Mitsubishi Electric MELSERVO-J4 series Manual de usuario

SH (NA) 030109-D (1308) MEE Printed in Japan Specifications are subject to change without notice.

This Instruction Manual uses recycled paper.

MODEL

CODE

General-Purpose AC Servo

MELSERVO-J4 Servo amplifier INSTRUCTION MANUAL TROUBLE SHOOTING

HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310

MELSERVO-J4 Servo amplifier

INSTRUCTION MANUAL TROUBLE SHOOTING

1CW808

MR-J4 INSTRUCTIONMANUAL

(TROUBLESHOOTING)

A - 1

Safety Instructions

Please read the instructions carefully before using the equipment.

To use the equipment correctly, do not attempt to install, operate, maintain, or inspect the equipment until

you have read through this Instruction Manual, Installation guide, and appended documents carefully. Do not

use the equipment until you have a full knowledge of the equipment, safety information and instructions.

In this Instruction Manual, the safety instruction levels are classified into "WARNING" and "CAUTION".

WARNING Indicates that incorrect handling may cause hazardous conditions,

resulting in death or severe injury.

CAUTION

Indicates that incorrect handling may cause hazardous conditions,

resulting in medium or slight injury to personnel or may cause physical

damage.

Note that the CAUTION level may lead to a serious consequence according to conditions.

Please follow the instructions of both levels because they are important to personnel safety.

What must not be done and what must be done are indicated by the following diagrammatic symbols.

Indicates what must not be done. For example, "No Fire" is indicated by .

Indicates what must be done. For example, grounding is indicated by .

In this Instruction Manual, instructions at a lower level than the above, instructions for other functions, and so

on are classified into "POINT".

After reading this Instruction Manual, keep it accessible to the operator.

A - 2

1. To prevent electric shock, note the following

WARNING

Before wiring or inspection, turn off the power and wait for 15 minutes or more until the charge lamp

turns off. Then, confirm that the voltage between P+ and N- is safe with a voltage tester and others.

Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or

not, always confirm it from the front of the servo amplifier.

Do not operate switches with wet hands. Otherwise, it may cause an electric shock.

2. To prevent fire, note the following

CAUTION

When you use a MR-J4 multi-axis servo amplifier, connecting an encoder for different axis to the CN2A,

CN2B, or CN2C connector may cause a fire.

3. To prevent injury, note the following

CAUTION

The servo amplifier heat sink, regenerative resistor, servo motor, etc. may be hot while power is on or for

some time after power-off. Take safety measures, e.g. provide covers, to prevent accidental contact of

hands and parts (cables, etc.) with them.

4. Additional instructions

The following instructions should also be fully noted. Incorrect handling may cause a malfunction, injury,

electric shock, etc.

(1) Wiring

CAUTION

Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly.

To avoid a malfunction, connect the wires to the correct phase terminals (U, V, and W) of the servo

amplifier and servo motor.

Connect the servo amplifier power output (U, V, and W) to the servo motor power input (U, V, and W)

directly. Do not let a magnetic contactor, etc. intervene. Otherwise, it may cause a malfunction.

Servo motor

Servo amplifier Servo motorServo amplifier

A - 3

(2) Usage

CAUTION

Before resetting an alarm, make sure that the run signal of the servo amplifier is off in order to prevent a

sudden restart. Otherwise, it may cause an accident.

Use the servo amplifier with the specified servo motor.

(3) Corrective actions

CAUTION

When it is assumed that a hazardous condition may occur due to a power failure or product malfunction,

use a servo motor with an electromagnetic brake or external brake to prevent the condition.

Configure an electromagnetic brake circuit so that it is activated also by an external EMG stop switch.

Servo motor

Electromagnetic brake

Contacts must be opened

with the EMG stop switch.

Contacts must be opened when CALM (Common

malfunction) or MBR (Electromagnetic brake

interlock) turns off.

24 V DC

When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before

restarting operation.

Provide an adequate protection to prevent unexpected restart after an instantaneous power failure.

«About the manual»

This Instruction Manual covers the following models.

MR-J4-_A/MR-J4-_A4/MR-J4-_A-RJ/MR-J4-_A4-RJ

MR-J4-_B/MR-J4-_B4/MR-J4-_B-RJ/MR-J4-_B4-RJ

MR-J4W_-_B

MR-J4-_B-RJ010 + MR-J3-T10

The symbols in the target column mean as follows.

MR-J4-_A/MR-J4-_A4/MR-J4-_A-RJ/MR-J4-_A4-RJ: [A]

MR-J4-_B/MR-J4-_B4/MR-J4-_B-RJ/MR-J4-_B4-RJ: [B]

MR-J4W_-_B: [WB]

MR-J4-_B-RJ010 + MR-J3-T10: [RJ010]

A - 4

MEMO

CONTENTS

1. TROUBLESHOOTING 1- 1 to 1-72

1.1 Alarm and warning list ...................................................................................................................... 1- 1

1.2 Remedies for alarms......................................................................................................................... 1- 6

1.3 Remedies for warnings .................................................................................................................... 1-54

1.4 Trouble which does not trigger alarm/warning ................................................................................ 1-63

2. DRIVE RECORDER 2- 1 to 2-10

2.1 How to use drive recorder................................................................................................................. 2- 1

2.2 How to display drive recorder information ........................................................................................ 2- 9

APPENDIX App.- 1 to App.- 1

App. 1 Detection points of [AL. 25], [AL. 92], and [AL. 9F]...............................................................App.- 1

MEMO

1. TROUBLESHOOTING

1 - 1

1. TROUBLESHOOTING

1.1 Alarm and warning list

When an error occurs during operation, the corresponding alarm or warning is displayed. If any alarm or

warning has occurred, refer to section 1.2 and take the appropriate action. When an alarm occurs, ALM

(Malfunction) will turn off.

No. Name Detail No. Detail name

10 Undervoltage 10.1 Voltage drop in the control circuit power

10.2 Voltage drop in the main circuit power

11 Switch setting error 11.1 Axis number setting error

11.2 Disabling control axis setting error

12 Memory error 1 (RAM) 12.1 RAM error 1

Alarm

12.2 RAM error 2

12.3 RAM error 3

12.4 RAM error 4

12.5 RAM error 5

13 Clock error 13.1 Clock error 1

13.2 Clock error 2

14 Control process error 14.1 Control process error 1

14.2 Control process error 2

14.3 Control process error 3

14.4 Control process error 4

14.5 Control process error 5

14.6 Control process error 6

14.7 Control process error 7

14.8 Control process error 8

14.9 Control process error 9

14.A Control process error 10

15 Memory error 2 (EEP-ROM) 15.1 EEP-ROM error at power on

15.2 EEP-ROM error during operation

16 16.1 Encoder initial communication - Receive data error 1

Encoder initial communication

error 1 16.2 Encoder initial communication - Receive data error 2

16.3 Encoder initial communication - Receive data error 3

16.5 Encoder initial communication - Transmission data error 1

16.6 Encoder initial communication - Transmission data error 2

16.7 Encoder initial communication - Transmission data error 3

16.A Encoder initial communication - Process error 1

16.B Encoder initial communication - Process error 2

16.C Encoder initial communication - Process error 3

16.D Encoder initial communication - Process error 4

16.E Encoder initial communication - Process error 5

16.F Encoder initial communication - Process error 6

17 Board error 17.1 Board error 1

17.3 Board error 2

17.4 Board error 3

17.5 Board error 4

17.6 Board error 5

17.8 Board error 6 (Note)

19 Memory error 3 (Flash-ROM) 19.1 Flash-ROM error 1

19.2 Flash-ROM error 2

1A Servo motor combination error 1A.1 Servo motor combination error

1A.2 Servo motor control mode combination error

1E 1E.1 Encoder malfunction

Encoder initial communication

error 2 1E.2 Load-side encoder malfunction

1. TROUBLESHOOTING

1 - 2

No. Name Detail No. Detail name

1F 1F.1 Incompatible encoder

Encoder initial communication

error 3 1F.2 Incompatible load-side encoder

Alarm

20 20.1 Encoder normal communication - Receive data error 1

Encoder normal communication

error 1 20.2 Encoder normal communication - Receive data error 2

20.3 Encoder normal communication - Receive data error 3

20.5 Encoder normal communication - Transmission data error 1

20.6 Encoder normal communication - Transmission data error 2

20.7 Encoder normal communication - Transmission data error 3

20.9 Encoder normal communication - Receive data error 4

20.A Encoder normal communication - Receive data error 5

21 21.1 Encoder data error 1

Encoder normal communication

error 2 21.2 Encoder data update error

21.3 Encoder data waveform error

21.4 Encoder non-signal error

21.5 Encoder hardware error 1

21.6 Encoder hardware error 2

21.9 Encoder data error 2

24 Main circuit error 24.1 Ground fault detected by hardware detection circuit

24.2 Ground fault detected by software detection function

25.1 Servo motor encoder - Absolute position erased

25 Absolute position erased

25.2 Scale measurement encoder - Absolute position erased

27 27.1 Magnetic pole detection - Abnormal termination

Initial magnetic pole detection

error 27.2 Magnetic pole detection - Time out error

27.3 Magnetic pole detection - Limit switch error

27.4 Magnetic pole detection - Estimated error

27.5 Magnetic pole detection - Position deviation error

27.6 Magnetic pole detection - Speed deviation error

27.7 Magnetic pole detection - Current error

28 Linear encoder error 2 28.1 Linear encoder - Environment error

2A Linear encoder error 1 2A.1 Linear encoder error 1-1

2A.2 Linear encoder error 1-2

2A.3 Linear encoder error 1-3

2A.4 Linear encoder error 1-4

2A.5 Linear encoder error 1-5

2A.6 Linear encoder error 1-6

2A.7 Linear encoder error 1-7

2A.8 Linear encoder error 1-8

2B Encoder counter error 2B.1 Encoder counter error 1

2B.2 Encoder counter error 2

30 Regenerative error 30.1 Regeneration heat error

30.2 Regeneration signal error

30.3 Regeneration feedback signal error

31 Overspeed 31.1 Abnormal motor speed

32 Overcurrent 32.1 Overcurrent detected at hardware detection circuit (during operation)

32.2 Overcurrent detected at software detection function (during operation)

32.3 Overcurrent detected at hardware detection circuit (during a stop)

32.4 Overcurrent detected at software detection function (during a stop)

33 Overvoltage 33.1 Main circuit voltage error

34 SSCNET receive error 1 34.1 SSCNET receive data error

34.2 SSCNET connector connection error

34.3 SSCNET communication data error

34.4 Hardware error signal detection

35 Command frequency error 35.1 Command frequency error

36 SSCNET receive error 2 36.1 Continuous communication data error

37 Parameter error 37.1 Parameter setting range error

37.2 Parameter combination error

1. TROUBLESHOOTING

1 - 3

No. Name Detail No. Detail name

3A Inrush current suppression circuit

error

3A.1 Inrush current suppression circuit error

3D.1 Parameter combination error for driver communication on slave3D Parameter setting error for driver

communication 3D.2 Parameter combination error for driver communication on master

Alarm

3E Operation mode error 3E.1 Operation mode error

42 Servo control error 42.1 Servo control error by position deviation

42.2 Servo control error by speed deviation

42.3 Servo control error by torque/thrust deviation

Fully closed loop control error 42.8 Fully closed loop control error by position deviation

42.9 Fully closed loop control error by speed deviation

42.A Fully closed loop control error by position deviation (during command

stop)

45 Main circuit device overheat 45.1 Main circuit device overheat error

46 Servo motor overheat 46.1 Abnormal temperature of servo motor 1

46.2 Abnormal temperature of servo motor 2

46.3 Thermistor disconnected error

46.5 Abnormal temperature of servo motor 3

46.6 Abnormal temperature of servo motor 4

47 Cooling fan error 47.1 Cooling fan stop error

47.2 Cooling fan speed reduction error

50 Overload 1 50.1 Thermal overload error 1 during operation

50.2 Thermal overload error 2 during operation

50.3 Thermal overload error 4 during operation

50.4 Thermal overload error 1 during a stop

50.5 Thermal overload error 2 during a stop

50.6 Thermal overload error 4 during a stop

51 Overload 2 51.1 Thermal overload error 3 during operation

51.2 Thermal overload error 3 during a stop

52 Error excessive 52.1 Excess droop pulse 1

52.3 Excess droop pulse 2

52.4 Error excessive during 0 torque limit

52.5 Excess droop pulse 3

54 Oscillation detection 54.1 Oscillation detection error

56 Forced stop error 56.2 Over speed during forced stop

56.3 Estimated distance over during forced stop

63 STO timing error 63.1 STO1 off

63.2 STO2 off

70 70.1 Load-side encoder initial communication - Receive data error 1

Load-side encoder initial

communication error 1 70.2 Load-side encoder initial communication - Receive data error 2

70.3 Load-side encoder initial communication - Receive data error 3

70.5 Load-side encoder initial communication - Transmission data error 1

70.6 Load-side encoder initial communication - Transmission data error 2

70.7 Load-side encoder initial communication - Transmission data error 3

70.A Load-side encoder initial communication - Process error 1

70.B Load-side encoder initial communication - Process error 2

70.C Load-side encoder initial communication - Process error 3

70.D Load-side encoder initial communication - Process error 4

70.E Load-side encoder initial communication - Process error 5

70.F Load-side encoder initial communication - Process error 6

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