Mitsubishi Electric MELSERVO-J4 series User manual

SH(NA)030109ENG-M(1612)MEE Printed in Japan Specifications are subject to change without notice.
This Instruction Manual uses recycled paper.
MODEL
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)
M
M

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 (20 minutes or more for
converter unit) until the charge lamp turns off. Then, confirm that the voltage between P+ and N-
(between L+ and L- for converter unit) is safe with a voltage tester and others. Otherwise, an electric
shock may occur. In addition, always confirm whether the charge lamp is off or not from the front of the
servo amplifier (converter unit).
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 an MR-J4 multi-axis servo amplifier, connecting an encoder for wrong axis to the CN2A,
CN2B, or CN2C connector may cause a fire.
3. To prevent injury, note the following
CAUTION
The servo amplifier (drive unit), converter unit heat sink, regenerative resistor, servo motor, etc. may
become hot while power is on or for some time after power-off. Take safety measures, e.g. provide
covers, to avoid accidentally touching the parts (cables, etc.) by hand.
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 of the servo motor, connect the wires to the correct phase terminals (U/V/W) of
the servo amplifier (drive unit) and the servo motor.
Connect the servo amplifier (drive unit) power output (U/V/W) to the servo motor power input (U/V/W)
directly. Do not let a magnetic contactor, etc. intervene. Otherwise, it may cause a malfunction.
U
Servo motor
M
V
W
U
V
W
U
M
V
W
U
V
W
Servo amplifier
(drive unit) Servo motor
Servo amplifier
(drive unit)
Configure a circuit to turn off EM2 or EM1 when the main circuit power is turned off to prevent an
unexpected restart of the servo amplifier (drive unit).

A - 3
(2) Usage
CAUTION
Before resetting an alarm, make sure that the run signal of the servo amplifier (drive unit) is off in order to
prevent a sudden restart. Otherwise, it may cause an accident.
Use the servo amplifier (drive unit) and converter unit with the specified servo motor.
(3) Corrective actions
CAUTION
Ensure safety by confirming the power off, etc. before performing corrective actions. Otherwise, it may
cause an accident.
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 which is interlocked with an external emergency stop switch.
Servo motor
Electromagnetic brake
B
RA
Contacts must be opened with
the emergency 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.

A - 4
«About the manual»
This Instruction Manual covers the following models. These include servo amplifiers (drive units) which
have optional units.
MR-J4-_A/MR-J4-_A4/MR-J4-_A1/MR-J4-_A-RJ/MR-J4-_A4-RJ/MR-J4-_A1-RJ
MR-J4-_B/MR-J4-_B4/MR-J4-_B1/MR-J4-_B-RJ/MR-J4-_B4-RJ/MR-J4-_B1-RJ
MR-J4W_-_B
MR-J4-_B-RJ010/MR-J4-_B4-RJ010
MR-J4-03A6/MR-J4-03A6-RJ/MR-J4W2-0303B6
MR-J4-_GF/MR-J4-_GF4/MR-J4-_GF-RJ/MR-J4-_GF4-RJ
MR-J4-DU_A/MR-J4-DU_A4/MR-J4-DU_A-RJ/MR-J4-DU_A4-RJ
MR-J4-DU_B/MR-J4-DU_B4/MR-J4-DU_B-RJ/MR-J4-DU_B4-RJ
MR-CV_
MR-CR55K/MR-CR55K4
The symbols in the target column mean as follows.
[A]: MR-J4-_A/MR-J4-_A4/MR-J4-_A1/MR-J4-_A-RJ/MR-J4-_A4-RJ/MR-J4-_A1-RJ/MR-J4-DU_A/
MR-J4-DU_A4/MR-J4-DU_A-RJ/MR-J4-DU_A4-RJ/MR-J4-03A6/MR-J4-03A6-RJ
[B]: MR-J4-_B/MR-J4-_B4/MR-J4-_B1/MR-J4-_B-RJ/MR-J4-_B4-RJ/MR-J4-_B1-RJ/
MR-J4-DU_B/MR-J4-DU_B4/MR-J4-DU_B-RJ/MR-J4-DU_B4-RJ
[WB]: MR-J4W_-_B/MR-J4W2-0303B6
[RJ010]: MR-J4-_B-RJ010/MR-J4-_B4-RJ010
[GF]: MR-J4-_GF/MR-J4-_GF4/MR-J4-_GF-RJ/MR-J4-_GF4-RJ
[Other]: For manufacturer adjustment

1
CONTENTS
1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT) 1- 1 to 1-130
1.1 Explanation for the lists..................................................................................................................... 1- 1
1.2 Alarm list ........................................................................................................................................... 1- 3
1.3 Warning list ...................................................................................................................................... 1-13
1.4 Remedies for alarms........................................................................................................................ 1-16
1.5 Remedies for warnings .................................................................................................................... 1-92
1.6 Trouble which does not trigger alarm/warning .............................................................................. 1-116
1.7 Network module error codes.......................................................................................................... 1-129
2. TROUBLESHOOTING FOR MR-CV_POWER REGENERATION CONVERTER UNIT 2- 1 to 2- 8
2.1 Explanations of the lists .................................................................................................................... 2- 1
2.2 Alarm list ........................................................................................................................................... 2- 1
2.3 Warning list ....................................................................................................................................... 2- 2
2.4 Remedies for alarms......................................................................................................................... 2- 2
2.5 Remedies for warnings ..................................................................................................................... 2- 7
3. TROUBLESHOOTING FOR MR-CR55K(4) RESISTANCE REGENERATION CONVERTER UNIT 3- 1 to 3-10
3.1 Explanation for the lists..................................................................................................................... 3- 1
3.2 Alarm/warning list.............................................................................................................................. 3- 1
3.3 Remedies for alarms......................................................................................................................... 3- 2
3.4 Remedies for warnings ..................................................................................................................... 3- 8
4. DRIVE RECORDER 4- 1 to 4-10
4.1 How to use drive recorder.................................................................................................................. 4- 1
4.2 How to display drive recorder information ........................................................................................ 4-10
APPENDIX App.- 1 to App.- 1
App. 1 Detection points of [AL. 25], [AL. 92], and [AL. 9F]............................................................... App.- 1

2
MEMO

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)
1 - 1
1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)
POINT
As soon as an alarm occurs, turn SON (Servo-on) off and interrupt the power.
[AL. 37 Parameter error] and warnings (except [AL. F0 Tough drive warning])
are not recorded in the alarm history.
[AL. 8D.1 CC-Link IE communication error 1] and [AL. 8D.2 CC-Link IE
communication error 2] are not recorded in the alarm history. For MR-J4-_GF_(-
RJ), these alarms are recorded by setting [Pr. PN06] to "_ _ _ 1".
When an error occurs during operation, the corresponding alarm or warning is displayed. When an alarm is
displayed, refer to section 1.4 and take the appropriate action. When an alarm occurs, ALM will turn off.
When an warning is displayed, refer to section 1.5 and take the appropriate action.
1.1 Explanation for the lists
(1) No./Name/Detail No./Detail name
Indicates each No./Name/Detail No./Detail name of alarms or warnings.
(2) 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 without forced
stop deceleration.
(3) Alarm deactivation
After its cause has been removed, the alarm can be deactivated in any of the methods marked in the
alarm deactivation column. Warnings are automatically canceled after the cause of occurrence is
removed. Alarms are deactivated with alarm reset, CPU reset, or cycling the power.
(a) MR-J4-_A_(-RJ)/MR-J4-DU_A_(-RJ)
Alarm deactivation Explanation
Alarm reset 1. Turning on RES (Reset) with input device
2. Pushing the "SET" button while the display of the servo amplifier is the current
alarm display status
3. Click "Occurring Alarm Reset" in the "Alarm Display" window of MR Configurator2
Cycling the power Turning the power off and then turning it on again.
(b) MR-J4-_B_(-RJ010)/MR-J4W_-_B/MR-J4-DU_B_(-RJ)/MR-J4-_GF_(-RJ)
Alarm deactivation Explanation
Alarm reset 1. Reset command from controller
2. Click "Occurring Alarm Reset" in the "Alarm Display" window of MR Configurator2
CPU reset Resetting the controller itself
Cycling the power Turning the power off and then turning it on again.
(4) Processing system (only for MR-J4W_-_B_)
Processing system of alarms is as follows.
Each axis: Alarm is detected for each axis.
Common: Alarm is detected as the whole servo amplifier.

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)
1 - 2
(5) Stop system (only for MR-J4W_-_B_)
This means target axis to stop when the alarm occurs.
Each axis: Only alarming axis will stop.
All axes: All axes will stop.
(6) Alarm code (only MR-J4-_A_(-RJ)/MR-J4-DU_A_(-RJ))
To output alarm codes, set [Pr. PD34] to "_ _ _ 1" when using an MR-J4-_A_(-RJ)/MR-J4-DU_A_(-RJ).
Alarm codes are outputted by on/off of bit 0 to bit 2. Warnings ([AL. 90] to [AL. F3]) do not have alarm
codes. The alarm codes in the following table will be outputted when they occur. The alarm codes will
not be outputted in normal condition.
When using an MR-D01 extension IO unit, you can output alarm codes by setting [Pr. Po12] to "_ _ _ 1".
Alarm codes are outputted by on/off of bit 0 to bit 3.

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)
1 - 3
1.2 Alarm list
No. Name
Detail
No. Detail name
Stop
method
(Note
2, 3)
Alarm deactivation Process-
ing
system
(Note 9)
Stop
system
(Note 9)
Alarm code (Note 8)
Alarm
reset
CPU
reset
Cycling
the
power
ACD3
(Bit 3)
ACD2
(Bit 2)
ACD1
(Bit 1)
ACD0
(Bit 0)
Alarm
10 Undervoltage
10.1 Voltage drop in the control
circuit power EDB Common All axes
0 0 1 0
10.2 Voltage drop in the main circuit
power SD Common All axes
11 Switch setting error
11.1 Axis number setting error/
Station number setting error DB Common All axes
11.2
Disabling control axis setting
error DB Common All axes
12.1 RAM error 1 DB Common All axes
12.2 RAM error 2 DB Common All axes
12 Memory error 1
(RAM)
12.3 RAM error 3 DB Common All axes 0 0 0 0
12.4 RAM error 4 DB Common All axes
12.5 RAM error 5 DB Common All axes
12.6 RAM error 6 DB
13 Clock error 13.1 Clock error 1 DB Common All axes 0 0 0 0
13.2 Clock error 2 DB Common All axes
14.1 Control process error 1 DB Common All axes
14.2 Control process error 2 DB Common All axes
14.3 Control process error 3 DB Common All axes
14.4 Control process error 4 DB Common All axes
Control process
error
14.5 Control process error 5 DB Common All axes 0 0 0 0
14 14.6 Control process error 6 DB Common All axes
14.7 Control process error 7 DB Common All axes
14.8 Control process error 8 DB Common All axes
14.9 Control process error 9 DB Common All axes
14.A Control process error 10 DB Common All axes
14.B Control process error 11 DB
15 Memory error 2
(EEP-ROM)
15.1 EEP-ROM error at power on DB Common All axes
0 0 0 0
15.2 EEP-ROM error during
operation DB Common All axes
15.4 Home position information read
error DB
16.1 Encoder initial communication -
Receive data error 1 DB Each
axis
Each
axis
16.2 Encoder initial communication -
Receive data error 2 DB Each
axis
Each
axis
16.3 Encoder initial communication -
Receive data error 3 DB Each
axis
Each
axis
16.5 Encoder initial communication -
Transmission data error 1 DB Each
axis
Each
axis
16.6 Encoder initial communication -
Transmission data error 2 DB Each
axis
Each
axis
16
Encoder initial
communication
error 1
16.7 Encoder initial communication -
Transmission data error 3 DB Each
axis
Each
axis 0 1 1 0
16.A Encoder initial communication -
Process error 1 DB Each
axis
Each
axis
16.B Encoder initial communication -
Process error 2 DB Each
axis
Each
axis
16.C Encoder initial communication -
Process error 3 DB Each
axis
Each
axis
16.D Encoder initial communication -
Process error 4 DB Each
axis
Each
axis
16.E Encoder initial communication -
Process error 5 DB Each
axis
Each
axis
16.F Encoder initial communication -
Process error 6 DB Each
axis
Each
axis

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)
1 - 4
No. Name
Detail
No. Detail name
Stop
method
(Note
2, 3)
Alarm deactivation Process-
ing
system
(Note 9)
Stop
system
(Note 9)
Alarm code (Note 8)
Alarm
reset
CPU
reset
Cycling
the
power
ACD3
(Bit 3)
ACD2
(Bit 2)
ACD1
(Bit 1)
ACD0
(Bit 0)
Alarm
17.1 Board error 1 DB Common All axes
17.3 Board error 2 DB Common All axes
17.4 Board error 3 DB Common All axes
17 Board error 17.5 Board error 4 DB Common All axes 0 0 0 0
17.6 Board error 5 DB Common All axes
17.7 Board error 7 DB
17.8 Board error 6 (Note 6) EDB Common All axes
17.9 Board error 8 DB
Memory error 3
(Flash-ROM)
19.1 Flash-ROM error 1 DB Common All axes 0 0 0 0
19 19.2 Flash-ROM error 2 DB Common All axes
19.3 Flash-ROM error 3 DB
1A.1 Servo motor combination error
1 DB Each
axis
Each
axis
1A Servo motor
combination error 1A.2 Servo motor control mode combination error DB Each
axis
Each
axis 0 1 1 0
1A.4 Servo motor combination error
2 DB Each
axis
Each
axis
1B Converter error 1B.1 Converter unit error DB 0 0 1 0
1E
Encoder initial
communication
error 2
1E.1 Encoder malfunction DB Each
axis
Each
axis 0 1 1 0
1E.2 Load-side encoder malfunction DB Each
axis
Each
axis
1F
Encoder initial
communication
error 3
1F.1 Incompatible encoder DB Each
axis
Each
axis 0 1 1 0
1F.2 Incompatible load-side encoder DB Each
axis
Each
axis
20.1
Encoder normal
communication - Receive data
error 1
EDB Each
axis
Each
axis
20.2
Encoder normal
communication - Receive data
error 2
EDB Each
axis
Each
axis
20.3
Encoder normal
communication - Receive data
error 3
EDB Each
axis
Each
axis
20
Encoder normal
communication
error 1
20.5
Encoder normal
communication - Transmission
data error 1
EDB Each
axis
Each
axis
0 1 1 0
20.6
Encoder normal
communication - Transmission
data error 2
EDB Each
axis
Each
axis
20.7
Encoder normal
communication - Transmission
data error 3
EDB Each
axis
Each
axis
20.9
Encoder normal
communication - Receive data
error 4
EDB Each
axis
Each
axis
20.A
Encoder normal
communication - Receive data
error 5
EDB Each
axis
Each
axis
21.1 Encoder data error 1 EDB Each
axis
Each
axis
21.2 Encoder data update error EDB Each
axis
Each
axis
Encoder normal
communication
error 2
21.3 Encoder data waveform error EDB Each
axis
Each
axis
21 21.4 Encoder non-signal error EDB Each
axis
Each
axis 0 1 1 0
21.5 Encoder hardware error 1 EDB Each
axis
Each
axis
21.6 Encoder hardware error 2 EDB Each
axis
Each
axis
21.9 Encoder data error 2 EDB Each
axis
Each
axis

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)
1 - 5
No. Name
Detail
No. Detail name
Stop
method
(Note
2, 3)
Alarm deactivation Process-
ing
system
(Note 9)
Stop
system
(Note 9)
Alarm code (Note 8)
Alarm
reset
CPU
reset
Cycling
the
power
ACD3
(Bit 3)
ACD2
(Bit 2)
ACD1
(Bit 1)
ACD0
(Bit 0)
Alarm
24 Main circuit error
24.1 Ground fault detected by
hardware detection circuit DB Each
axis All axes
1 1 0 0
24.2 Ground fault detected by
software detection function DB Each
axis All axes
25 Absolute position
erased
25.1 Servo motor encoder -
Absolute position erased DB Each
axis
Each
axis 1 1 1 0
25.2 Scale measurement encoder -
Absolute position erased DB Each
axis
Each
axis
27.1 Initial magnetic pole detection -
Abnormal termination DB Each
axis
Each
axis
27.2 Initial magnetic pole detection -
Time out error DB Each
axis
Each
axis
27.3 Initial magnetic pole detection -
Limit switch error DB Each
axis
Each
axis
27 Initial magnetic
pole detection error 27.4 Initial magnetic pole detection - Estimated error DB Each
axis
Each
axis 1 1 1 0
27.5 Initial magnetic pole detection -
Position deviation error DB Each
axis
Each
axis
27.6 Initial magnetic pole detection -
Speed deviation error DB Each
axis
Each
axis
27.7 Initial magnetic pole detection -
Current error DB Each
axis
Each
axis
28 Linear encoder
error 2 28.1 Linear encoder - Environment error EDB Each
axis
Each
axis 0 1 1 0
2A.1 Linear encoder error 1-1 EDB Each
axis
Each
axis
2A.2 Linear encoder error 1-2 EDB Each
axis
Each
axis
2A.3 Linear encoder error 1-3 EDB Each
axis
Each
axis
2A Linear encoder
error 1
2A.4 Linear encoder error 1-4 EDB Each
axis
Each
axis 0 1 1 0
2A.5 Linear encoder error 1-5 EDB Each
axis
Each
axis
2A.6 Linear encoder error 1-6 EDB Each
axis
Each
axis
2A.7 Linear encoder error 1-7 EDB Each
axis
Each
axis
2A.8 Linear encoder error 1-8 EDB Each
axis
Each
axis
2B Encoder counter
error
2B.1 Encoder counter error 1 EDB Each
axis
Each
axis 1 1 1 0
2B.2 Encoder counter error 2 EDB Each
axis
Each
axis
30.1 Regeneration heat error DB
(Note 1) (Note 1) (Note 1) Common All axes
30 Regenerative error 30.2 Regeneration signal error DB
(Note 1) (Note 1) (Note 1) Common All axes 0 0 0 1
30.3 Regeneration feedback signal
error DB
(Note 1) (Note 1) (Note 1) Common All axes
31 Overspeed 31.1 Abnormal motor speed SD Each
axis
Each
axis 0 1 0 1
32.1
Overcurrent detected at
hardware detection circuit
(during operation)
DB Each
axis All axes
32 Overcurrent
32.2
Overcurrent detected at
software detection function
(during operation)
DB Each
axis All axes
0 1 0 0
32.3
Overcurrent detected at
hardware detection circuit
(during a stop)
DB Each
axis All axes
32.4
Overcurrent detected at
software detection function
(during a stop)
DB Each
axis All axes
33 Overvoltage 33.1 Main circuit voltage error EDB Common All axes 1 0 0 1

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)
1 - 6
No. Name
Detail
No. Detail name
Stop
method
(Note
2, 3)
Alarm deactivation Process-
ing
system
(Note 9)
Stop
system
(Note 9)
Alarm code (Note 8)
Alarm
reset
CPU
reset
Cycling
the
power
ACD3
(Bit 3)
ACD2
(Bit 2)
ACD1
(Bit 1)
ACD0
(Bit 0)
Alarm
34 SSCNET receive
error 1
34.1 SSCNET receive data error SD
(Note 5) Common All axes
34.2 SSCNET connector connection
error SD Common All axes
34.3 SSCNET communication data
error SD Each
axis
Each
axis
34.4 Hardware error signal detection SD Common All axes
34.5 SSCNET receive data error
(safety observation function) SD
34.6
SSCNET communication data
error (safety observation
function)
SD
35 Command
frequency error 35.1 Command frequency error SD Each
axis
Each
axis 1 1 0 1
36 SSCNET receive
error 2
36.1 Continuous communication
data error SD Each
axis
Each
axis
36.2
Continuous communication
data error (safety observation
function)
SD
37 Parameter error
37.1 Parameter setting range error DB Each
axis
Each
axis
1 0 0 0
37.2 Parameter combination error DB Each
axis
Each
axis
37.3 Point table setting error DB
39 Program error
39.1 Program error DB
0 0 0 0
39.2 Instruction argument external
error DB
39.3 Register No. error DB
39.4 Non-correspondence instruction
error DB
3A
Inrush current
suppression circuit
error
3A.1 Inrush current suppression
circuit error EDB Common All axes 0 0 0 0
3D
Parameter setting
error for driver
communication
3D.1
Parameter combination error
for driver communication on
slave
DB
3D.2
Parameter combination error
for driver communication on
master
DB
3E Operation mode
error
3E.1 Operation mode error DB Each
axis
Each
axis
3E.6 Operation mode switch error DB 1 0 0 0
42
Servo control error
(for linear servo
motor and direct
drive motor)
42.1 Servo control error by position
deviation EDB (Note 4) (Note 4) Each
axis
Each
axis
0 1 1 0
42.2 Servo control error by speed
deviation EDB (Note 4) (Note 4) Each
axis
Each
axis
42.3 Servo control error by
torque/thrust deviation EDB (Note 4) (Note 4) Each
axis
Each
axis
Fully closed loop
control error
(for fully closed
loop control)
42.8 Fully closed loop control error
by position deviation EDB (Note 4) (Note 4) Each
axis
Each
axis
42.9 Fully closed loop control error
by speed deviation EDB (Note 4) (Note 4) Each
axis
Each
axis
42.A
Fully closed loop control error
by position deviation during
command stop
EDB (Note 4) (Note 4) Each
axis
Each
axis
45 Main circuit device
overheat
45.1 Main circuit device overheat
error 1 SD
(Note 1) (Note 1) (Note 1) Common All axes
0 0 1 1
45.2 Main circuit device overheat
error 2 SD
(Note 1) (Note 1) (Note 1) Common All axes

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)
1 - 7
No. Name
Detail
No. Detail name
Stop
method
(Note
2, 3)
Alarm deactivation Process-
ing
system
(Note 9)
Stop
system
(Note 9)
Alarm code (Note 8)
Alarm
reset
CPU
reset
Cycling
the
power
ACD3
(Bit 3)
ACD2
(Bit 2)
ACD1
(Bit 1)
ACD0
(Bit 0)
Alarm
46.1
Abnormal temperature of servo
motor 1 SD
(Note 1) (Note 1) (Note 1)
Each
axis
Each
axis
46.2
Abnormal temperature of servo
motor 2 SD
(Note 1) (Note 1) (Note 1)
Each
axis
Each
axis
46 Servo motor
overheat
46.3 Thermistor disconnected error SD
(Note 1) (Note 1) (Note 1)
Each
axis
Each
axis 0 0 1 1
46.4 Thermistor circuit error SD
(Note 1) (Note 1) (Note 1)
Each
axis
Each
axis
46.5
Abnormal temperature of servo
motor 3 DB
(Note 1) (Note 1) (Note 1)
Each
axis
Each
axis
46.6
Abnormal temperature of servo
motor 4 DB
(Note 1) (Note 1) (Note 1)
Each
axis
Each
axis
47 Cooling fan error
47.1 Cooling fan stop error SD Common All axes
0 0 1 1
47.2
Cooling fan speed reduction
error SD Common All axes
50.1
Thermal overload error 1
during operation SD
(Note 1) (Note 1) (Note 1)
Each
axis
Each
axis
50.2
Thermal overload error 2
during operation SD
(Note 1) (Note 1) (Note 1)
Each
axis
Each
axis
50 Overload 1
50.3 Thermal overload error 4
during operation SD
(Note 1) (Note 1) (Note 1)
Each
axis
Each
axis 0 0 1 1
50.4
Thermal overload error 1
during a stop SD
(Note 1) (Note 1) (Note 1)
Each
axis
Each
axis
50.5
Thermal overload error 2
during a stop SD
(Note 1) (Note 1) (Note 1)
Each
axis
Each
axis
50.6
Thermal overload error 4
during a stop SD
(Note 1) (Note 1) (Note 1)
Each
axis
Each
axis
51 Overload 2
51.1 Thermal overload error 3
during operation DB
(Note 1) (Note 1) (Note 1)
Each
axis
Each
axis 0 0 1 1
51.2
Thermal overload error 3
during a stop DB
(Note 1) (Note 1) (Note 1)
Each
axis
Each
axis
52.1 Excess droop pulse 1 SD Each
axis
Each
axis
52 Error excessive
52.3 Excess droop pulse 2 SD Each
axis
Each
axis 0 1 0 1
52.4
Error excessive during 0 torque
limit SD Each
axis
Each
axis
52.5 Excess droop pulse 3 EDB Each
axis
Each
axis
54 Oscillation
detection 54.1 Oscillation detection error EDB Each
axis
Each
axis 0 0 1 1
56 Forced stop error
56.2 Over speed during forced stop EDB Each
axis
Each
axis 0 1 1 0
56.3
Estimated distance over during
forced stop EDB Each
axis
Each
axis
61 Operation error 61.1 Point table setting range error DB 0 1 0 1
63.1 STO1 off DB Common All axes
63 STO timing error 63.2 STO2 off DB Common All axes 0 1 1 0
63.5 STO by functional safety unit DB
64.1 STO input error DB
64 Functional safety
unit setting error 64.2 Compatibility mode setting error DB 1 0 0 0
64.3 Operation mode setting error DB

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)
1 - 8
No. Name
Detail
No. Detail name
Stop
method
(Note
2, 3)
Alarm deactivation Process-
ing
system
(Note 9)
Stop
system
(Note 9)
Alarm code (Note 8)
Alarm
reset
CPU
reset
Cycling
the
power
ACD3
(Bit 3)
ACD2
(Bit 2)
ACD1
(Bit 1)
ACD0
(Bit 0)
Alarm
65.1
Functional safety unit
communication error 1 SD
65.2
Functional safety unit
communication error 2 SD
65.3
Functional safety unit
communication error 3 SD
Functional safety
unit connection
error
65.4 Functional safety unit
communication error 4 SD
65 65.5
Functional safety unit
communication error 5 SD 0 0 0 0
65.6
Functional safety unit
communication error 6 SD
65.7
Functional safety unit
communication error 7 SD
65.8
Functional safety unit shut-off
signal error 1 DB
65.9
Functional safety unit shut-off
signal error 2 DB
66.1
Encoder initial communication -
Receive data error 1 (safety
observation function)
DB
Encoder initial
communication
error (safety
observation
function)
66.2
Encoder initial communication -
Receive data error 2 (safety
observation function)
DB
66 66.3
Encoder initial communication -
Receive data error 3 (safety
observation function)
DB 0 1 1 0
66.7
Encoder initial communication -
Transmission data error 1
(safety observation function)
DB
66.9
Encoder initial communication -
Process error 1 (safety
observation function)
DB
67.1
Encoder normal
communication - Receive data
error 1 (safety observation
function)
DB
Encoder normal
communication
error 1
(safety observation
function)
67.2
Encoder normal
communication - Receive data
error 2 (safety observation
function)
DB
67 67.3
Encoder normal
communication - Receive data
error 3 (safety observation
function)
DB 0 1 1 0
67.4
Encoder normal
communication - Receive data
error 4 (safety observation
function)
DB
67.7
Encoder normal
communication - Transmission
data error 1 (safety observation
function)
DB
68 STO diagnosis
error 68.1 Mismatched STO signal error DB Common Common 0 0 0 0
69 Command error
69.1
Forward rotation-side software
limit detection - Command
excess error
SD
69.2
Reverse rotation-side software
limit detection - Command
excess error
SD
69.3
Forward rotation stroke end
detection - Command excess
error
SD
69.4
Reverse rotation stroke end
detection - Command excess
error
SD
69.5
Upper stroke limit detection -
Command excess error SD
69.6
Lower stroke limit detection -
Command excess error SD

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)
1 - 9
No. Name
Detail
No. Detail name
Stop
method
(Note
2, 3)
Alarm deactivation Process-
ing
system
(Note 9)
Stop
system
(Note 9)
Alarm code (Note 8)
Alarm
reset
CPU
reset
Cycling
the
power
ACD3
(Bit 3)
ACD2
(Bit 2)
ACD1
(Bit 1)
ACD0
(Bit 0)
Alarm
70.1
Load-side encoder initial
communication - Receive data
error 1
DB Each
axis
Each
axis
70.2
Load-side encoder initial
communication - Receive data
error 2
DB Each
axis
Each
axis
70.3
Load-side encoder initial
communication - Receive data
error 3
DB Each
axis
Each
axis
70.5
Load-side encoder initial
communication - Transmission
data error 1
DB Each
axis
Each
axis
70.6
Load-side encoder initial
communication - Transmission
data error 2
DB Each
axis
Each
axis
70
Load-side encoder
initial
communication
error 1
70.7
Load-side encoder initial
communication - Transmission
data error 3
DB Each
axis
Each
axis
0 1 1 0
70.A
Load-side encoder initial
communication - Process error
1
DB Each
axis
Each
axis
70.B
Load-side encoder initial
communication - Process error
2
DB Each
axis
Each
axis
70.C
Load-side encoder initial
communication - Process error
3
DB Each
axis
Each
axis
70.D
Load-side encoder initial
communication - Process error
4
DB Each
axis
Each
axis
70.E
Load-side encoder initial
communication - Process error
5
DB Each
axis
Each
axis
70.F
Load-side encoder initial
communication - Process error
6
DB Each
axis
Each
axis
71.1
Load-side encoder normal
communication - Receive data
error 1
EDB Each
axis
Each
axis
71.2
Load-side encoder normal
communication - Receive data
error 2
EDB Each
axis
Each
axis
71.3
Load-side encoder normal
communication - Receive data
error 3
EDB Each
axis
Each
axis
71
Load-side encoder
normal
communication
error 1
71.5
Load-side encoder normal
communication - Transmission
data error 1
EDB Each
axis
Each
axis
0 1 1 0
71.6
Load-side encoder normal
communication - Transmission
data error 2
EDB Each
axis
Each
axis
71.7
Load-side encoder normal
communication - Transmission
data error 3
EDB Each
axis
Each
axis
71.9
Load-side encoder normal
communication - Receive data
error 4
EDB Each
axis
Each
axis
71.A
Load-side encoder normal
communication - Receive data
error 5
EDB Each
axis
Each
axis

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)
1 - 10
No. Name
Detail
No. Detail name
Stop
method
(Note
2, 3)
Alarm deactivation Process-
ing
system
(Note 9)
Stop
system
(Note 9)
Alarm code (Note 8)
Alarm
reset
CPU
reset
Cycling
the
power
ACD3
(Bit 3)
ACD2
(Bit 2)
ACD1
(Bit 1)
ACD0
(Bit 0)
Alarm
72.1 Load-side encoder data error 1 EDB Each
axis
Each
axis
72.2
Load-side encoder data update
error EDB Each
axis
Each
axis
Load-side encoder
normal
communication
error 2
72.3 Load-side encoder data
waveform error EDB Each
axis
Each
axis
72 72.4 Load-side encoder non-signal
error EDB Each
axis
Each
axis 0 1 1 0
72.5 Load-side encoder hardware
error 1 EDB Each
axis
Each
axis
72.6 Load-side encoder hardware
error 2 EDB Each
axis
Each
axis
72.9 Load-side encoder data error 2 EDB Each
axis
Each
axis
74.1 Option card error 1 DB
74.2 Option card error 2 DB
74 Option card error 1 74.3 Option card error 3 DB
74.4 Option card error 4 DB
74.5 Option card error 5 DB
75 Option card error 2 75.3 Option card connection error EDB
75.4 Option card disconnected DB
79.1
Functional safety unit power
voltage error DB
(Note 7)
79.2
Functional safety unit internal
error DB
79 Functional safety
unit diagnosis error
79.3 Abnormal temperature of
functional safety unit SD
(Note 7)
1 1 1 1
79.4 Servo amplifier error SD
79.5 Input device error SD
79.6 Output device error SD
79.7 Mismatched input signal error SD
79.8 Position feedback fixing error DB
7A
Parameter setting
error
(safety observation
function)
7A.1 Parameter verification error
(safety observation function) DB
1 0 0 0
7A.2
Parameter setting range error
(safety observation function) DB
7A.3
Parameter combination error
(safety observation function) DB
7A.4
Functional safety unit
combination error (safety
observation function)
DB
7B.1
Encoder diagnosis error 1
(safety observation function) DB
7B
Encoder diagnosis
error
(safety observation
function)
7B.2 Encoder diagnosis error 2
(safety observation function) DB
0 1 1 0
7B.3
Encoder diagnosis error 3
(safety observation function) DB
7B.4
Encoder diagnosis error 4
(safety observation function) DB
7C
Functional safety
unit communication
diagnosis error
(safety observation
function)
7C.1
Functional safety unit
communication setting error
(safety observation function)
SD
(Note 7)
0 0 0 0
7C.2
Functional safety unit
communication data error
(safety observation function)
SD
(Note 7)
7D Safety observation
error
7D.1 Stop observation error DB
(Note 3)
1 1 1 1
7D.2 Speed observation error DB
(Note 7)
82 Master-slave
operation error 1 82.1 Master-slave operation error 1 EDB

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)
1 - 11
No. Name
Detail
No. Detail name
Stop
method
(Note
2, 3)
Alarm deactivation Process-
ing
system
(Note 9)
Stop
system
(Note 9)
Alarm code (Note 8)
Alarm
reset
CPU
reset
Cycling
the
power
ACD3
(Bit 3)
ACD2
(Bit 2)
ACD1
(Bit 1)
ACD0
(Bit 0)
Alarm
84 Network module
initialization error
84.1 Network module undetected
error DB
84.2 Network module initialization
error 1 DB
84.3 Network module initialization
error 2 DB
85 Network module
error
85.1 Network module error 1 SD
85.2 Network module error 2 SD
85.3 Network module error 3 SD
86
Network
communication
error
86.1 Network communication error 1 SD
86.2 Network communication error 2 SD
86.3 Network communication error 3 SD
8A
USB
communication
time-out error/serial
communication
time-out
error/Modbus-RTU
communication
time-out error
8A.1
USB communication time-out
error/serial communication
time-out error
SD Common All axes
0 0 0 0
8A.2 Modbus-RTU communication
time-out error SD
8D.1
CC-Link IE communication
error 1 SD
8D.2
CC-Link IE communication
error 2 SD
CC-Link IE
communication
error
8D.3 Master station setting error 1 DB
8D.5 Master station setting error 2 DB
8D 8D.6
CC-Link IE communication
error 3 SD
8D.7
CC-Link IE communication
error 4 SD
8D.8
CC-Link IE communication
error 5 SD
8D.9 Synchronization error 1 SD
8D.A Synchronization error 2 SD
8E.1
USB communication receive
error/serial communication
receive error
SD Common All axes
8E.2
USB communication checksum
error/serial communication
checksum error
SD Common All axes
8E
USB
communication
error/serial
communication
error/Modbus-RTU
communication
error
8E.3
USB communication character
error/serial communication
character error
SD Common All axes
0 0 0 0
8E.4
USB communication command
error/serial communication
command error
SD Common All axes
8E.5
USB communication data
number error/serial
communication data number
error
SD Common All axes
8E.6 Modbus-RTU communication
receive error SD
8E.7 Modbus-RTU communication
message frame error SD
8E.8 Modbus-RTU communication
CRC error SD
88888 Watchdog 8888._ Watchdog DB Common All axes

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)
1 - 12
Note 1.
A
fter resolving the source of trouble, cool the equipment for approximately 30 minutes.
2. The following shows three stop methods of DB, EDB, and SD.
DB: Stops with dynamic brake. (Coasts for the servo amplifier without dynamic brake.)
Coasts for MR-J4-03A6(-RJ) and MR-J4W2-0303B6. Note that EDB is applied when an alarm below occurs;
[AL. 30.1], [AL. 32.2], [AL. 32.4], [AL. 51.1], [AL. 51.2], [AL. 888]
EDB: Electronic dynamic brake stop (available with specified servo motors)
Refer to the following table for the specified servo motors. The stop method for other than the specified servo motors will
be DB.
Series Servo motor
HG-KR HG-KR053/HG-KR13/HG-KR23/HG-KR43
HG-MR HG-MR053/HG-MR13/HG-MR23/HG-MR43
HG-SR HG-SR51/HG-SR52
HG-AK HG-AK0136/HG-AK0236/HG-AK0336
SD: Forced stop deceleration
3. This is applicable when [Pr. PA04] is set to the initial value. The stop system of SD can be changed to DB using [Pr. PA04].
4. The alarm can be canceled by setting as follows:
For the fully closed loop control: set [Pr. PE03] to "1 _ _ _".
When a linear servo motor or direct drive motor is used: set [Pr. PL04] to "1 _ _ _".
5. In some controller communication status, the alarm factor may not be removed.
6. This alarm will occur only in the J3 compatibility mode.
7. Reset this while all the safety observation functions are stopped.
8.
A
larm codes are outputted only from MR-J4-_A_(-RJ)/MR-J4-DU_A_(-RJ). Refer to section 1.1 for details.
9. The processing and stop systems are applicable only for the multi-axis servo amplifiers (MR-J4W_-_B_). Refer to section 1.1
for details.

1. TROUBLESHOOTING FOR SERVO AMPLIFIER (DRIVE UNIT)
1 - 13
1.3 Warning list
No. Name Detail
No. Detail name
Stop
method
(Note 2,
3)
Process-
ing
system
(Note 5)
Stop
system
(Note 5)
Warning
Home position
return incomplete
warning
90.1 Home position return incomplete
90 90.2
Home position return abnormal
termination
90.5 Z-phase unpassed
91
Servo amplifier
overheat warning
(Note 1)
91.1 Main circuit device overheat
warning Common
92
Battery cable
disconnection
warning
92.1 Encoder battery cable
disconnection warning Each axis
92.3 Battery degradation
Each
axis
93 ABS data transfer
warning 93.1
ABS data transfer requirement
warning during magnetic pole
detection
95.1 STO1 off detection DB Common All axes
95.2 STO2 off detection DB Common All axes
95 STO warning
95.3 STO warning 1 (safety observation
function) DB
95.4
STO warning 2 (safety observation
function) DB
95.5
STO warning 3 (safety observation
function) DB
96.1
In-position warning at home
positioning Each axis
96 Home position
setting warning
96.2 Command input warning at home
positioning Each axis
96.3
Servo off warning at home
positioning
96.4
Home positioning warning during
magnetic pole detection
97
Positioning
specification
warning
97.1 Program operation disabled
warning
97.2 Next station position warning
98 Software limit
warning
98.1 Forward rotation-side software
stroke limit reached
98.2
Reverse rotation-side software
stroke limit reached
99.1 Forward rotation stroke end off (Note
4, 7)
99 Stroke limit warning
99.2 Reverse rotation stroke end off (Note
4, 7)
99.4 Upper stroke limit off (Note 7) Each
axis
99.5 Lower stroke limit off (Note 7) Each
axis
9A Optional unit input
data error warning
9A.1 Optional unit input data sign error
9A.2 Optional unit BCD input data error
9B Error excessive
warning
9B.1 Excess droop pulse 1 warning Each
axis
9B.3 Excess droop pulse 2 warning Each
axis
9B.4
Error excessive warning during 0
torque limit Each axis
9C Converter error 9C.1 Converter unit error
9D.1
Station number switch change
warning
9D CC-Link IE warning
1
9D.2 Master station setting warning
9D.3
Overlapping station number
warning
9D.4
Mismatched station number
warning