J4 Alarm List
J4 Alarm List
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 .
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.
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.
[Additional instructions]
The following instructions should also be fully noted. Incorrect handling may cause a malfunction, injury, electric shock, etc.
[Wiring]
CAUTION
● Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly.
● Make sure to connect the cables and connectors by using the fixing screws and the locking
mechanism. Otherwise, the cables and connectors may be disconnected during operation.
● 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 connect a magnetic contactor and others between them. Otherwise, it may cause a
malfunction.
Servo amplifier Servo amplifier
(drive unit) Servo motor (drive unit) Servo motor
U U
U U
V V
V M V M
W W
W W
2
CAUTION
● Configure a circuit to turn off EM2 or EM1 when the main circuit power supply is turned off to prevent
an unexpected restart of the servo amplifier (drive unit).
● To prevent malfunction, avoid bundling power lines (input/output) and signal cables of the servo
amplifier (drive unit) and the converter unit together or running them in parallel to each other. Separate
the power lines from the signal cables.
[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.
● Wire options and peripheral equipment, etc. correctly in the specified combination. Otherwise, it may
cause an electric shock, fire, injury, etc.
● If the dynamic brake is activated at power-off, alarm occurrence, etc., do not rotate the servo motor by
an external force. Otherwise, it may cause a fire.
[Corrective actions]
CAUTION
● Ensure safety by confirming the power off, etc. before performing corrective actions. Otherwise, it may
cause an accident.
● If it is assumed that a power failure or product malfunction may result in a hazardous situation, use a
servo motor with an electromagnetic brake or provide an external brake system for holding purpose to
prevent such hazard.
● Configure an electromagnetic brake circuit which is interlocked with an external emergency stop
switch.
Contacts must be opened when ALM Contacts must be opened with
(Malfunction) or MBR (Electromagnetic the emergency stop switch.
brake interlock) turns off.
Servo motor
RA
B U 24 V DC
Electromagnetic brake
● When an alarm occurs, eliminate its cause, ensure safety, and deactivate the alarm to restart
operation.
● If the molded-case circuit breaker or fuse is activated, be sure to remove the cause and secure safety
before switching the power on. If necessary, replace the servo amplifier (drive unit) and converter unit,
and recheck the wiring. Otherwise, it may cause smoke, fire, or an electric shock.
● Provide an adequate protection to prevent unexpected restart after an instantaneous power failure.
● After an earthquake or other natural disasters, ensure safety by checking the conditions of the
installation, mounting, wiring, and equipment before switching the power on to prevent an electric
shock, injury, or fire.
3
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-_GF1/MR-J4-_GF-RJ/MR-J4-_GF4-RJ/MR-J4-_GF1-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-J4-DU_B4-RJ100
MR-CV_
MR-CR55K/MR-CR55K4
4
CONTENTS
SAFETY PRECAUTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1
ABOUT THE MANUAL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4
CONTENTS
1.4 Remedies for alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
1.5 Remedies for warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
1.6 Trouble which does not trigger alarm/warning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124
1.7 Network module error codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137
APPENDIX 161
Appendix 1 Detection points of [AL. 25], [AL. 92], and [AL. 9F] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161
REVISIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .163
WARRANTY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .169
TRADEMARKS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .170
5
1 TROUBLESHOOTING FOR SERVO AMPLIFIER
(DRIVE UNIT)
• 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 occurs, ALM will turn off. Refer to the following and take the appropriate action.
Page 28 Remedies for alarms
When an warning is displayed, refer to the following and take the appropriate action.
Page 101 Remedies for warnings
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.
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.
■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.
■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.
*1 After 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]
SD: Forced stop deceleration
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.
*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 Alarm codes are outputted only from MR-J4-_A_(-RJ)/MR-J4-DU_A_(-RJ). Refer to the following for details.
Page 6 Explanation for the lists
*9 The processing and stop systems are applicable only for the multi-axis servo amplifiers (MR-J4W_-_B_). Refer to the following for
details.
Page 6 Explanation for the lists
*10 In the parallel drive system, the stop method is DB.
90 Home position return incomplete warning 90.1 Home position return incomplete
90.2 Home position return abnormal termination
90.5 Z-phase unpassed
*1
91 Servo amplifier overheat warning 91.1 Main circuit device overheat warning Common
92 Battery cable disconnection warning 92.1 Encoder battery cable disconnection Each axis
warning
92.3 Battery degradation Each axis
93 ABS data transfer warning 93.1 ABS data transfer requirement warning
during magnetic pole detection
95 STO warning 95.1 STO1 off detection DB Common All axes
95.2 STO2 off detection DB Common All axes
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 Home position setting warning 96.1 In-position warning at home positioning Each axis
96.2 Command input warning at home Each axis
positioning
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 Stroke limit warning 99.1 Forward rotation stroke end off *4*7
99.2 Reverse rotation stroke end off *4*7
99.4 Upper stroke limit off *7 Each axis
99.5 Lower stroke limit off *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 Each axis
limit
9C Converter error 9C.1 Converter unit error
9D CC-Link IE warning 1 9D.1 Station number switch change warning
9D.2 Master station setting warning
9D.3 Overlapping station number warning
9D.4 Mismatched station number warning
9E CC-Link IE warning 2 9E.1 CC-Link IE communication warning
9F Battery warning 9F.1 Low battery Each axis
9F.2 Battery degradation warning Each axis
E0 Excessive regeneration warning E0.1 Excessive regeneration warning Common
F5 Simple cam function - Cam data F5.1 Cam data - Area writing time-out warning
miswriting warning
F5.2 Cam data - Area miswriting warning
F5.3 Cam data checksum error
F6 Simple cam function - Cam control F6.1 Cam axis one cycle current value
warning restoration failed
F6.2 Cam axis feed current value restoration
failed
F6.3 Cam unregistered error
F6.4 Cam control data setting range error
F6.5 Cam No. external error
F6.6 Cam control inactive
F7 Machine diagnosis warning F7.1 Vibration failure prediction warning Each axis
F7.2 Friction failure prediction warning Each axis
F7.3 Total travel distance failure prediction Each axis
warning
*1 After resolving the source of trouble, cool the equipment for approximately 30 minutes.
*2 The following shows two stop methods of DB 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.
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 For MR-J4-_A_ servo amplifier, quick stop or slow stop can be selected using [Pr. PD30].
*5 The processing and stop systems are applicable only for the multi-axis servo amplifiers (MR-J4W_-_B_). Refer to the following for
details.
Page 6 Explanation for the lists
*6 As the initial value, it is applicable only for [AL. 24] and [AL. 32]. All-axis stop can be selected using [Pr. PF02].
*7 For MR-J4-_GF_ servo amplifier, quick stop or slow stop can be selected using [Pr. PD12]. (I/O mode only)
CAUTION
• When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before restarting operation. Otherwise, it may cause injury.
• If [AL. 25 Absolute position erased] occurs, always make home position setting again. Otherwise, it may cause an unexpected operation.
• As soon as an alarm occurs, make the Servo-off status and interrupt the main circuit power.
When any of the following alarms has occurred, do not cycle the power repeatedly to restart. Doing so will
cause a malfunction of the servo amplifier and servo motor. Remove its cause and allow about 30 minutes for
cooling before resuming the operation.
• [AL. 30 Regenerative error]
• [AL. 45 Main circuit device overheat]
• [AL. 46 Servo motor overheat]
• [AL. 50 Overload 1]
• [AL. 51 Overload 2]
[AL. 37 Parameter error] is not recorded in the alarm history.
Remove the cause of the alarm in accordance with this section. Use MR Configurator2 to refer to the cause of alarm
occurrence.
(4) For the drive unit, the Check the bus bar It is disconnected. Connect it correctly.
bus bar between the between the converter
converter unit and drive unit and drive unit. It has no failure. Check (5).
unit was disconnected.
(5) The voltage of the main Check if the voltage of The voltage is the Increase the voltage of
circuit power supply is the main circuit power prescribed value or the main circuit power
low. supply is the prescribed lower. supply.
value or lower.
200 V class: 160 V AC
400 V class: 280 V AC The voltage is higher Check (6).
100 V class: 83 V AC than the prescribed
48 V DC setting: 35 V DC value.
24 V DC setting: 15 V DC
(6) The alarm has occurred Check if the bus voltage The voltage is lower than Increase the acceleration
during acceleration. during acceleration is the prescribed value. time constant. Or
lower than the prescribed increase the power
value. supply capacity.
200 V class: 200 V DC
The voltage is equal to or Check (7).
400 V class: 380 V DC
higher than the
100 V class: 158 V DC
prescribed value.
48 V DC setting: 35 V DC
24 V DC setting: 15 V DC
(7) The servo amplifier is Check the bus voltage The bus voltage is less Replace the servo
malfunctioning. value. than the prescribed value amplifier.
although the voltage of
the main circuit power
supply is within
specifications.
200 V class: 200 V DC
400 V class: 380 V DC
100 V class: 158 V DC
48 V DC setting:
35 V DC
24 V DC setting:
15 V DC
(8) For the drive unit, the Replace the converter It is not repeatable. Replace the converter
converter unit is unit, and then check the unit.
malfunctioning. repeatability.
(4) The encoder cable was Check if the encoder It was disconnected. Check that the MR- [A]
disconnected with the cable was disconnected BAT6V1BJ battery is [B]
MR-BAT6V1BJ battery in this state. connected to CN4 and [RJ010]
disconnected from MR- MR-BT6VCBL03M [GF]
BT6VCBL03M junction junction battery cable,
battery cable. and execute a home
position return.
It was not disconnected. Check (5).
(7) The voltage has Check if a recommended It is not used. Use a recommended
dropped greatly in the cable is used for the wire.
encoder cable wired to encoder cable.
It is used. Check (8).
the battery.
(8) A battery cable is Check for the loose It has a failure. Replace the battery
malfunctioning. connection with a tester. cable.
It has no failure. Check (9).
(9) There is a loose Check for the loose It has a failure. Repair or replace the
connection of the connection with a tester. encoder cable.
encoder cable on the Measure the voltage on
It has no failure. Check (10).
servo motor side. the servo motor side.
(10) The absolute position Check if the absolute It is not connected. Connect the absolute [A]
storage unit was not position storage unit is position storage unit [B]
connected for using a connected correctly. correctly. [WB]
direct drive motor. [GF]
It is connected. Check (11).
(11) The servo amplifier is Replace the servo It is not repeatable. Replace the servo [A]
malfunctioning. amplifier, and then check amplifier. [B]
the repeatability. [WB]
It is repeatable. Check (12).
[RJ010]
(12) An encoder is Replace the servo motor, It is not repeatable. Replace the servo motor. [GF]
malfunctioning. and then check the
repeatability.
(4) A larger speed Check that the actual The servo motor speed is Review the [Pr. PC08]
command than the servo motor speed is higher than the setting.
overspeed alarm level higher than the setting overspeed alarm
was inputted. value of [Pr. PC08 detection level.
Overspeed alarm
The servo motor speed is Check (5).
detection level].
lower than the overspeed
alarm detection level.
(5) The servo motor was at Check if the torque It is the maximum torque Increase the [A]
the maximum torque (thrust) at the time of (maximum thrust). acceleration/deceleration [B]
(maximum thrust) at the acceleration is the time constant. Or reduce [WB]
time of acceleration. maximum torque the load. [RJ010]
(maximum thrust). [GF]
It is less than the Check (6).
maximum torque
(maximum thrust).
(6) The servo system is Check if the servo motor It is oscillating. Adjust the servo gain. Or
unstable and oscillating. is oscillating. reduce the load.
It is not oscillating. Check (7).
(7) The velocity waveform Check if it is It is overshooting. Increase the
has overshot. overshooting because acceleration/deceleration
the acceleration time time constant.
constant is too short.
It is not overshooting. Check (8).
(8) For MR-J4-03A6(-RJ) Check if a bus voltage The bus voltage has Review the capacity of [A]
and MR-J4W2-0303B6, drops temporarily during dropped. the 24 V DC main circuit [WB]
the speed has overshot an operation. power supply. Increase
when the power was the voltage of the 24 V
restored from a DC main circuit power
temporary bus voltage supply within the
drop during an permissible voltage
operation. fluctuation range.
Change the main circuit
input voltage to 48 V DC.
Check operation pattern.
The bus voltage has not Check (9).
dropped.
(9) The connection Check the connection It is not correct. Wire it correctly. [WB]
destination of the destinations of CN2A,
It is correct. Check (10).
encoder cable is CN2B, and CN2C.
incorrect.
(10) The connection of the Check the wiring of U/V/ It is incorrect. Set it correctly. [A]
servo motor is incorrect. W. [B]
It is correct. Check (11).
[WB]
(11) The encoder or linear Check if the alarm is It is occurring during less Replace the servo motor [RJ010]
encoder is occurring during less than instantaneous or linear encoder. [GF]
malfunctioning. than instantaneous permissible speed.
permissible speed.
(6) Something near the Check the noise, ambient There is a problem in the Take countermeasures
device caused it. temperature, etc. surrounding. against its cause.
(7) Something near the Check the noise, ambient There is a problem in the Take countermeasures [A]
device caused it. temperature, etc. surrounding. against its cause. [B]
[RJ010]
There is no problem in Check it with the check
[GF]
the surrounding. method for [AL. 45.1].
32.2 Overcurrent (1) The servo gain is high. Check if an oscillation is An oscillation is Reduce the speed loop [A]
detected at occurring. occurring. gain ([Pr. PB09]). [B]
software For MR-J4-03A6(-RJ) [WB]
detection and MR-J4W2-0303B6, [RJ010]
function (during check if the main circuit [GF]
operation) power supply voltage is
48 V DC even though the
setting is 24 V DC.
An oscillation is not Check (2).
occurring.
(2) The servo amplifier is Disconnect the servo It occurs. Replace the servo
malfunctioning. motor power cables (U/V/ amplifier.
W) and check if the alarm
It does not occur. Check (3).
occurs.
(3) A ground fault or short Check if only the servo It is shorted. Replace the servo motor
occurred at the servo motor power cable is power cable.
motor power cable. shorted.
It is not shorted. Check (4).
(4) The servo motor is Disconnect the servo A ground fault is Replace the servo motor.
malfunctioning. motor power cables on occurring.
motor side, and check
A ground fault is not Check (5).
insulation of the motor
occurring.
(between U/V/W/ / ).
(5) The connection Check the connection It is not correct. Connect it correctly. [WB]
destination of the destinations of CN2A,
It is correct. Check (6).
encoder cable is CN2B, and CN2C.
incorrect.
(6) Something near the Check the noise, ambient There is a problem in the Take countermeasures [A]
device caused it. temperature, etc. surrounding. against its cause. [B]
[WB]
[RJ010]
[GF]
(5) The controller is Replace the controller, It is not repeatable. Replace the controller.
malfunctioning. and then check the
It is repeatable. Check (6).
repeatability.
(6) The command pulse Check the command The command pulse Check operation pattern. [GF]
frequency is high when pulse frequency. frequency is high.
the synchronous
The command pulse Check (7).
encoder axis is
frequency is low.
selected.
(7) Something near the Check the noise, ambient There is a problem in the Take countermeasures [A]
device caused it. temperature, etc. surrounding. against its cause. [B]
[WB]
[RJ010]
[GF]
(2) A point table setting has Replace the servo It is not repeatable. Replace the servo
changed due to a servo amplifier, and then check amplifier.
amplifier malfunction. the repeatability.
(2) A program has changed Replace the servo It is not repeatable. Replace the servo
due to a servo amplifier amplifier, and then check amplifier.
malfunction. the repeatability.
39.2 Instruction (1) A program has never Check if a program was It was not executed. Write the program.
argument been written since written.
It was executed. Check (2).
external error program initialization.
(2) A command argument Check if the command It has a failure. Correct the command
is using a value out of description has a failure. description.
specifications.
It has no failure. Check (3).
(3) A program has changed Replace the servo It is not repeatable. Replace the servo
due to a servo amplifier amplifier, and then check amplifier.
malfunction. the repeatability.
39.3 Register No. (1) A specified number of Check if the command It has a failure. Correct the command
error the general purpose description has a failure. description.
register used for a
It has no failure. Check (2).
command is a value out
of specifications.
(2) A program has changed Replace the servo It is not repeatable. Replace the servo
due to a servo amplifier amplifier, and then check amplifier.
malfunction. the repeatability.
39.4 Non- (1) A used command is not Check if the command It has a failure. Correct the command
correspondence correspondent to the description has a failure. description.
instruction error program.
It has no failure. Check (2).
(2) A program has changed Replace the servo It is not repeatable. Replace the servo
due to a servo amplifier amplifier, and then check amplifier.
malfunction. the repeatability.
Alarm No.: 42 Name: Servo control error (for linear servo motor and direct drive motor)
Alarm content A servo control error occurred.
Detail Detail name Cause Check method Check result Action Target
No.
42.1 Servo control (1) The linear encoder Check the setting of [Pr. The setting is incorrect. Set it correctly. [A]
error by position resolution setting differs PL02] and [Pr. PL03]. [B]
The setting is correct. Check (2).
deviation from the setting value. [WB]
[GF]
(2) The direction of Check polarities of the The mounting direction is Mount it correctly.
mounting linear encoder linear encoder and the incorrect. Review the "encoder
is incorrect. linear servo motor. pulse count polarity
selection" setting of the
parameter as required.
[A]: [Pr. PC45]
[B] [WB] [GF]: [Pr. PC27]
The mounting direction is Check (3).
correct.
(3) The connection of the Check the wiring. The wiring is incorrect. Connect it correctly.
servo motor is incorrect.
The wiring is correct. Check (4).
(4) The initial magnetic Execute the magnetic It is not repeatable. Execute the magnetic
pole detection was not pole detection, and then pole detection.
executed. check the repeatability.
It is repeatable. Check (5).
(5) The position deviation Check the value of droop The deviation is large. Review the operation
exceeded the detection pulses. status. Review the [Pr.
level. PL05] setting depending
on circumstances.
(4) The encoder or the Replace the servo motor, It is not repeatable. Replace the servo motor.
servo motor is and then check the
malfunctioning. repeatability. It is repeatable. Check (5).
(5) The servo amplifier is Replace the servo It is not repeatable. Replace the servo
malfunctioning. amplifier, and then check amplifier.
the repeatability.
(2) The SSCNET III cable Check if the SSCNET III It has a failure. Replace or repair the
is malfunctioning. cable is disconnected or cable.
shorted.
It has no failure. Check (3).
(3) Something near the Check the noise, ambient There is a problem in the Take countermeasures
device caused it. temperature, vibration, surrounding. against its cause.
etc.
There is no problem in Check (4).
the surrounding.
(4) The servo amplifier is Replace the servo It is not repeatable. Replace the servo
malfunctioning. amplifier, and then check amplifier.
the repeatability.
It is repeatable. Check (5).
(5) The controller is Replace the controller, It is not repeatable. Replace the controller.
malfunctioning. and then check the
repeatability.
Alarm No.: 66 Name: Encoder initial communication error (safety observation function)
Alarm content The connected encoder is not compatible with the servo amplifier.
An error has occurred in the communication between an encoder and servo amplifier.
Detail Detail name Cause Check method Check result Action Target
No.
66.1 Encoder initial (1) An encoder cable is Check if the encoder It has a failure. Replace or repair the [A]
communication malfunctioning. cable is disconnected or cable. [B]
- Receive data shorted. [GF]
It has no failure. Check (2).
error 1 (safety
observation (2) The servo amplifier is Replace the servo It is not repeatable. Replace the servo
function) malfunctioning. amplifier, and then check amplifier.
the repeatability.
It is repeatable. Check (3).
(3) An encoder is Replace the servo motor, It is not repeatable. Replace the servo motor.
malfunctioning. and then check the
repeatability. It is repeatable. Check (4).
(4) Something near the Check the noise, ambient There is a problem in the Take countermeasures
device caused it. temperature, vibration, surrounding. against its cause.
etc.
(5) Something near the Check the noise, ambient There is a problem in the Take countermeasures
device caused it. temperature, etc. surrounding. against its cause.
Alarm No.: 67 Name: Encoder normal communication error 1 (safety observation function)
Alarm content An error has occurred in the communication between an encoder and servo amplifier.
Detail Detail name Cause Check method Check result Action Target
No.
67.1 Encoder normal (1) An encoder cable is Check if the encoder It has a failure. Repair or replace the [A]
communication malfunctioning. cable is disconnected or cable. [B]
- Receive data shorted. [GF]
It has no failure. Check (2).
error 1 (safety
observation (2) The servo amplifier is Replace the servo It is not repeatable. Replace the servo
function) malfunctioning. amplifier, and then check amplifier.
the repeatability.
It is repeatable. Check (3).
(3) An encoder is Replace the servo motor, It is not repeatable. Replace the servo motor.
malfunctioning. and then check the
repeatability. It is repeatable. Check (4).
(4) Something near the Check the noise, ambient There is a problem in the Take countermeasures
device caused it. temperature, vibration, surrounding. against its cause.
etc.
(4) Something near the Check the noise, ambient There is a problem in the Take countermeasures
device caused it. temperature, etc. surrounding. against its cause.
69.2 Reverse Check it with the check method for [AL. 69.1].
rotation-side
software limit
detection -
Command
excess error
(4) Something near the Check the noise, ambient There is a problem in the Take countermeasures
device caused it. temperature, etc. surrounding. against its cause.
69.4 Reverse (1) The command position Check the command The command position Check operation pattern.
rotation stroke exceeded 30 bits from position. was set to 30 bits or
end detection - the detected position more.
Command after the detection of
It was set correctly. Check (2).
excess error LSN (Reverse rotation
stroke end).
(2) The reverse rotation Check if the limit switch It is not connected. Connect it correctly.
stroke limit switch is not is connected correctly.
connected to LSN
It is connected. Check (3).
(Reverse rotation stroke
end).
(3) The controller is Replace the controller, It is not repeatable. Replace the controller.
malfunctioning. and then check the
repeatability. It is repeatable. Check (4).
(4) Something near the Check the noise, ambient There is a problem in the Take countermeasures
device caused it. temperature, etc. surrounding. against its cause.
69.5 Upper stroke (1) The command position Check the command The command position Check operation pattern.
limit detection - exceeded 30 bits from position. was set to 30 bits or
Command the detected position more.
excess error after the detection of
It was set correctly. Check (2).
FLS (Upper stroke
limit).
(2) The upper stroke limit Check if the limit switch It has a failure. Take countermeasures
switch is not wired. is wired correctly. against its cause.
Or the switch is Or check if the switch is
It has no failure. Check (3).
incorrectly positioned. incorrectly positioned.
(3) Something near the Check the noise, ambient There is a problem in the Take countermeasures
device caused it. temperature, etc. surrounding. against its cause.
There is no problem in Check (4).
the surrounding.
(4) The controller is Replace the controller, It is not repeatable. Replace the controller.
malfunctioning. and then check the
repeatability.
Alarm No.: 7C Name: Functional safety unit communication diagnosis error (safety observation function)
Alarm content The network communication had an error in the functional safety unit.
Detail Detail name Cause Check method Check result Action Target
No.
7C.1 Functional (1) Communication cycle Check the Communication cycle Set it correctly. [B]
safety unit does not match. communication cycle setting is incorrect. [GF]
communication setting ([Pr. PSC01]) of
setting error the servo system Communication cycle Check (2).
(safety controller and the setting is correct.
observation functional safety unit.
function) (2) The time taken for the Refer to "MR-D30 It is not set correctly. Set it correctly. [GF]
detection of safety Instruction Manual" and
communication errors is check the setting. It is set correctly. Check (3).
not set correctly.
(3) The functional safety Replace the functional It is not repeatable. Replace the functional [B]
unit is malfunctioning. safety unit, and then safety unit. [GF]
check the repeatability.
It is repeatable. Check (4).
(4) Something near the Check the noise, ambient There is a problem in the Take countermeasures
device caused it. temperature, etc. surrounding. against its cause.
(4) [B]: Check it with the check method for [AL. 34.1]. [B]
[GF]: Check it with the check method for [AL. 8D.1]. [GF]
Alarm No.: 8E Name: USB communication error/serial communication error/Modbus RTU communication error
Alarm content A communication error occurred between the servo amplifier and a personal computer/controller.
An error occurred in USB communication, serial communication (Mitsubishi Electric general-purpose
AC servo protocol), or Modbus RTU communication.
Detail Detail name Cause Check method Check result Action Target
No.
8E.1 USB (1) The setting of the Check the setting of the It is incorrect. Review the settings. [A]
communication personal computer, etc. personal computer, etc. [B]
It is correct. Check (2).
receive error/ is incorrect. [WB]
serial [RJ010]
(2) A communication cable Check the It is not repeatable. Replace the
communication [GF]
is malfunctioning. communication cable, communication cable.
receive error
and then check the
It is repeatable. Check (3).
repeatability.
(3) The servo amplifier is Replace the servo It is not repeatable. Replace the servo
malfunctioning. amplifier, and then check amplifier.
the repeatability.
8E.2 USB (1) The setting of the Check the setting of the It is incorrect. Review the settings.
communication personal computer, etc. personal computer, etc.
checksum error/ is incorrect.
serial
communication
checksum error
When any of the following alarms has occurred, do not cycle the power of the servo amplifier repeatedly to
restart. Doing so will cause a malfunction of the servo amplifier and servo motor. If the power of the servo
amplifier is switched off/on during the alarms, allow more than 30 minutes for cooling before resuming
operation.
• [AL. 91 Servo amplifier overheat warning]
• [AL. E0 Excessive regeneration warning]
• [AL. E1 Overload warning 1]
• [AL. E2 Servo motor overheat warning]
• [AL. EC Overload warning 2]
Warnings (except [AL. F0 Tough drive warning]) are not recorded in the alarm history.
If [AL. E6], [AL. E7], [AL. E9], [AL. EA], or [AL. EB] occurs, the amplifier will be the servo-off status. If any other warning
occurs, operation can be continued but an alarm may take place or proper operation may not be performed.
Remove the cause of warning according to this section. Use MR Configurator2 to refer to the cause of warning occurrence.
(4) An encoder cable was Check if the encoder It is disconnected. Replace or repair the
disconnected. cable is disconnected. cable.
92.3 Battery (1) The battery voltage is Check the battery It is less than 3.0 V DC. Replace the battery.
degradation low. The battery is voltage with a tester.
It is 3.0 V DC or more. Check (2).
consumed.
(2) The battery has Replace the battery, and It is not repeatable. Replace the battery.
deteriorated. then check the
repeatability.
(2) Set "Input device - Check if [Pr. PSD27] and It is not set correctly. Review the parameter.
Fixing-diagnosis [Pr. PSD28] are set
execution selection at correctly.
It is set correctly. Check (3).
start-up" correctly using
parameters.
(3) The wiring is incorrect. Check if the wiring has a It has a failure. Review the wiring.
failure. It has no failure. Check (4).
(4) The functional safety Replace the functional It is not repeatable. Replace the functional
unit is malfunctioning. safety unit, and then safety unit.
check the repeatability.
It is repeatable. Check (5).
(5) Something near the Check the noise, ambient There is a problem in the Take countermeasures
device caused it. temperature, etc. surrounding. against its cause.
(4) For the drive unit, the Check the magnetic It is disconnected. Connect it correctly.
magnetic contactor contactor control
control connector of the connector of the
It has no failure. Check (5).
converter unit was converter unit.
disconnected.
(5) For the drive unit, the Check the bus bar It is disconnected. Connect it correctly.
bus bar between the between the converter
converter unit and drive unit and drive unit. It has no failure. Check (6).
unit was disconnected.
When the servo amplifier, servo motor, or encoder malfunctions, the following status may occur.
The following example shows causes which do not trigger alarm or warning. Remove each cause referring to this section.
Description Cause Checkpoint Action Target
The display shows "AA". The power of the servo system Check the power of the servo Switch on the power of the servo [B]
controller was turned off. system controller. system controller. [WB]
A SSCNET cable was Check if "AA" is displayed in the Replace the SSCNET cable of
disconnected. corresponding axis and following the corresponding axis.
axes.
Check if the connectors (CNIA, Connect it correctly.
CNIB) are unplugged.
The control circuit power of the Check if "AA" is displayed in the Check the power of the servo
previous axis servo amplifier was corresponding axis and following amplifier.
turned off. axes.
The amplifier-less operation Check if the amplifier-less Disable the amplifier-less
function of servo system controller operation function of servo operation function.
is enabled. system controller is enabled.
An Ethernet cable was Check if "AA" is displayed in the Replace the Ethernet cable of the [RJ010]
disconnected. corresponding axis and following corresponding axis. [GF]
axes.
Check if the connectors (CN10A/ Connect it correctly.
CN10B or CN1A/CN1B) are
unplugged.
The display shows "Ab". A controller, which is not Check if a controller, which is not Connect a compatible controller. [B]
compatible with the servo compatible with the servo [WB]
amplifier, has been connected. amplifier, is connected.
The axis is disabled. Check if the disabling control axis Turn off the disabling control axis
switch is on. switch.
[B]: SW2-2
[WB]: SW2-2 to 2-4
The setting of the axis No. is Check that the other servo Set it correctly.
incorrect. amplifier is not assigned to the
same axis No.
Axis No. does not match with the Check the setting and axis No. of Set it correctly.
axis No. set to the servo system the servo system controller.
controller.
Information about the servo series Check the value set in Servo Set it correctly.
has not set in the simple motion series [Pr.100] in the simple
module. motion module.
Communication cycle does not Check the communication cycle at Set it correctly.
match. the servo system controller side.
When using 8 axes or less: 0.222
ms
When using 16 axes or less:
0.444 ms
When using 32 axes or less:
0.888 ms
No./Name
Indicates each No./Name of alarms or warnings.
Alarm deactivation
After the cause of the alarm has been removed, the alarm can be deactivated by any of the methods marked in the alarm
deactivation column. Warnings are automatically canceled after the cause of occurrence is removed. Alarms are deactivated
by alarm reset, CPU reset, or power cycling.
Alarm deactivation Explanation
Alarm reset 1. Turn on RES (Reset) with an input device.*1
2. Input the servo-on command for the drive unit connected with the protection coordination cable.
CPU reset Resetting the controller itself.*2
Cycling the power Turning the power off and then turning it on again.
*1 Deactivate an alarm in the servo-off status. Alarm deactivation in the servo-on status will trigger [AL. 1B Converter error].
*2 When it is not connected by a protection coordination cable, alarms cannot be deactivated by CPU reset.
*1 The digit in "_" is displayed in some cases. The remedy for this alarm is same as that of [AL. 6E].
*2 After resolving the source of trouble, cool the equipment for approximately 30 minutes.
[AL. 37 Parameter error] and warnings are not recorded in the alarm history.
3
When an error occurs during operation, the corresponding alarm or warning is displayed.
When an alarm occurs, ALM (Malfunction) will turn off. Refer to the following and take the appropriate action.
Page 146 Remedies for alarms
When a warning occurs, refer to the following and take the appropriate action.
Page 151 Remedies for warnings
No./Name
Indicates each No./Name of alarms or warnings.
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 or cycling the power.
Alarm deactivation Explanation
Alarm reset Push the "SET" button on the current alarm screen of the display.
Cycling the power Turning the power off and then turning it on again.
*1 After resolving the source of trouble, cool the equipment for approximately 30 minutes.
CAUTION
When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before restarting operation. Otherwise, it may cause injury.
When any of the following alarms has occurred, do not deactivate the alarm repeatedly to restart. Otherwise,
the resistance regeneration converter unit may malfunction. Remove its cause and allow about 30 minutes for
cooling before resuming the operation.
• [AL. 30 Regenerative error]
• [AL. 45 Main circuit device overheat]
• [AL. 50 Overload 1]
• [AL. 51 Overload 2]
[AL. 37 Parameter error] is not recorded in the alarm history.
(2) A part in the resistance Replace the resistance It is not repeatable. Replace the resistance
regeneration converter regeneration converter regeneration converter
unit is failure. unit, and then check the unit.
repeatability.
3A Inrush current suppression (1) Turning on and off of Check if the inrush relay It is turned on and off. Check operation pattern.
circuit error the inrush relay were is turned on and off very
• The inrush current repeated very frequently. It is not turned on and off. Check (2).
suppression circuit error frequently.
was detected.
(2) Inrush current Replace the resistance It is not repeatable. Replace the resistance
suppressor circuit is regeneration converter regeneration converter
malfunctioning. unit, and then check the unit.
repeatability.
45 Main circuit device overheat (1) Ambient temperature Check the ambient It is over 55 . Lower the ambient
• The inside of the resistance has exceeded 55 . temperature. temperature.
regeneration converter unit
It is less than 55 . Check (2).
overheated.
(2) Turning on and off were Check if the overload It occurred. Check operation pattern.
repeated under the status occurred many
It did not occur. Check (3).
overload status. times.
(3) A cooling fan, heat sink, Clean the cooling fan, It is not repeatable. Clean it periodically.
or openings is clogged heat sink, or openings,
with foreign matter. and then check the It is repeatable. Check (4).
repeatability.
(4) The resistance Replace the resistance It is not repeatable. Replace the resistance
regeneration converter regeneration converter regeneration converter
unit is malfunctioning. unit, and then check the unit.
repeatability.
When any of the following warnings has occurred, do not cycle the power of the resistance regeneration
converter unit repeatedly to restart. Doing so will cause a malfunction of the resistance regeneration converter
unit, drive unit and servo motor. If the power of the resistance regeneration converter unit/drive unit is
switched off/on during the warnings, allow more than 30 minutes for cooling before resuming operation.
• [AL. 91 Converter overheat warning]
• [AL. E0 Excessive regeneration warning]
• [AL. E1 Overload warning 1]
The warnings are not recorded in the alarm history.
If [AL. E6] occurs, the amplifier will be the servo-off status. If any other warning occurs, operation can be continued but an
alarm may take place and proper operation may not be performed.
Remove the cause of warning according to this section.
When you use the J3 extension function, replace the following left parameters to the right parameters.
[Pr. PF21] [Pr. PX30]
[Pr. PA23] [Pr. PX29]
The drive recorder will not operate on the following conditions.
• You are using the graph function of MR Configurator2. 4
• You are using the machine analyzer function.
• [Pr. PF21] is set to "1".
• The controller is not connected (except the test operation mode).
• You are operating in the J3 compatibility mode.
When the following alarms occur, the drive recorder will not operate.
• [AL. 10.1 Voltage drop in the control circuit power]
• [AL. 12 Memory error 1 (RAM)]
• [AL. 15 Memory error 2 (EEP-ROM)]
• [AL. 16 Encoder initial communication error 1]
• [AL. 17 Board error] [AL. 19 Memory error 3 (Flash-ROM)]
• [AL. 19 Memory error 3 (Flash-ROM)]
• [AL. 1A Servo motor combination error]
• [AL. 1E Encoder initial communication error 2]
• [AL. 1F Encoder initial communication error 3]
• [AL. 25 Absolute position erased]
• [AL. 37 Parameter error]
• [AL. 70 Load-side encoder initial communication error 1]
• [AL. 888/88888 Watchdog]
• [AL. 8D.1 CC-Link IE communication error 1] (For MR-J4-_GF_(-RJ), the drive recorder operates by setting
[Pr. PN06] to "_ _ _ 1".)
• [AL. 8D.2 CC-Link IE communication error 2] (For MR-J4-_GF_(-RJ), the drive recorder operates by setting
[Pr. PN06] to "_ _ _ 1".)
When the graph is displayed with MR Configurator2, the drive recorder function will be enabled. After the
graph function is completed, passing time set with [Pr. PF21] or cycling the power of the servo amplifier will
enable the drive recorder function again. For MR-J4-_A_(-RJ), enabling/disabling the drive recorder function
can be made with the display (diagnostic mode).
When an alarm occurs at the servo amplifier, the conditions (such as motor speed and droop pulses) of the servo amplifier
before/after alarm occurrences will be recorded. You can refer to the recorded data with MR Configurator2.
The drive recorder records sixteen data at alarm occurrences in the past. Occurring an alarm deletes the oldest data.
However, sixteen data at alarm occurrences are recorded in total of A-axis, B-axis, and C-axis for MR-J4W_-_B. Therefore,
alarms fewer than sixteen will be displayed on the alarm history display for each axis.
4 DRIVE RECORDER
4.1 How to use drive recorder 153
Recordable data by drive recorder
When the setting value is "0 0 0 0" (initial value) in "Drive recorder arbitrary alarm trigger setting" ([Pr. PA23]), the drive
recorder will record data of standard column in the following tables for all alarms.
When you set an alarm in the following tables to [Pr. PA23], each data described in alarm column will be recorded. When you
set an alarm other than in the following tables, data described in standard column will be recorded.
Page 154 MR-J4-_B_(-RJ), MR-J4-_B_-RJ010, or MR-J4W_-_B
Page 155 MR-J4-_A_(-RJ)
Page 157 MR-J4-_GF_(-RJ)
Refer to the followings for description of each signal.
Page 158 Signal explanations (Analog)
Page 159 Signal explanations (Digital)
4 DRIVE RECORDER
154 4.1 How to use drive recorder
Data 1 Data 2 Data 3 Data 4 Data 5 Data 6 Data 7 Data 8 Sampling Measure
time [ms] ment
time [ms]
AL. 35 Analog Motor Torque Current Command Droop Speed Bus 0.888 227
speed command pulse pulses command voltage
frequency (1 pulse)
Digital CSON EMG ALM2 INP MBR RD STO IPF
AL. 42*1 Analog Motor Torque Motor- Motor- Command Droop Load-side 0.888 227
speed side/ load- side/ load- pulse pulses droop
side side frequency (100 pulses
position speed (speed pulses) (100
deviation deviation unit) pulses)
(100
pulses)
Digital CSON EMG ALM2 INP MBR RD STO IPF 4
AL. 46 Analog Motor Torque Current Internal Temperatu Bus Effective 56.8 14563
speed command temperatu re of voltage load ratio
re of motor
encoder thermistor
Digital CSON EMG ALM2 INP MBR RD STO IPF
AL. 50 Analog Motor Torque Current Droop Overload Bus Effective 56.8 14563
speed command pulses alarm voltage load ratio
(100 margin
pulses)
Digital CSON EMG ALM2 INP MBR RD STO IPF
AL. 51 Analog Motor Torque Current Droop Overload Bus Effective 56.8 14563
speed command pulses alarm voltage load ratio
(100 margin
pulses)
Digital CSON EMG ALM2 INP MBR RD STO IPF
AL. 52 Analog Motor Torque Current Droop Speed Bus Error 3.5 910
speed command pulses command voltage excessive
(100 alarm
pulses) margin
Digital CSON EMG ALM2 INP MBR RD STO TLC
AL. 71*1 Analog Motor Torque Load-side Load-side Current Load-side Load-side 0.888 227
speed encoder encoder command encoder encoder
informatio informatio error error
n2 n1 counter 1 counter 2
Digital CSON EMG ALM2 INP MBR RD STO IPF
AL. 72*1 Analog Motor Torque Load-side Load-side Current Load-side Load-side 0.888 227
speed encoder encoder command encoder encoder
informatio informatio error error
n2 n1 counter 1 counter 2
Digital CSON EMG ALM2 INP MBR RD STO IPF
■MR-J4-_A_(-RJ)
Data 1 Data 2 Data 3 Data 4 Data 5 Data 6 Data 7 Data 8 Sampling Measure
time [ms] ment
time [ms]
Standard Analog Motor Torque Current Droop Speed Bus Effective 0.888 227
speed command pulses command voltage load ratio
(1 pulse)
Digital SON EM2/EM1 ALM2 INP MBR RD STO IPF
AL. 10 Analog Motor Torque Current Droop Speed Bus Effective 0.888 227
speed command pulses command voltage load ratio
(1 pulse)
Digital SON EM2/EM1 ALM2 INP MBR RD STO IPF
4 DRIVE RECORDER
4.1 How to use drive recorder 155
Data 1 Data 2 Data 3 Data 4 Data 5 Data 6 Data 7 Data 8 Sampling Measure
time [ms] ment
time [ms]
AL. 20 Analog Motor Torque ABS Within Current Encoder Encoder 0.888 227
speed counter one- command error error
revolution counter 1 counter 2
position
Digital SON EM2/EM1 ALM2 INP MBR RD STO IPF
AL. 21 Analog Motor Torque ABS Within Current Encoder Encoder 0.888 227
speed counter one- command error error
revolution counter 1 counter 2
position
Digital SON EM2/EM1 ALM2 INP MBR RD STO IPF
AL. 24 Analog Motor Torque Current Within Bus U-phase V-phase 0.888 227
speed command one- voltage current current
revolution feedback feedback
position
Digital SON EM2/EM1 ALM2 INP MBR RD STO IPF
AL. 30 Analog Motor Torque Current Droop Bus Regenerat Effective 56.8 14563
speed command pulses voltage ive load load ratio
(1 pulse) ratio
Digital SON EM2/EM1 ALM2 INP MBR RD STO IPF
AL. 31 Analog Motor Torque Current Command Within Speed Bus 0.888 227
speed command pulse one- command voltage
frequency revolution
position
Digital SON EM2/EM1 ALM2 INP MBR RD STO IPF
AL. 32 Analog Motor Torque Current Bus Effective U-phase V-phase 0.444 113
speed command voltage load ratio current current
feedback feedback
Digital SON EM2/EM1 ALM2 INP MBR RD STO IPF
AL. 33 Analog Motor Torque Current Speed Bus Regenerat Effective 3.5 910
speed command command voltage ive load load ratio
ratio
Digital SON EM2/EM1 ALM2 INP MBR RD STO IPF
AL. 35 Analog Motor Torque Current Command Droop Speed Bus 0.888 227
speed command pulse pulses command voltage
frequency (1 pulse)
Digital SON EM2/EM1 ALM2 INP MBR RD STO IPF
AL. 42 Analog Motor Torque Motor- Motor- Command Droop Load-side 0.888 227
speed side/ load- side/ load- pulse pulses droop
side side frequency (100 pulses
position speed (speed pulses) (100
deviation deviation unit) pulses)
(100
pulses)
Digital SON EM2/EM1 ALM2 INP MBR RD STO IPF
AL. 46 Analog Motor Torque Current Internal Temperatu Bus Effective 56.8 14563
speed command temperatu re of voltage load ratio
re of motor
encoder thermistor
Digital SON EM2/EM1 ALM2 INP MBR RD STO IPF
AL. 50 Analog Motor Torque Current Droop Overload Bus Effective 56.8 14563
speed command pulses alarm voltage load ratio
(100 margin
pulses)
Digital SON EM2/EM1 ALM2 INP MBR RD STO IPF
AL. 51 Analog Motor Torque Current Droop Overload Bus Effective 56.8 14563
speed command pulses alarm voltage load ratio
(100 margin
pulses)
Digital SON EM2/EM1 ALM2 INP MBR RD STO IPF
4 DRIVE RECORDER
156 4.1 How to use drive recorder
Data 1 Data 2 Data 3 Data 4 Data 5 Data 6 Data 7 Data 8 Sampling Measure
time [ms] ment
time [ms]
AL. 52 Analog Motor Torque Current Droop Speed Bus Error 3.5 910
speed command pulses command voltage excessive
(100 alarm
pulses) margin
Digital SON EM2/EM1 ALM2 INP MBR RD STO TLC
AL. 71 Analog Motor Torque Load-side Load-side Current Load-side Load-side 0.888 227
speed encoder encoder command encoder encoder
informatio informatio error error
n2 n1 counter 1 counter 2
Digital SON EM2/EM1 ALM2 INP MBR RD STO IPF
AL. 72 Analog Motor Torque Load-side Load-side Current Load-side Load-side 0.888 227
speed encoder encoder command encoder encoder 4
informatio informatio error error
n2 n1 counter 1 counter 2
Digital SON EM2/EM1 ALM2 INP MBR RD STO IPF
■MR-J4-_GF_(-RJ)
Data 1 Data 2 Data 3 Data 4 Data 5 Data 6 Data 7 Data 8 Sampling Measure
time [ms] ment
time [ms]
Standard Analog Motor Torque Current Droop Speed Bus Effective 0.888 227
speed command pulses command voltage load ratio
(1 pulse)
Digital CSON EM2/EM1 ALM2 INP MBR RD STO IPF
AL. 10 Analog Motor Torque Current Droop Speed Bus Effective 0.888 227
speed command pulses command voltage load ratio
(1 pulse)
Digital CSON EM2/EM1 ALM2 INP MBR RD STO IPF
AL. 20 Analog Motor Torque ABS Within Current Encoder Encoder 0.888 227
speed counter one- command error error
revolution counter 1 counter 2
position
Digital CSON EM2/EM1 ALM2 INP MBR RD STO IPF
AL. 21 Analog Motor Torque ABS Within Current Encoder Encoder 0.888 227
speed counter one- command error error
revolution counter 1 counter 2
position
Digital CSON EM2/EM1 ALM2 INP MBR RD STO IPF
AL. 24 Analog Motor Torque Current Within Bus U-phase V-phase 0.888 227
speed command one- voltage current current
revolution feedback feedback
position
Digital CSON EM2/EM1 ALM2 INP MBR RD STO IPF
AL. 30 Analog Motor Torque Current Droop Bus Regenerat Effective 56.8 14563
speed command pulses voltage ive load load ratio
(1 pulse) ratio
Digital CSON EM2/EM1 ALM2 INP MBR RD STO IPF
AL. 31 Analog Motor Torque Current Command Within Speed Bus 0.888 227
speed command pulse one- command voltage
frequency revolution
position
Digital CSON EM2/EM1 ALM2 INP MBR RD STO IPF
AL. 32 Analog Motor Torque Current Bus Effective U-phase V-phase 0.444 113
speed command voltage load ratio current current
feedback feedback
Digital CSON EM2/EM1 ALM2 INP MBR RD STO IPF
AL. 33 Analog Motor Torque Current Speed Bus Regenerat Effective 3.5 910
speed command command voltage ive load load ratio
ratio
Digital CSON EM2/EM1 ALM2 INP MBR RD STO IPF
4 DRIVE RECORDER
4.1 How to use drive recorder 157
Data 1 Data 2 Data 3 Data 4 Data 5 Data 6 Data 7 Data 8 Sampling Measure
time [ms] ment
time [ms]
AL. 35 Analog Motor Torque Current Command Droop Speed Bus 0.888 227
speed command pulse pulses command voltage
frequency (1 pulse)
Digital CSON EM2/EM1 ALM2 INP MBR RD STO IPF
AL. 42 Analog Motor Torque Motor- Motor- Command Droop Load-side 0.888 227
speed side/ load- side/ load- pulse pulses droop
side side frequency (100 pulses
position speed (speed pulses) (100
deviation deviation unit) pulses)
(100
pulses)
Digital CSON EM2/EM1 ALM2 INP MBR RD STO IPF
AL. 46 Analog Motor Torque Current Internal Temperatu Bus Effective 56.8 14563
speed command temperatu re of voltage load ratio
re of motor
encoder thermistor
Digital CSON EM2/EM1 ALM2 INP MBR RD STO IPF
AL. 50 Analog Motor Torque Current Droop Overload Bus Effective 56.8 14563
speed command pulses alarm voltage load ratio
(100 margin
pulses)
Digital CSON EM2/EM1 ALM2 INP MBR RD STO IPF
AL. 51 Analog Motor Torque Current Droop Overload Bus Effective 56.8 14563
speed command pulses alarm voltage load ratio
(100 margin
pulses)
Digital CSON EM2/EM1 ALM2 INP MBR RD STO IPF
AL. 52 Analog Motor Torque Current Droop Speed Bus Error 3.5 910
speed command pulses command voltage excessive
(100 alarm
pulses) margin
Digital CSON EM2/EM1 ALM2 INP MBR RD STO TLC
AL. 71 Analog Motor Torque Load-side Load-side Current Load-side Load-side 0.888 227
speed encoder encoder command encoder encoder
informatio informatio error error
n2 n1 counter 1 counter 2
Digital CSON EM2/EM1 ALM2 INP MBR RD STO IPF
AL. 72 Analog Motor Torque Load-side Load-side Current Load-side Load-side 0.888 227
speed encoder encoder command encoder encoder
informatio informatio error error
n2 n1 counter 1 counter 2
Digital CSON EM2/EM1 ALM2 INP MBR RD STO IPF
4 DRIVE RECORDER
158 4.1 How to use drive recorder
Signal name Description Unit
Encoder error counter 2 The same as encoder error counter 1. [times]
U-phase current feedback This indicates U-phase current value applying to the servo motor per internal unit.
V-phase current feedback This indicates V-phase current value applying to the servo motor per internal unit.
Regenerative load ratio The ratio of regenerative power to permissible regenerative power is displayed in %. [0.1%]
Command pulse frequency This indicates the command pulse frequency. [1.125 kpps]
Command pulse frequency (speed This converts and indicates command pulse frequency per servo motor speed. [r/min]
unit)
Motor-side/load-side position deviation This indicates a deviation between motor-side position and load-side position during fully closed [100 pulses]
(100 pulses) loop control.
The number of pulses displayed is in the load-side encoder pulse unit.
Motor-side/load-side speed deviation This indicates a deviation between motor speed and load-side speed during fully closed loop [r/min]
control.
Load-side droop pulses (100 pulses) Droop pulses of the deviation counter between a load-side position and a command are displayed. [100 pulses] 4
Internal temperature of encoder Inside temperature of encoder detected by the encoder is displayed. []
Temperature of motor thermistor The thermistor temperature is displayed for the rotary servo motor with thermistor, linear servo []
motor with thermistor, and direct drive motor.
Overload alarm margin This indicates margins to the levels which trigger [AL. 50 Overload 1] and [AL. 51 Overload 2] in [0.1%]
percent. When the value becomes 0%, the overload alarm will occur.
Error excessive alarm margin This indicates a margin to the level which trigger the error excessive alarm in encoder pulse unit. [pulse]
When the value becomes 0 pulse, the error excessive alarm will occur.
Load-side encoder information 1 The position in load-side encoder 1-revolution is displayed. This indicates a Z-phase counter for [pulse]
the INC linear encoder. The value is counted up from 0 based on the home position (reference
mark). This indicates an absolute position for the ABS linear encoder. It is displayed in load-side
encoder pulse unit.
Load-side encoder information 2 Multi-revolution counter of the load-side encoder is displayed. [pulse]
Load-side encoder error counter 1 This indicates the number of cumulative errors during a communication with the load-side encoder. [times]
Load-side encoder error counter 2 The same as load-side encoder error counter 1. [times]
4 DRIVE RECORDER
4.1 How to use drive recorder 159
4.2 How to display drive recorder information
Select "Diagnosis" and "Drive Recorder" from the menu bar of MR Configurator2. The window shown in the following image
will be displayed.
(a)
(b)
(c)
Click "Waveform" - "Display" ((a)) to display the graph preview window which shows data before and after alarm occurrence.
For operating the graph preview window, refer to Help of MR Configurator2.
Click "Display" of "Alarm onset data" ((b)) to display each data at alarm occurrence.
Click "History Clear" ((c)) to delete all data at alarm occurrence recorded in the servo amplifier. After clicking "History Clear",
cycle the power of the servo amplifier. Note that the time to restart will be longer than usual due to the deletion of the data.
4 DRIVE RECORDER
160 4.2 How to display drive recorder information
APPENDIX
Appendix 1 Detection points of [AL. 25], [AL. 92], and
[AL. 9F]
The following diagram shows detection points of [AL. 25 Absolute position erased], [AL. 92 Battery cable disconnection
warning], and [AL. 9F Battery warning].
APPX
Appendix 1 Detection points of [AL. 25], [AL. 92], and [AL. 9F] 161
MEMO
APPX
162 Appendix 1 Detection points of [AL. 25], [AL. 92], and [AL. 9F]
REVISIONS
*The manual number is given on the bottom left of the back cover.
Revision date *Manual number Description
March 2012 SH(NA)-030109ENG-A First edition
June 2012 SH(NA)-030109ENG-B Section 1.1
[AL. 1E.2] is added.
[AL. 1F.2] is added.
[AL. 42.8] is added.
[AL. 42.9] is added.
[AL. 42.A] is added.
[AL. 70] is added.
[AL. 71] is added.
[AL. 72] is added.
[AL. E8.2] is added.
Section 1.2
[AL. 1E.2] is added.
[AL. 1F.2] is added.
[AL. 42.8] is added.
[AL. 42.9] is added.
[AL. 42.A] is added.
Check result and Action of [AL. 46.2] (2) are partially changed.
The reference of [AL. 51.2] is changed.
[AL. 52.1] (10) is changed.
[AL. 70] is added.
[AL. 71] is added.
[AL. 72] is added.
The serial communication is added to [AL. 8A].
The serial communication is added to [AL. 8E].
Section 1.3
[AL. E8.1] (1) is added.
[AL. E8.2] is added.
February 2013 SH(NA)-030109ENG-C Section 1.1
[AL. 17.8] is added.
[AL. 74] is added.
[AL. 75] is added.
[AL. 8D] is added.
[AL. 93] is added.
[AL. 96.4] is added.
[AL. 9D] is added.
[AL. 9E] is added.
Section 1.2
[AL. 17.8] is added.
[AL. 74] is added.
[AL. 75] is added.
[AL. 8D] is added.
The part of table is changed.
Section 1.3
[AL. 93] is added.
[AL. 96.4] is added.
[AL. 9D] is added.
[AL. 9E] is added.
The part of table is changed.
Section 1.4
Addition
Chapter 2
Addition
August 2013 SH(NA)-030109ENG-D Section 1.1
[AL. 25.2] is added.
[AL. 3D] is added.
[AL. 82] is added.
Section 1.2
[AL. 11.2] The part of table is changed.
[AL. 25.2] is added.
[AL. 27.1] The part of table is changed.
[AL. 37] The part of table is changed.
[AL. 3D] is added.
[AL. 42] The part of table is changed.
[AL. 82] is added.
163
Revision date *Manual number Description
August 2013 SH(NA)-030109ENG-D Section 1.4
The part of table is changed.
Section 2.1
The part of table is changed.
October 2013 SH(NA)-030109ENG-E Section 1.2
[AL. 25.1] The part of table is changed.
[AL. 25.2] The part of table is changed.
Section 1.3
[AL. 92.1] The part of table is changed.
[AL. 9F.1] The part of table is changed.
March 2014 SH(NA)-030109ENG-F 100 V class MR-J4 series servo amplifiers are added.
Section 1.2
[AL. 10] The part of table is changed.
[AL. 1A.1] The part of table is changed.
[AL. 27.3] The part of table is changed.
[AL. 30.1] The part of table is changed.
[AL. 33.1] The part of table is changed.
Section 1.3
[AL. E9] The part of table is changed.
Appendix 1
The diagram is changed.
April 2014 SH(NA)-030109ENG-G MR-J4-_A_-RJ servo amplifier positioning mode and MR-D30 are added.
Section 1.1
Added.
Section 1.2
Stop system/Alarm deactivation/Alarm code are added.
[AL. 15.4] Newly added.
[AL. 1A.4] Newly added.
[AL. 34.5] [AL. 34.6] Newly added.
[AL. 36.2] Newly added.
[AL. 3E.6] Newly added.
[AL. 45.2] Newly added.
[AL. 46.4] Newly added.
[AL. 63.5] Newly added.
[AL. 64.1] to [AL. 64.3] Newly added.
[AL. 65.1] to [AL. 65.9] Newly added.
[AL. 79.1] to [AL. 79.8] Newly added.
[AL. 7A.1] to [AL. 7A.4] Newly added.
[AL. 7C.1] [AL. 7C.2] Newly added.
[AL. 7D.2] Newly added.
Section 1.3
[AL. 95.3] to [AL. 95.5] Newly added.
[AL. E6.2] [AL. E6.3] Newly added.
Section 1.4
[AL. 10.1] Newly added.
[AL. 15.4] Newly added.
[AL. 1A.4] Newly added.
[AL. 34.5] [AL. 34.6] Newly added.
[AL. 36.2] Newly added.
[AL. 3E.6] Newly added.
[AL. 45.2] Newly added.
[AL. 46.4] Newly added.
[AL. 63.5] Newly added.
[AL. 64.1] to [AL. 64.3] Newly added.
[AL. 65.1] to [AL. 65.9] Newly added.
[AL. 79.1] to [AL. 79.8] Newly added.
[AL. 7A.1] to [AL. 7A.4] Newly added.
[AL. 7C.1] [AL. 7C.2] Newly added.
[AL. 7D.2] Newly added.
Section 1.5
[AL. 95.3] to [AL. 95.5] Newly added.
[AL. E6.2] [AL. E6.3] Newly added.
Section 1.6
Partially added.
164
Revision date *Manual number Description
September 2014 SH(NA)-030109ENG-H MR-J4-DU_(-RJ) and MR-CR55K_ are added.
Section 1.2
Alarm is added.
Section 1.3
Warning is added.
Section 1.4
[AL. 10.1] is partially changed.
[AL. 10.2] is partially changed.
[AL. 14.2] is partially changed.
[AL. 17.7] is added.[AL. 1B.1] is added.
[AL. 20.1] is partially changed.
[AL. 20.5] is partially changed.
[AL. 20.6] is partially changed.
[AL. 21.1] is partially changed.
[AL. 21.2] is partially changed.
[AL. 21.4] is partially changed.
[AL. 2A.1] is partially changed.
[AL. 2B.1] is partially changed.
[AL. 31.1] is partially changed.
[AL. 71.1] is partially changed.
[AL. 9C.1] is added.
[AL. E9.1] is partially changed.
[AL. E9.4] is added.
Chapter 2
Added.
Section 3.1
POINT is added.
April 2015 SH(NA)-030109ENG-J Contents of MR-D30, MR-J4-03A6(-RJ), MR-J4W2-0303B6, Modbus, and simple cam are added.
4. Additional instructions
Model names are added.
Section 1.1 (4), (5)
Added.
Section 1.2
Partially added.
Section 1.3
Partially added.
Section 1.4
[AL. 10] is partially changed.
[AL. 16.3] is partially changed.
[AL. 1A.2] is partially changed.
[AL. 20.1] is partially changed.
[AL. 24.2] is partially changed.
[AL. 27.2] is partially added.
[AL. 30] is partially changed.
[AL. 31.1] is partially changed.
[AL. 32] is partially changed.
[AL. 33.1] is partially changed.
[AL. 37.1] is partially changed.
[AL. 50.1] is partially changed.
[AL. 52.1] is partially changed.
[AL. 64] is partially changed.
[AL. 65] is partially changed.
[AL. 66] is added.
[AL. 67] is added.
[AL. 70.3] is added.
[AL. 71.1] is added.
[AL. 79] is added.
[AL. 7A.3] is partially changed.
[AL. 7B] is added.
[AL. 7C] is partially changed.
[AL. 7D.1] is added.
[AL. 7D.2] is partially changed.
[AL. 8A.1] is partially changed.
[AL. 8A.2] is added.
[AL. 8E.1] to [AL. 8E.5] are partially changed.
[AL. 8E.6], [AL. 8E.7], and [AL. 8E.8] are added.
165
Revision date *Manual number Description
April 2015 SH(NA)-030109ENG-J Section 1.4
[AL. 95] is partially changed.
[AL. 96.1], [AL. 96.2], and [AL. 96.4] are partially changed.
[AL. 99] is partially changed.
[AL. 9A] is added.
[AL. E3.1] is partially changed.
[AL. E7.1] is partially added.
[AL.E9] is partially changed.
[AL. F5] is added.
[AL. F6] is added.
Section 1.6
Partially changed.
September 2015 SH(NA)-030109ENG-K The alarm is added.
Section 1.2
[AL. 3E.1] is partially changed, and [AL. 68] is added.
Section 1.4
[AL. 68] is added.
[AL. F6] is partially changed.
Section 1.5
[AL. 90.1] is partially changed.
[AL.E3] is partially changed.
Section 1.6
Partially added.
February 2016 SH(NA)-030109ENG-L The descriptions on MR-J4-GF (Motion mode/I/O mode) are added.
About the manual
Partially added.
Chapter 1
POINT is added.
Section 1.1
Model names are added.
Section 1.2
Partially changed.
Section 1.3
Partially changed.
Section 1.4
[GF] is added to the target column.
[AL. 11.1] is partially changed.
[AL. 12.6] is added.
[AL. 14.B] is added.
[AL. 17.9] is added.
[AL. 19.3] is added.
[AL. 69] is added.
[AL. 84] is added.
[AL. 85] is added.
[AL. 86] is added.
[AL. 8D.1] is partially changed.
[AL. 90.1] is partially changed.
[AL. F4] is added.
Section 1.5
[GF] is added to the target column.
[AL. 99.4] and [AL. 99.5] are added.
[AL. 9E.1] is partially changed.
[AL. F5.2] is partially changed.
Section 1.6
Partially changed.
Section 1.7
Added.
Section 3.1
Partially added.
December 2016 SH(NA)-030109ENG-M MR-CV_ is added. MR-J4-GF is partially added.
TM-RG2M series/TM-RU2M series direct drive motor is added.
4. Additional instructions
Partially added.
Section 1.2
[AL. 7C] is partially changed.
Section 1.3
Partially changed.
166
Revision date *Manual number Description
December 2016 SH(NA)-030109ENG-M Section 1.4
[AL. 1A] is partially added.
[AL. 30] is partially added.
[AL. 35] is partially added.
[AL. 37] is partially changed.
[AL. 7C] is partially changed.
Section 1.5
[AL. 90] is partially added.
[AL. 95] is partially added.
[AL. F4] is partially added.
[AL. F7] is added.
Chapter 2
Added.
Chapter 3
The chapter number is changed from chapter 2.
Partially changed.
Section 3.3
[AL. 30] is partially added.
Chapter 4
The chapter number is changed from chapter 3.
Section 4.1
Partially changed.
October 2017 SH(NA)-030109ENG-N Alarms of J3 compatibility mode are added.
4. Additional instructions
Partially added.
Section 1.2
[AL. 16.4] is added.
[AL. 16.8] is added.
[AL. 70.4] is added.
[AL. 70.8] is added.
Section 1.3
Partially changed.
Section 1.4
[AL. 16.4] is added.
[AL. 16.8] is added.
[AL. 70.4] is added.
[AL. 70.8] is added.
Section 1.5
[AL. E7.1] is partially changed.
[AL. F4.6] is partially changed.
[AL. F4.7] is partially changed.
Section 2.1
Partially changed.
December 2017 SH(NA)-030109ENG-P Available on e-Manual.
Section 4.1
Partially changed.
167
Revision date *Manual number Description
April 2018 SH(NA)-030109ENG-Q MR-J4-_GF_(-RJ) CC-Link IE Field Network Basic is supported. MR-J4-DU_B4-RJ100 is added.
MR-J4-_GF1(-RJ) is added.
About the manual
Partially added.
Section 1.2
[AL. 13.3] is added.
[AL. 14.C] is added.
[AL. 14.D] is added.
[AL. 3E.8] is added.
[AL. 56.4] is added.
[AL. 86.4] is added.
Section 1.4
[AL. 13.3] is added.
[AL. 14.C] is added.
[AL. 14.D] is added.
[AL. 16.3] is partially changed.
[AL. 20.1] is partially changed.
[AL. 3E.8] is added.
[AL. 46.3] is partially changed.
[AL. 56.4] is added.
[AL. 86.1] is partially changed.
[AL. 86.4] is added.
[AL. 9D.1] is partially changed.
[AL. 9D.2] is partially changed.
[AL. 9E.1] is partially changed.
[AL. F5.2] is partially changed.
[AL. F6.2] is partially changed.
Section 1.6
Partially changed.
Section 2.4
[AL. 62] is partially changed.
Section 4.2
Partially changed.
November 2018 SH(NA)-030109ENG-R The alarm is added.
Section 1.2
[AL. 52.6] is added.
Section 1.4
[AL. 52.1] is partially added.
[AL. 52.6] is added.
168
WARRANTY
Warranty
1. Warranty period and coverage
We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment hereinafter referred to as the "Product" arisen
during warranty period at no charge due to causes for which we are responsible through the distributor from which you purchased the
Product or our service provider. However, we will charge the actual cost of dispatching our engineer for an on-site repair work on
request by customer in Japan or overseas countries. We are not responsible for any on-site readjustment and/or trial run that may be
required after a defective unit are repaired or replaced.
[Term]
The term of warranty for Product is twelve (12) months after your purchase or delivery of the Product to a place designated by you or
eighteen (18) months from the date of manufacture whichever comes first (“Warranty Period”). Warranty period for repaired Product
cannot exceed beyond the original warranty period before any repair work.
[Limitations]
(1) You are requested to conduct an initial failure diagnosis by yourself, as a general rule.
It can also be carried out by us or our service company upon your request and the actual cost will be charged. However, it will not
be charged if we are responsible for the cause of the failure.
(2) This limited warranty applies only when the condition, method, environment, etc. of use are in compliance with the terms and
conditions and instructions that are set forth in the instruction manual and user manual for the Product and the caution label affixed
to the Product.
(3) Even during the term of warranty, the repair cost will be charged on you in the following cases;
1. a failure caused by your improper storing or handling, carelessness or negligence, etc., and a failure caused by your hardware
or software problem
2. a failure caused by any alteration, etc. to the Product made on your side without our approval
3. a failure which may be regarded as avoidable, if your equipment in which the Product is incorporated is equipped with a safety
device required by applicable laws and has any function or structure considered to be indispensable according to a common
sense in the industry
4. a failure which may be regarded as avoidable if consumable parts designated in the instruction manual, etc. are duly maintained
and replaced
5. any replacement of consumable parts (battery, fan, smoothing capacitor, etc.)
6. a failure caused by external factors such as inevitable accidents, including without limitation fire and abnormal fluctuation of
voltage, and acts of God, including without limitation earthquake, lightning and natural disasters
7. a failure generated by an unforeseeable cause with a scientific technology that was not available at the time of the shipment of
the Product from our company
8. any other failures which we are not responsible for or which you acknowledge we are not responsible for
2. Term of warranty after the stop of production
(1) We may accept the repair at charge for another seven (7) years after the production of the product is discontinued. The
announcement of the stop of production for each model can be seen in our Sales and Service, etc.
(2) Please note that the Product (including its spare parts) cannot be ordered after its stop of production.
3. Service in overseas countries
Our regional FA Center in overseas countries will accept the repair work of the Product. However, the terms and conditions of the repair
work may differ depending on each FA Center. Please ask your local FA center for details.
4. Exclusion of loss in opportunity and secondary loss from warranty liability
Regardless of the gratis warranty term, Mitsubishi shall not be liable for compensation to:
(1) Damages caused by any cause found not to be the responsibility of Mitsubishi.
(2) Loss in opportunity, lost profits incurred to the user by Failures of Mitsubishi products.
(3) Special damages and secondary damages whether foreseeable or not, compensation for accidents, and compensation for
damages to products other than Mitsubishi products.
(4) Replacement by the user, maintenance of on-site equipment, start-up test run and other tasks.
5. Change of Product specifications
Specifications listed in our catalogs, manuals or technical documents may be changed without notice.
6. Application and use of the Product
(1) For the use of our General-Purpose AC Servo, its applications should be those that may not result in a serious damage even if any
failure or malfunction occurs in General-Purpose AC Servo, and a backup or fail-safe function should operate on an external
system to General-Purpose AC Servo when any failure or malfunction occurs.
(2) Our General-Purpose AC Servo is designed and manufactured as a general purpose product for use at general industries.
Therefore, applications substantially influential on the public interest for such as atomic power plants and other power plants of
electric power companies, and also which require a special quality assurance system, including applications for railway companies
and government or public offices are not recommended, and we assume no responsibility for any failure caused by these
applications when used
In addition, applications which may be substantially influential to human lives or properties for such as airlines, medical treatments,
railway service, incineration and fuel systems, man-operated material handling equipment, entertainment machines, safety
machines, etc. are not recommended, and we assume no responsibility for any failure caused by these applications when used.
We will review the acceptability of the abovementioned applications, if you agree not to require a specific quality for a specific
application. Please contact us for consultation.
169
TRADEMARKS
MELSERVO and CC-Link IE are trademarks or registered trademarks of Mitsubishi Electric Corporation in Japan and/or other
countries.
Modbus is registered trademark of SCHNEIDER ELECTRIC USA, INC.
Ethernet is a registered trademark of Fuji Xerox Co., Ltd. in Japan.
All other product names and company names are trademarks or registered trademarks of their respective companies.
170 SH(NA)-030109ENG-R
SH(NA)-030109ENG-R(1811)MEE
MODEL: MR-J4 INSTRUCTIONMANUAL (TROUBLESHOOTING)
MODEL CODE: 1CW808
HEAD OFFICE : TOKYO BUILDING, 2-7-3 MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN
NAGOYA WORKS : 1-14 , YADA-MINAMI 5-CHOME , HIGASHI-KU, NAGOYA , JAPAN
When exported from Japan, this manual does not require application to the
Ministry of Economy, Trade and Industry for service transaction permission.