Mitsubishi Electric MRJ5 v4 User's Manual

MR-J5 User's Manual (Troubleshooting)

-MR-J5-_G_ -MR-J5W_-_G_ -MR-J5D_-_G_ -MR-J5-_G_-_N1 -MR-J5W_-_G-_N1 -MR-J5D_-_G_-_N1 -MR-J5-_A_

Mitsubishi Electric AC Servo System

ABOUT THE MANUAL

e-Manuals are Mitsubishi Electric FA electronic book manuals that can be browsed with a dedicated tool. e-Manuals enable the following: Searching for desired information in multiple manuals at the same time (manual cross searching) Jumping from a link in a manual to another manual for reference Browsing for hardware specifications by scrolling over the components shown in product illustrations Bookmarking frequently referenced information Copying sample programs to engineering tools

If using the servo for the first time, prepare and use the following related manuals to ensure that the servo is used safely. For the related manuals, refer to the User's Manual (Introduction).

This manual covers the following servo amplifiers. MR-J5-_G_/MR-J5W_-_G_/MR-J5D_-_G_/MR-J5-_A_ In this manual, the servo amplifier names are abbreviated as shown below.

When reading this manual to use a drive unit, substitute "drive unit" for "servo amplifier".

Abbreviation Servo amplifier [G] MR-J5-_G_/MR-J5W_-_G_/MR-J5D_-_G_

[A] MR-J5-_A_

Rotary Servo Motor Linear Servo Motor Direct Drive Motor

This manual is necessary primarily for installing, wiring, and using options.

The manual is necessary for operation of servo amplifiers.

The manual is necessary for adjustment of operation status.

The manual is necessary for using communication functions.

The manual is necessary for specifying the causes of alarms and warnings.

Partner Encoder

Function

Adjustment

Object Dictionary

Troubleshooting

Introduction

Hardware

Communication Function

Parameters It describes the parameters of the servo amplifier.

It describes the objects for the servo amplifier.

For the usage of each function, refer to this manual.

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2

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 [Nm] 141.6 [ozinch]

Moment of inertia 1 [( 10-4 kgm2)] 5.4675 [ozinch2]

Load (thrust load/axial load) 1 [N] 0.2248 [lbf]

Temperature N [C] 9/5 + 32 N [F]

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N TE

N TS

CONTENTS ABOUT THE MANUAL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1 U.S. CUSTOMARY UNITS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2

CHAPTER 1 SERVO AMPLIFIER TROUBLESHOOTING 7 1.1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 1.2 List of alarm No./warning No.. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

Explanation of the list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

1.3 Handling methods for alarms/warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 [AL. 010_Undervoltage]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 [AL. 011_Switch setting error] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 [AL. 012_Memory error 1 (RAM)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 [AL. 013_CPU error] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 [AL. 014_Control process error] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 [AL. 016_Encoder initial communication error 1]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 [AL. 017_Board error] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 [AL. 019_Memory error 3] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 [AL. 01A_Servo motor combination error] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 [AL. 01B_Protection coordination error] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39 [AL. 01E_Encoder initial communication error 2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40 [AL. 01F_Encoder initial communication error 3]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 [AL. 020_Encoder normal communication error 1] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 [AL. 021_Encoder normal communication error 2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44 [AL. 024_Main circuit error] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46 [AL. 025_Absolute position erased]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47 [AL. 027_Initial magnetic pole detection error] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50 [AL. 028_Linear encoder error 2]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52 [AL. 02A_Linear encoder error 1] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 [AL. 02B_Encoder counter error]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54 [AL. 030_Regenerative error] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 [AL. 031_Overspeed]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56 [AL. 032_Overcurrent] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57 [AL. 033_Overvoltage]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59 [AL. 035_Command frequency error] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60 [AL. 037_Parameter error]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61 [AL. 03A_Inrush current suppression circuit error] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63 [AL. 042_Servo control error] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64 [AL. 045_Main circuit device overheat] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67 [AL. 046_Servo motor overheat] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68 [AL. 047_Cooling fan error] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70 [AL. 050_Overload 1]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71 [AL. 051_Overload 2]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73 [AL. 052_Excessive error] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74 [AL. 054_Oscillation detection] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76 [AL. 056_Forced stop error]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77 [AL. 061_Operation error] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78 [AL. 063_STO timing error] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79 [AL. 066_Encoder initial communication error (safety sub-function)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80

3

4

[AL. 067_Encoder normal communication error 1 (safety sub-function)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 [AL. 068_STO diagnosis error] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82 [AL. 069_Command error] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83 [AL. 070_Load-side encoder initial communication error 1] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85 [AL. 071_Load-side encoder normal communication error 1] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88 [AL. 072_Load-side encoder normal communication error 2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90 [AL. 076_Load-side encoder error] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91 [AL. 086_Network communication error] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92 [AL. 088_Watchdog 1]/[AL. 888_Watchdog 1]/[AL. 88888_Watchdog 1] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93 [AL. 08A_Serial communication time-out error]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94 [AL. 08E_Serial communication error]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95 [AL. 08F_Two-digit alarm No. display alarm]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96 [AL. 090_Homing incomplete warning] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98 [AL. 091_Servo amplifier overheat warning] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99 [AL. 092_Battery cable disconnection warning]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100 [AL. 093_ABS data transfer warning] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101 [AL. 095_STO warning] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102 [AL. 096_Home position setting warning] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103 [AL. 098_Software position limit warning] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104 [AL. 099_Stroke limit warning]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105 [AL. 09B_Excessive error warning] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107 [AL. 09C_Converter warning] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108 [AL. 09E_Network warning] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109 [AL. 09F_Battery warning] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111 [AL. 0E0_Excessive regeneration warning]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112 [AL. 0E1_Overload warning 1]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113 [AL. 0E2_Servo motor overheat warning] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115 [AL. 0E3_Absolute position counter warning] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116 [AL. 0E5_ABS time-out warning] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117 [AL. 0E6_Servo forced stop warning] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118 [AL. 0E8_Decreased cooling fan speed warning] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119 [AL. 0E9_Main circuit off warning] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120 [AL. 0EA_ABS servo-on warning] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122 [AL. 0EB_The other axis error warning] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123 [AL. 0EC_Overload warning 2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124 [AL. 0ED_Output watt excess warning] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125 [AL. 0F0_Tough drive warning] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126 [AL. 0F2_Drive recorder warning] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127 [AL. 0F3_Oscillation detection warning] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128 [AL. 0F4_Positioning warning]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129 [AL. 0F7_Machine diagnosis warning]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130 [AL. 0FE_Two-digit warning No. display warning] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132 [AL. 118_Encoder diagnosis]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134 [AL. 119_Memory error 4] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135 [AL. 11A_Servo motor constant error] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136 [AL. 11B_Protection coordination connection error] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137 [AL. 130_Regenerative error 2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138 [AL. 139_Open-phase error] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139 [AL. 168_STO function error]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140 [AL. 17A_Load-side linear encoder error 1]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141 [AL. 188_Watchdog 2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142

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N TS

[AL. 19E_Network warning 2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143 [AL. 1E9_Open phase warning]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144 [AL. 1F8_Memory warning 1] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145 [AL. 510_Voltage diagnosis error (safety sub-function)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146 [AL. 512_Memory error 1 (RAM) (safety sub-function)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147 [AL. 514_Control process error (safety sub-function)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148 [AL. 515_Memory error 2 (ROM) (safety sub-function)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149 [AL. 516_Encoder initial communication error 1 (safety sub-function)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150 [AL. 517_Board error (safety sub-function)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151 [AL. 518_Synchronous control error (safety sub-function)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152 [AL. 519_Memory error 3 (Flash-ROM) (safety sub-function)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153 [AL. 520_Encoder normal communication diagnosis error 1 (safety sub-function)] . . . . . . . . . . . . . . . . . . . . . 154 [AL. 521_Encoder normal communication diagnosis error 2 (safety sub-function)] . . . . . . . . . . . . . . . . . . . . . 155 [AL. 522_Encoder normal communication diagnosis error 3 (safety sub-function)] . . . . . . . . . . . . . . . . . . . . . 156 [AL. 523_Encoder normal communication diagnosis error 4 (safety sub-function)] . . . . . . . . . . . . . . . . . . . . . 157 [AL. 524_Encoder normal communication diagnosis error 5 (safety sub-function)] . . . . . . . . . . . . . . . . . . . . . 158 [AL. 525_Encoder normal communication diagnosis error 6 (safety sub-function)] . . . . . . . . . . . . . . . . . . . . . 159 [AL. 526_Encoder normal communication diagnosis error 7 (safety sub-function)] . . . . . . . . . . . . . . . . . . . . . 160 [AL. 527_Encoder normal communication diagnosis error 8 (safety sub-function)] . . . . . . . . . . . . . . . . . . . . . 161 [AL. 528_Encoder normal communication diagnosis error 9 (safety sub-function)] . . . . . . . . . . . . . . . . . . . . . 162 [AL. 529_Encoder data error (safety sub-function)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163 [AL. 52A_Position feedback error (safety sub-function)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164 [AL. 52B_Encoder thermal error (safety sub-function)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165 [AL. 52C_ Encoder normal communication error 10 (safety sub-function)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . 166 [AL. 537_Parameter setting range error (safety sub-function)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167 [AL. 53A_Parameter verification error (safety sub-function)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168 [AL. 540_Internal diagnosis error 1 (safety sub-function)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169 [AL. 541_Internal diagnosis error 2 (safety sub-function)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170 [AL. 542_Internal diagnosis error 3 (safety sub-function)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171 [AL. 543_Internal diagnosis error 4 (safety sub-function)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172 [AL. 544_Temperature diagnosis error (safety sub-function)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173 [AL. 545_Internal diagnosis error 5 (safety sub-function)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174 [AL. 546_Internal diagnosis error 6 (safety sub-function)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175 [AL. 547_Internal diagnosis error 7 (safety sub-function)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176 [AL. 549_Internal diagnosis error 8 (safety sub-function)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177 [AL. 54A_Internal diagnosis error 9 (safety sub-function)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178 [AL. 54D_Internal diagnosis error 10 (safety sub-function)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179 [AL. 54F_Safety software error (safety sub-function)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180 [AL. 550_Internal diagnosis error 11 (safety sub-function)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181 [AL. 551_Internal diagnosis error 12 (safety sub-function)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182 [AL. 552_Internal diagnosis error 13 (safety sub-function)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183 [AL. 554_Input device internal diagnosis error (safety sub-function)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184 [AL. 555_Output device diagnosis error 1 (safety sub-function)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185 [AL. 556_Output device diagnosis error 2 (safety sub-function)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 186 [AL. 557_Input device mismatch detection (safety sub-function)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187 [AL. 560_Stop error (safety sub-function)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188 [AL. 561_Safety speed monitor error 1 (safety sub-function)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 190 [AL. 562_Safety speed monitor error 2 (safety sub-function)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192 [AL. 563_Deceleration monitor error (safety sub-function)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 194 [AL. 564_Increment monitor error (safety sub-function)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 196 [AL. 565_Direction monitor error (safety sub-function)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197

5

6

[AL. 568_Torque monitor error 1 (safety sub-function)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199 [AL. 569_Torque monitor error 2 (safety sub-function)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201 [AL. 580_Safety communication setting error (safety sub-function)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203 [AL. 581_Safety communication error 1 (safety sub-function)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 204 [AL. 582_Safety communication error 2 (safety sub-function)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206 [AL. 583_Safety communication error 3 (safety sub-function)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 207 [AL. 595_STO command off warning (safety sub-function)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 208 [AL. 596_SS1 time-out warning (safety sub-function)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209 [AL. 59D_Internal diagnosis error (safety sub-function)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 210 [AL. 5E1_Test mode setting mismatch warning (safety sub-function)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211 [AL. 5E2_Safety communication warning (safety sub-function)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212 [AL. 5E6_SS1 command off warning (safety sub-function)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213

1.4 Trouble which does not trigger an alarm/warning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 214 The display shows "A" (unconnected to the controller) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 214 The display shows "r##" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 214 The display shows "TST". . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 214 The display shows "off" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215 The display is off . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215 The servo motor does not operate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215 The increase in the servo motor speed is insufficient or excessive. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 217 Vibration of servo motor at low frequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 217 There is an unusual noise in the servo motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218 The servo motor vibrates. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218 Poor speed accuracy (Unstable speed of servo motor) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219 The machine vibrates unsteadily when it stops . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219 Overshoot/undershoot occurs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219 The servo motor starts moving immediately after the power-on of the servo amplifier or servo-on . . . . . . . . . 220 The home position deviates at the homing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220 The position deviates during operation after the homing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221 A position mismatch occurs at power restoration in an absolute position detection system . . . . . . . . . . . . . . . 222 Communication with the servo amplifier fails using MR Configurator2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222 Electromagnetic brake went out . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222 Electromagnetic brake cannot be released . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222 Coasting distance of the servo motor became longer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223 Executed point table does not work. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223 RS-422 communication (Mitsubishi Electric AC servo protocol) cannot be used . . . . . . . . . . . . . . . . . . . . . . . 223

1.5 Two-digit display of alarm/warning number . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 224 REVISIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .226 WARRANTY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .227 TRADEMARKS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .228

1

Precautions In the MR-J5 series, the alarm No. and warning No. are shown with three digits, followed by one digit indicating the detail

No. This has changed since the MR-J4 series, in which these numbers were shown with two digits and one digit, respectively.

1.1 Outline If an error occurs in the servo system, the corresponding alarm or warning is displayed. When an alarm occurs, ALM (Malfunction) turns off. If an alarm or warning is displayed, take appropriate measures according to the following: Page 25 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] [AL. 537 Parameter setting range error (safety sub-function)] [AL. 53A Parameter verification error (safety sub-function)] With the exception of [AL. 0F0 Tough drive warning], warnings are not recorded in the alarm history. Alarms marked with "" in the "Alarm deactivation" column have the deactivation conditions shown in the following table.

Detail No. Alarm deactivation condition 030.1 Approximately 30 minutes of cooling time have passed since the cause of the alarm occurrence was removed.

042.1 Set the servo parameters as follows. When in fully closed loop control: Set [Pr. PE03.3 Fully closed loop control error - Reset selection] to "1". When a linear servo motor or a direct drive motor is used: Set [Pr. PL04.3 [AL. 042 Servo control error] detection controller reset condition selection] to "1".

042.2

042.3

042.8

042.9

042.A

046.1 Approximately 30 minutes of cooling time have passed since the cause of the alarm occurrence was removed.

046.2

046.3

046.4

046.5

046.6

050.1

050.2

050.3

050.4

050.5

050.6

051.1

051.2

130.1

1 SERVO AMPLIFIER TROUBLESHOOTING 1.1 Outline 7

8

Precautions As soon as an alarm occurs, switch to servo-off status and shut off the main circuit power supply. If an abnormality related to overheating occurs, remove the cause of the abnormality and allow a cooling time of

approximately 30 minutes. 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 with the controller occurs, resetting the communication may not cancel

the alarm. In the alarm list, alarms marked with "" in the "Safety reset" column must be canceled while all the safety sub-functions

have stopped. These alarms cannot be canceled unless all the safety sub-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, the servo amplifier may have malfunctioned. Replace

the servo amplifier, then check the repeatability. If the same problem continues even after replacing the servo amplifier, there may be a problem with the surrounding

environment or with other devices. When [AL. 025 Absolute position erased] occurs, perform homing again to prevent an unexpected operation. To prevent malfunctions of the servo amplifier and servo motor, do not deactivate the alarm repeatedly to resume if any of

the following alarms occur. Remove the cause of occurrence and allow 30 minutes or more for cooling, 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, do not cycle the power of the servo amplifier repeatedly to

resume if any of the following warnings occur. 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 regeneration warning] [AL. 0E1 Overload warning 1] 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 1.1 Outline

1

Motor stop method Alarms and warnings which have "SD" in the "Motor stop method" column stop the servo motor with the dynamic brake after forced stop deceleration. Alarms and warnings which have "DB" or "EDB" in the "Motor stop method" column stop the servo motor with the dynamic brake.

Stop method at occurrence of alarms/warnings The servo amplifier has the following stop methods:

Specific stop methods Quick stop or slow stop can be selected with [Pr. PD30 Function selection D-1] if the MR-J5-_A_ is used.

Motor stop method Description DB Dynamic brake stop (for a servo amplifier without the dynamic brake, the servo motor coasts)

SD Forced stop deceleration This stop method is applicable when [Pr. PA04 Function selection A-1] is set to the initial value. The stop method can be changed from SD to DB with [Pr. PA04].

EDB Stop with an electronic dynamic brake (enabled only for specific servo motors) Refer to "Stop method at occurrence of alarms/warnings" in the following manual for the specific servo motors. MR-J5 User's Manual (Function)

STO/DB Dynamic brake stop by the STO function (for a servo amplifier without the dynamic brake, the servo motor coasts)

SS1/SD Forced stop deceleration by the SS1 function The stop method is applicable when [Pr. PA04] is set to the initial value. The stop method can be changed from SS1/SD to SS1/DB with [Pr. PA04].

SS1/EDB Stop with an electronic dynamic brake (enabled only for specific servo motors) Refer to "Stop method at occurrence of alarms/warnings" in the following manual for the specific servo motors. MR-J5 User's Manual (Function) The stop method of SS1/DB is applicable to servo motors other than the said specific servo motors.

1 SERVO AMPLIFIER TROUBLESHOOTING 1.2 List of alarm No./warning No. 9

10

Converter main circuit stop target If alarms and warnings have "" in the "Converter main circuit stop target" column occur, the main circuit power supply of the converter unit connected with a protection coordination cable is shut off. During servo-on in the drive unit connected with a protection coordination cable, [AL. 01B Protection coordination error] occurs and the servo motor stops with the dynamic brake.

Alarm deactivation

When using servo motors with functional safety, executing software reset may trigger [AL. 016 Encoder initial communication error 1]. If [AL. 016] occurs, cycle the power.

After the cause of the alarm has been removed, the alarm can be deactivated by using the methods marked with "" in the "Alarm deactivation" column. Alarms marked with "" in the "Alarm deactivation" column have the deactivation conditions. Page 7 Restrictions Alarms are deactivated by alarm reset, communication reset, or power cycling. Alarms can also be deactivated by software reset instead of power cycling. Refer to "Alarm function" in the following manual. MR-J5 User's Manual (Function)

Stop system This stop system is applicable for the MR-J5W_, MR-J5D2_, and MR-J5D3_. 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 Warnings that have "" in the "Motor stop warning" column stop the servo motor when the warning occurs. If a warning that stops the servo motor occurs, WNGSTOP (Motor stop warning) will turn on.

Safety sub-function stopped Indicates that the safety sub-function stops when the alarm or warning occurs, disabling input to the safety sub-function and maintaining the shut-off state of the power supply. "SFTY" on the servo amplifier display turns off when the safety sub-function stops. : The safety sub-function stops and "SFTY" turns off. : The safety sub-function does not stop.

1 SERVO AMPLIFIER TROUBLESHOOTING 1.2 List of alarm No./warning No.

1

No. Alarm/ Warning

Motor stop method

Stop system

Converter main circuit stop target

Alarm deactivation Motor stop warning

Safety sub- function stopped

Safety reset

Alarm reset

Communication reset

Power 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

012.9 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

014.C 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

1 SERVO AMPLIFIER TROUBLESHOOTING 1.2 List of alarm No./warning No. 11

12

01A 01A.1 Alarm DB Each axis

01A.2 Alarm DB Each axis

01A.3 Alarm DB Each axis

01A.4 Alarm DB Each axis

01A.5 Alarm DB Each axis

01A.6 Alarm DB Each axis

01B 01B.1 Alarm DB All axes

01B.4 Alarm DB All axes

01E 01E.1 Alarm DB Each axis

01E.2 Alarm DB Each axis

01F 01F.1 Alarm DB Each axis

01F.2 Alarm DB Each axis

020 020.1 Alarm EDB Each axis

020.2 Alarm EDB Each axis

020.3 Alarm EDB Each axis

020.4 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

025.2 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

028.2 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

No. Detail No.

Alarm/ Warning

Motor stop method

Stop system

Converter main circuit stop target

Alarm deactivation Motor stop warning

Safety sub- function stopped

Safety reset

Alarm reset

Communication reset

Power cycling

1 SERVO AMPLIFIER TROUBLESHOOTING 1.2 List of alarm No./warning No.

1

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