Mitsubishi Electric A173UHCPU Programming Manual page 344

APPENDICES
Table 2.12 Servo Amplifier Error List (2000 to 2799) (Continued)
Error Amplifier
Code Type
Name
A
2052 Excessive error
M
A
2057 Hardware alarm
RS232
M
2086 communication
error
A
2102 Battery warning
M
Battery
M
2103 disconnection
warning
Excessive
2140 regeneration
M
warning
A
2141 Overload warning
M
Absolute value
A
2143
counter warning
Servo emergency
M
2146
stop
A
2147 Emergency stop
M
Main circuit OFF
M
2149
warning
Home position
2196 M setting error
warning
Error Cause
Description
• The deviation counter value
exceeded the specified value.
• Inertia is too large to make enough
acceleration.
• Encoder or cable fault.
• The droop pulses of the deviation
counter exceeded the error
excessive alarm level set in the
servo parameters.
• ADU hardware fault.
• Parameter unit communication
error
• The absolute value encoder battery
voltage dropped.
• The voltage of the battery installed
in the servo amplifier has become
low.
• The power supply voltage to the
absolute position sensor has
become low.
• An excessive regeneration error
(2030) is likely to occur
(regeneration of 85% of the
maximum load capacity for the
regenerative resistor has been
detected).
• The 80% level of the overload error
(2050) level was detected.
• An overload error (2050, 2051) is
likely to occur (85% of overload
level detected).
• Encoder fault.
• The connection between 1A and
1B (emergency stop input) of CN6
of the servo amplifier encoder has
been broken.
• Brought to an emergency stop.
• An emergency stop (EMG) signal
has been input from the servo
system CPU.
• The servo ON (SON) signal was
turned ON while the contactor was
OFF.
• The main circuit bus voltage fell to
215 V or lower at 50 rpm or lower.
• After a home position set
command, the droop pulses did not
come within the in-position range.
When Error Checked Error Processing
Immediate stop
At any time during operation
Operation
continues
Immediate stop
Operation
continues
APP − 27
Corrective Action
• Reconsider the servo parameters.
• Change the encoder or cable.
• Check if there has been a collision at
the machine.
• Increase the time constant for
acceleration and deceleration.
• Increase the position loop gain /
position control gain 1, 2, in the servo
parameters.
• Check the encoder cable for wire
breakage.
• Replace the servomotor.
• If the voltage of the bus in the servo
amplifier has dropped (charge lamp has
gone out), replace the servo amplifier.
• Change the ADU.
• Check for disconnection of the
parameter unit cable.
• Replace the parameter unit.
• Change the battery (MR-JBAT- ).
• Replace the battery.
• Replace the battery.
• Check the encoder cable for wire
breakage.
• Replace the servomotor.
• Replace the servo amplifier.
• Refer to the details on the excessive
regeneration error (2030).
• Refer to details of the overload error
(2050).
• Refer to the details on the overload
errors (2050, 2051).
• Change the encoder.
• Establish a short circuit between 1A
and 1B of CN6 of the servo amplifier
encoder.
• Release the emergency stop.
• Turn the main circuit contactor or circuit
power supply ON.
• Re-attempt zeroing.