maximum torque, reduce
the generated torque by increasing the acceleration/deceleration time,
at acceleration/deceleration overshoots,
reducing the load, or other measures.
exceeding the limit of the servo motor.
4. The servo gain is low. Or the response of the Increase the servo gain. Or, increase the value of [Pr. PA09 Auto tuning
response].
auto tuning is low.
An unusual noise is occurring in the servo motor
• An unusual noise is occurring in the servo motor.
Possible cause Check/action method Model
1. The servo gain is high. Or the response of the Increase the servo gain. Or, increase the value of [Pr. PA09 Auto tuning [A]
response]. [G]
auto tuning is high.
[WG]
2. The bearing has reached its life. If the servo motor can be operated safely, remove the load and check for a
noise in the servo motor itself.
If the servo motor is removable from the machine, remove the servo motor
power cable, then release the brake, and rotate the servo motor by an external
force to check for a noise. If a noise occurs, the bearing is at the end of its life.
Replace the servo motor. If no noise occurs, perform maintenance on the load
side.
3. For a servo motor with an electromagnetic Turn on the electromagnetic brake power.
brake, the brake has not been released.
4. When a servo motor with an electromagnetic Review the timing of the electromagnetic brake release.
Take into account that the electromagnetic brake has release delay time.
brake is used, the brake release timing is
incorrect.
1 SERVO AMPLIFIER TROUBLESHOOTING
1.4 Trouble which does not trigger an alarm/warning 103
The servo motor vibrates
• The servo motor vibrates.
Possible cause Check/action method Model
1. The servo gain is high. Or the response of the Decrease the servo gain, and then check if the trouble is solved. Or, decrease [A]
the value of [Pr. PA09 Auto tuning response]. [G]
auto tuning is high.
[WG]
2. The machine is vibrating (resonating). Perform one-touch tuning or adaptive tuning. Or, set the machine resonance
suppression filter.
3. The load side is vibrating. Perform vibration suppression control tuning. Or, set the vibration suppression
control.
4. Noise entered the encoder cable, causing the On the status display ([A]) or MR Configurator2, check if numerical values of
the cumulative feedback pulses are skipped. Take countermeasures against
miscount of the feedback pulses.
noise, such as laying the encoder cable apart from the power cables.
5. There is a backlash between the servo motor If the coupling and the machine are nearly broken, or there is a backlash,
perform an inspection and maintenance.
and machine (such as a gear and coupling).
6. The rigidity of the servo motor mounting part is Increase the rigidity of the mounting part by increasing the board thickness,
reinforcing the part with ribs, or other means.
low.
7. The connection of the servo motor is incorrect. Check the U/V/W wiring.
Refer to "Connection example of power supply circuit" in the following manual.
MR-J5 User's Manual (Hardware)
8. An unbalanced torque of the machine is large. As the servo motor speed changes, check if the vibration also changes. Adjust
the balance of the machine.
9. The eccentricity due to a core gap is large. Check the mounting accuracy of the servo motor and machine.
10. A load for the shaft of the servo motor is large. Make the load for the shaft of the servo motor equal to or less than the
permissible load of the servo motor.
Refer to "Standard specification list" in the following manual.
Rotary Servo Motor User's Manual (HK series)
11. An external vibration propagated to the servo Prevent the vibration from the external vibration source.
motor.
Poor speed accuracy (Unstable speed of servo motor)
• The speed accuracy is poor. (The servo motor speed is unstable)
Possible cause Check/action method Model
1. The servo gain is low. Or the response of the Increase the servo gain. Or, increase the value of [Pr. PA09 Auto tuning [A]
response]. [G]
auto tuning is low.
[WG]
2. The servo gain is high. Or the response of the Decrease the servo gain, and then check if the trouble is solved. Or, decrease
the value of [Pr. PA09].
auto tuning is high.
3. The torque is insufficient for the large load. Check the instantaneous torque on the status display ([A]) or with MR
Configurator2. If the torque reaches the maximum torque or the torque limit
value, reduce the load or replace the servo motor with a larger-capacity servo
motor.
4. An unintended torque limit has been enabled. On the status display or MR Configurator2, check if TLC (Limiting torque) is
turned on. Cancel the torque limit.
Refer to "Torque limit" in the following manual.
MR-J5 User's Manual (Function)
5. The setting value for the torque limit is Increase the torque limit value.
Refer to "Torque limit" in the following manual.
incorrect.
MR-J5 User's Manual (Function)
6. For a servo motor with an electromagnetic Turn on the electromagnetic brake power.
brake, the brake has not been released.
7. The command from the controller is unstable. Review the command from the controller.
Or, check for disconnection or other failure in the Ethernet cable.
8. The power supply voltage is lower than Adjust the power supply voltage within the range of specifications.
specifications.
1 SERVO AMPLIFIER TROUBLESHOOTING
104 1.4 Trouble which does not trigger an alarm/warning
The machine vibrates unsteadily when it stops
• The machine vibrates unsteadily when it stops. 1
Possible cause Check/action method Model
1. The servo gain is low. Or the response of the Increase the servo gain. Or, increase the value of [Pr. PA09 Auto tuning [A]
response]. [G]
auto tuning is low.
[WG]
Overshoot/undershoot occurs
• Overshoot/undershoot occurs.
Possible cause Check/action method Model
1. The servo gain is low, or high. The response of Adjust the response of auto tuning and readjust the gain. [A]
[G]
auto tuning is low, or high.
[WG]
2. The setting of [Pr. PB06 Load to motor inertia Check if the setting value of [Pr. PB06] matches the actual load moment of
inertia or load mass. If the value does not match, set the parameter correctly.
ratio/load to motor mass ratio] is incorrect.
3. The capacity of the servo motor is insufficient, Check the instantaneous torque on the status display. Check if the torque
reaches the torque limit value. Keep the torque outside the torque limit value,
or the maximum torque is insufficient due to
by increasing the acceleration/deceleration time or by reducing the load. Or
the excessive load. use a servo motor with a larger capacity.
4. The setting of the torque limit value is small. Check the instantaneous torque on the status display. Check if the torque
reaches the torque limit value.
Increase the torque limit value so that the torque does not reach the limit
value.
5. The backlash of the machine part is large. Perform an inspection and maintenance of the coupling and the machine.
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.
• The servo motor starts moving immediately after servo-on.
Possible cause Check/action method Model
1. The SON (Servo-on) is already turned on at Review the wiring or the sequence program. [A]
power-on.
2. ST1 (Forward rotation start) or ST2 (Reverse Review the wiring or the sequence program.
rotation start) is inputted already at the start.
3. An analog signal is already inputted at the Review the timing of inputting analog signals.
start.
4. The zero point of an analog signal deviates. If the servo motor rotates with 0 V inputted for the analog signal, execute the
VC automatic offset, or adjust the offset of the analog signal with [Pr. PC37
Analog command input 1 offset] or [Pr. PC38 Analog command input 2 offset].
5. When a servo motor with an electromagnetic Review the timing of the electromagnetic brake release. [A]
[G]
brake is used, the brake release timing is
[WG]
incorrect.
6. The connection of the servo motor is incorrect. Check the U/V/W wiring.
Refer to "Connection example of power supply circuit" in the following manual.
MR-J5 User's Manual (Hardware)
1 SERVO AMPLIFIER TROUBLESHOOTING
1.4 Trouble which does not trigger an alarm/warning 105
The home position deviates at the homing
• The home position deviates at the homing.
Possible cause Check/action method Model
1. When performing the dog type homing, the Check if a fixed amount (in one revolution) deviates. Adjust the position of the [A]
proximity dog. [G]
point where the proximity dog turns off is close
[WG]
to the point where a Z-phase pulse is detected
(CR input position).
2. The in-position range is large. Set the value in [Pr. PA10 In-position range] for a narrower range than the
current setting.
3. The proximity dog switch is malfunctioning. Or Repair or replace the proximity dog switch. Adjust the mounting of the
proximity dog switch.
the proximity dog switch is improperly
mounted.
4. The program on the controller side is incorrect. Review the program on the controller side, such as home position address
settings or sequence programs.
The position deviates during operation after the homing
• The position deviates during operation after the homing
Possible cause Check/action method Model
1. The electronic gear or the feed length Review the setting of the electronic gear or the feed length multiplication. [A]
Refer to "Command unit select function" and "Electronic gear function" in the [G]
multiplication is incorrect.
following manual. [WG]
MR-J5 User's Manual (Function)
2. The servo gain is low. Or the response of the Check if the trouble is solved by increasing the auto tuning response ([Pr.
PA09]).
auto tuning is low.
Adjust the servo gain.
3. The proportional control (PID control) is Disable the proportional control (PID control).
enabled.
4. The in-position range is large. Review the setting of [Pr. PA10 In-position range].
5. A mechanical slip occurred. Or the backlash of Check for a slip or backlash in the machine part.
the machine part is large.
6. The command pulses were miscounted due to If the command value of the controller does not match the number of [A]
cumulative command pulses, perform the noise reduction techniques on the
noise.
command cables. Or, review the shield procedure of the command cable.
7. The command cable is loosely connected or If the command value of the controller does not match the number of
cumulative command pulses, repair the command cable.
disconnected.
8. The pulse train command frequency exceeds Use the pulse train command frequency within the range of specifications.
Open-collector type: 500 kpulses/s or less.
the specification range.
Differential line driver type: 4 Mpulses/s or less.
Set [Pr. PA13.2 Command input pulse train filter selection] according to the
pulse train command frequency.
9. The command cable is long. Shorten the wiring length.
Differential line driver type: 10 Mpulses/s or less.
Open-collector type: 2 m or less.
10. SON (Servo-on) turned off during operation. Review the wiring or sequence program so that SON does not turn off during
operation.
11. LSP (Forward rotation stroke end) or LSN Review the operation range or the position of the stroke end.
(Reverse rotation stroke end) is turned off.
12. CR (Clear) or RES (Reset) is turned on during Review the wiring or sequence so that CR or RES is not turn on during
operation.
operation.
1 SERVO AMPLIFIER TROUBLESHOOTING
106 1.4 Trouble which does not trigger an alarm/warning
In the absolute position detection system, a position mismatch
occurs at power restoration 1
• In the absolute position detection system, a position mismatch occurs at power restoration.
Possible cause Check/action method Model
1. At power-off status of the servo amplifier, an Extend the acceleration time. [A]
Keep the speed under the maximum permissible speed at power failure. [G]
external force rotated the servo motor at a
[WG]
speed exceeding the maximum permissible
speed at power failure (8000 r/min). (The
acceleration time was 0.2 s or less.)
2. When the servo motor was rotated at a speed Check if the servo amplifier power was turned on when the servo motor was
rotated at a speed exceeding 3000 r/min by an external force.
exceeding 3000 r/min by an external force, the
servo amplifier power was turned on.
3. Transfer data to the controller is incorrect. Check the ABS data with MR Configurator2. [A]
Review the controller programs.
Communication with the servo amplifier fails using MR
Configurator2
• Communication with the servo amplifier fails using MR Configurator2. For detailed contents, refer to Help screen of MR
Configurator2.
Possible cause Check/action method Model
1. The communication setting is incorrect. Check the communication settings, such as the baud rate and ports. [A]
[G]
2. The model being connected differs from the Check if the model selection is set correctly.
[WG]
model set in the model selection.
3. The driver is set incorrectly. Refer to the instructions on communication with servo amplifiers, shown on
Help of MR Configurator2.
4. They are off-line. Set them to on-line.
5. A communication cable is malfunctioning. Replace the communication cable.
6. The communication cable is not connected. Connect the communication cable.
7. The power of the servo amplifier is not Supply the power to the servo amplifier.
supplied.
8. The station number setting is incorrect. Review the station Nos. [A]
Electromagnetic brake went out
• When using a servo motor with an electromagnetic brake, the brake went out.
Possible cause Check/action method Model
1. The electromagnetic brake was malfunctioning Remove the servo motor and all the wiring from the machine, and check if the [A]
servo motor shaft is rotated by an external force. If the motor rotates, the brake [G]
due to the end of its life.
has a failure. Replace the servo motor. [WG]
Refer to "Electromagnetic brake characteristics" in the following manual.
Rotary Servo Motor User's Manual (HK series)
Electromagnetic brake cannot be released
• The electromagnetic brake cannot be released.
Possible cause Check/action method Model
1. The wiring is incorrect. Check the output signals. [A]
[G]
2. A signal of an output device has not been Check if the output device cable is wired correctly. Or check if the load of the
[WG]
output device is within specifications.
output correctly.
1 SERVO AMPLIFIER TROUBLESHOOTING
1.4 Trouble which does not trigger an alarm/warning 107
Coasting distance of the servo motor became longer
• The coasting distance of the servo motor became longer.
Possible cause Check/action method Model
1. The load increased and exceeded the Reduce the load. [A]
[G]
permissible load to motor inertia.
[WG]
2. The electromagnetic brake was malfunctioning Remove the servo motor and all the wiring from the machine, and check if the
servo motor shaft can be rotated by the hands. If the motor rotates, the brake
due to the end of its life.
has a failure. Replace the servo motor.
Refer to "Electromagnetic brake characteristics" in the following manual.
Rotary Servo Motor User's Manual (HK series)
1 SERVO AMPLIFIER TROUBLESHOOTING
108 1.4 Trouble which does not trigger an alarm/warning
MEMO
1
1 SERVO AMPLIFIER TROUBLESHOOTING
1.4 Trouble which does not trigger an alarm/warning 109
REVISIONS
*The manual number is given on the bottom left of the back cover.
Revision date *Manual number Description
June 2019 SH(NA)-030312ENG-A First edition
This manual confers no industrial property 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.
© 2019 MITSUBISHI ELECTRIC CORPORATION
110
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. However, we will charge the actual cost of dispatching our engineer for an on-site repair work on
request by customer in Japan or overseas countries. We are not responsible for any on-site readjustment and/or trial run that may be
required after a defective unit are repaired or replaced.
[Term]
For terms of warranty, please contact your local FA center.
[Limitations]
(1) You are requested to conduct an initial failure diagnosis by yourself, as a general rule.
It can also be carried out by us or our service company upon your request and the actual cost will be charged. However, it will not
be charged if we are responsible for the cause of the failure.
(2) This limited warranty applies only when the condition, method, environment, etc. of use are in compliance with the terms and
conditions and instructions that are set forth in the instruction manual and user manual for the Product and the caution label affixed
to the Product.
(3) Even during the term of warranty, the repair cost will be charged on you in the following cases;
1. a failure caused by your improper storing or handling, carelessness or negligence, etc., and a failure caused by your hardware
or software problem
2. a failure caused by any alteration, etc. to the Product made on your side without our approval
3. a failure which may be regarded as avoidable, if your equipment in which the Product is incorporated is equipped with a safety
device required by applicable laws and has any function or structure considered to be indispensable according to a common
sense in the industry
4. a failure which may be regarded as avoidable if consumable parts designated in the instruction manual, etc. are duly maintained
and replaced
5. any replacement of consumable parts (battery, fan, smoothing capacitor, etc.)
6. a failure caused by external factors such as inevitable accidents, including without limitation fire and abnormal fluctuation of
voltage, and acts of God, including without limitation earthquake, lightning and natural disasters
7. a failure generated by an unforeseeable cause with a scientific technology that was not available at the time of the shipment of
the Product from our company
8. 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 note that the Product (including its spare parts) cannot be ordered after its stop of production.
3. Service in overseas countries
Our regional FA Center in overseas countries will accept the repair work of the Product. However, the terms and conditions of the repair
work may differ depending on each FA Center. Please ask your local FA center for details.
4. Exclusion of loss in opportunity and secondary loss from warranty liability
Regardless of the gratis warranty term, Mitsubishi shall not be liable for compensation to:
(1) Damages caused by any cause found not to be the responsibility of Mitsubishi.
(2) Loss in opportunity, lost profits incurred to the user by Failures of Mitsubishi products.
(3) Special damages and secondary damages whether foreseeable or not, compensation for accidents, and compensation for
damages to products other than Mitsubishi products.
(4) Replacement by the user, maintenance of on-site equipment, start-up test run and other tasks.
5. Change of Product specifications
Specifications listed in our catalogs, manuals or technical documents may be changed without notice.
6. Application and use of the Product
(1) For the use of our AC Servo, its applications should be those that may not result in a serious damage even if any failure or
malfunction occurs in AC Servo, and a backup or fail-safe function should operate on an external system to AC Servo when any
failure or malfunction occurs.
(2) Our AC Servo is designed and manufactured as a general purpose product for use at general industries.
Therefore, applications substantially influential on the public interest for such as atomic power plants and other power plants of
electric power companies, and also which require a special quality assurance system, including applications for railway companies
and government or public offices are not recommended, and we assume no responsibility for any failure caused by these
applications when used.
In addition, applications which may be substantially influential to human lives or properties for such as airlines, medical treatments,
railway service, incineration and fuel systems, man-operated material handling equipment, entertainment machines, safety
machines, etc. are not recommended, and we assume no responsibility for any failure caused by these applications when used.
We will review the acceptability of the abovementioned applications, if you agree not to require a specific quality for a specific
application. Please contact us for consultation.
111
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.
112 SH(NA)-030312ENG-A
SH(NA)-030312ENG-A(1906)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.
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