Motors, Drives and VFD's

Documentation for Teco, Yaskawa and Mitsubishi servo motors.

Drives - All Stepper

Drives - All Stepper

Stepper Drive Wiring Diagram - Apollo

 

 Stepper Drive Wiring Apollo

 

Control Connector                                                                              

Signal

Color

PUL+

Brown/White

PUL‐

Brown

DIR+

Green/White

DIR‐

Green

EN+

Blue

EN‐

Blue/White

Control-Connector.jpg

 

 

Motor Connector

Signal

Color

A+

Red  (Red Pair)

A‐

Black (Red Pair)

B+

White (White Pair)

B‐

Black (White Pair)

120 VAC

 

Neutral

 

Control-Connector.jpg

  

Keywords: Stepper, motor, connections

Drives - All Stepper

Stepper Drive Setup Guide

__Use__MachMotion_Logo_HiRes_TransBG-update-01-450.png


1 Overview

The MachMotion micro-stepping drive is used to control all different types of stepper motors. This document will give you all the information you need to connect your motors to your drives. The drives are wired using simple screw terminals as shown in the picture below.

 

 

 Stepper-Drive-Overview.JPG

Figure 1 Stepper Drive Overview

1.1 Connectors/Switches

The Configuration Switch allows you to easily configure the drive to your particular motor. For more information see the section titled Configuration Switch on.

 The Control Connector should be wired up when you receive your stepper drive. Plug the other end of it into the MachMotion IO6 Breakout Board (Figure 3). Below is the pin-out of the prewired control cable.

 

Signal

Color

PUL+

Brown/White

PUL-

Brown

DIR+

Green/White

DIR-

Green

EN+

Blue

EN-

Blue/White

 

 Control-Cable.JPG

Figure 2 Control Cable

Finally, the Power Connector is where you will wire up your motor. See the section Connecting Your Motors.

Below is a diagram showing the stepper drive and motor setup.

Drive-Connection-Overview.JPG

Note: Power is not supplied to the drive shown above.

 Figure 3 Drive Connection Overview

1.2 Status LEDs

There are three status LEDs on your stepper drive. The top LED labeled Signal is active when step and direction pulses are entering the drive through the Control Connector. Any time you command the drive to move you should see this LED turn on.

The second LED labeled Fault will turn on if you have a drive fault. Repower the drive to reset the fault. The smallest LED on the bottom labeled Power shows if the stepper drive has power supplied to it.

Status-LEDs.JPG

Figure 4 Status LEDs

1.3 Specification

Item

Specification

Motor Type

2 Phase 4, 6, & 8 Wire Motors

Supply Voltage

120 VAC

Max Current

6 Amps

Dimensions

170 mm x 66 mm x 92 mm (L x W x H)

Status LEDs

Signal, Fault, Power

Table 1

Refer to the figure below for the stepper drive’s dimensions.

Drive-Dimensions.JPG

Figure 5 Drive Dimensions

Note: Mount your drives at least ¾ inch apart. The drives can generate a lot of heat so the correct spacing ensures proper cooling.

2 Finding Information

Before wiring up your drive, you must find the correct information for your stepper motor. You need to locate a diagram or schematic showing the coils’ configuration and the wire colors. An example diagram for a stepper motor is shown below. Notice that it shows how the coils are laid out and what wire each coil is connected to.

MOTOR EXAMPLE:

Example-Motor-Diagram.JPG

Figure 6 Example Motor Diagram

You also need to find the current rating for your motor. You may see the parallel and series current rating on the motor’s documentation. Only use the series current. If the document only supplies the parallel current, divide it in half. This gives you the correct current rating.

Now you are ready to get to work!

Note: If you are unable to find the current specification, you can experimentally find the current setting for the stepper drive. See Current Setting without Spec.

Note: For a 4 wire stepper motor, you can use a meter to find the coil configuration. If you find two wires with no resistance, you know you have one side of the coil. It doesn’t matter what side you found, as long as you have the correct two wires for each coil.

EXAMPLE:

Below is another stepper motor specification sheet.

Motor-Specification.JPG

Figure 7 Motor Specification

We need to know two different things about this motor.

  1. The Wire Colors and Coil Configuration
    If you look carefully, the diagram showing the wire colors is on the bottom right hand side of this document. This is all the information we need to know about how to wire it up.
  2. The Current Rating
    In the specification table, there is a current value 3.5 A/Phase. This is all the information you need to configure your stepper dive.

3 Connecting Your Motors

3.1 For 8 Wire Motors Only

For eight lead motors, you must wire the coils together in series. The diagram below shows a normal eight lead motor. Connect the wires on your motor as shown by the red lines on the diagram.

Wiring-Coils-In-Series.JPG

Figure 8 Wiring Coils in Series

3.2 Connecting Your Motors to Your Drives

Now you are finally ready to connect your motors. Choose the two wires on the opposite side of each coil and wire them into the Power Connector (Figure 1). One coil combination will be A+ and A- and the other one will be B+ and B-. It does not matter which side of the coil is connected to the plus or negative terminals.  Just make sure that the coils from different poles are not connected together. The Power Connector is shown below. 

Power-Connector.JPG

Figure 9 Power Connector

Note: No matter how many leads are on your motor, you will only connect

 4 wires to the stepper drive!

See the following examples.

4 Wire Stepper Motor

4-Wire-Stepper-Motor.JPG

6 Wire Stepper Motor

6-Wire-Stepper-Motor.JPG

8 Wire Stepper Motor

 

8-Wire-Stepper-Motor.JPG

Figure 10 Motor Wiring Examples

3.3 Supplying Power

Connect 120VAC to the bottom two pins of the Power Connector (Figure 1). Your stepper drive should now be completely wired up.

 

 Power-Connection.JPG

Figure 11 Power Connection

4 Configuration Switch

4.1 Current Setting

The configuration switch is at the very top of the stepper drive.

Configuration-Switch.JPG

Figure 12 Configuration Switch

If you found the current specification for your motor, use the following table to set the first 4 switches of the Configuration Switch.

Switch ON = 1, OFF = 0

Switches: 1234

Current

Switches: 1234

Current

1111

0.38A

0111

3.38A

1110

0.75A

0110

3.75A

1101

1.13A

0101

4.13A

1100

1.50A

0100

4.50A

1011

1.88A

0011

4.88A

1010

2.25A

0010

5.25A

1001

2.63A

0001

5.63A

1000

3.00A

0000

6.00A

Current-Setting-Switches.JPG

Figure 13 Current Setting Switches

4.2 Current Setting without Specification

However, if you could not find the current rating, follow the procedure below.

Note: Make sure your velocity and acceleration are very low before you begin.

  1. Set the Configuration Switch to 1111 (or a very low current rating).
  2. Jog your motor. If you lose position, increase the current setting. Continue to increase the current setting until your motor does not lose position. Record this value.
  3. Continue incrementing the current setting until you lose position again. Record this value.
  4. Find the average of those two settings. Set the Configuration Switch to this value. Your drive should now be configured correctly.

4.2 Defaults

The other switches 5-10 should always be setup the same way. They configure the current mode, the pulse type, and the microstep value. Make sure your drive matches the default switches as shown below.

 

 Default-Switches.JPG

Figure 5 Default Switches

5 Machine Units

Now you are ready to setup your machine units. Configuring your units makes sure that when you tell your control to move an inch, it actually moves an inch. If you are not using MachMotion motors, you must find the pulses per revolution (ppr) of your stepper motor.  For all the MachMotion systems our motors are 200 ppr and the micro-step value on our stepper drives is set to 10. The micro-step acts like a step multiplier. Each step from the controller rotates the motor a specific number of steps defined by the micro-step number.

To setup your machine’s units, you must calculate the number of actual motor rotations per inch. After finding the motor rotations per inch, use the following formula to calculate the steps per inch:

EXAMPLE:

Assume you are installing one of the MachMotion Stepper kits on a machine with a 5 threads per inch (tpi) ball screw and a 2 to 1 gear reduction. Five tpi times the gear box reduction (2) gives us 10 motor rotations per inch. 

Therefore, your steps per inch are:

Open up the Mach3 software. On the menu bar select Config->Motor Tuning. Then select the correct axis by pressing one of the axis buttons under the right column titled Axis Selection. Enter in your new steps per inch value in the bottom left corner. Then press SAVE AXIS SETTINGS. Press OK to end.

 

Step-Per-Inch.JPG

Figure 14 Steps Per Inch

6 Software Configuration

6.1 Velocity

Setup your velocity by clicking Config on the main menu bar, then Motor Tuning. You should see the following window.

Figure 15 Motor Tuning Setup Window

On the right of the Motor Tuning and Setup window it lists all the different axes. Click on the axis you want to setup.

Next enter in a low value for the velocity near the bottom left side of the window. Press SAVE AXIS SETTINGS for your changes to be implemented. Try to move the axis. If your stepper motor loses position, make sure that the acceleration is low enough. Slowly increase the velocity until you find you are losing position. Back down a little bit and use that value as your final velocity.

6.2 Acceleration Velocity

Setup your acceleration by clicking Config on the main menu bar, then Motor Tuning. You should see the Motor Tuning Setup window as shown in Figure 15. On the right of the window it lists all the different axes. Click on the axis you want to setup.

Start the acceleration at 5. Make sure to press SAVE AXIS SETTINGS. Slowly increase the acceleration until you lose position. Back down a little bit and use that value as your final acceleration.

7 Appendix

Warranty Information

MachMotion warranty policy is subject to change. Updated information is available at our website:
https://machmotion.com/warranty

 

The MachMotion Team
http://www.machmotion.com
14518 County Road 7240, Newburg, MO 65550
(573) 368-7399 • Fax (573) 341-2672

Drives - Danaher

Drives - Danaher

Danaher Quickstart Guide

 

File Type Document Name View / Download / Print
pdf-icon.png Danaher Quickstart Guide

 

 

Keywords: drives manual set up

Drives (Servo) - Delta

Drives (Servo) - Delta

Delta Servo Drive Alarm Codes

Delta servo drives used in MachMotion Torch Height control systems.

 

AL001: Over current

Causes Checking Method Corrective Actions
The drive output is
short-circuit
Check if the wiring between the motor
and the drive is correct and see if the
wire is short-circuited.
Eliminate short-circuit and
avoid metal conductor being
exposed.
The motor wiring is
in error.
Check if the wiring steps are correct
when connecting the motor to the drive.
Rewiring by following the
wiring description from the
user manual.
IGBT is abnormal The temperature of the heat sink is
abnormal
Send the drive back to the
distributors or contact with
Delta
The control
parameter setting is
in error.
Check if the setting value exceeds the
default setting
Setting back to the default
setting and then gradually
adjust the value.
Unreasonable
command
Check if the command doing
reasonable acceleration time.
Less steep command used or
filter applying to smooth
command.


AL002:Over voltage

Causes Checking Method Corrective Actions
The input voltage of
the main circuit is
higher than the
rated allowable
voltage.
Use the voltmeter to see if the input
voltage of the main circuit is within the
rated allowable voltage value. (please
refer to Chapter 10.1)
Apply to the correct power
supply or serial voltage
regulator.
Wrong power input
(incorrect power
system)
Use the voltmeter to see if the power
system matches the specification.
Apply to the correct power
supply or serial adaptor.
The hardware of
the servo drive is
damaged.
Use the voltmeter to see if the input
voltage of the main circuit is within the
rated allowable voltage value but still
shows the error.
Send the drive back to the
distributors or contact with
Delta.


AL003:Under voltage

Causes Checking Method Corrective Actions
The input voltage of
the main circuit is
lower than the rated
allowable voltage.
Check if the input voltage wiring of the
main circuit is normal.
Re-confirm the voltage wiring.
No power supply
for the main circuit.
Use the voltmeter to see if the voltage
of the main circuit is normal.
Check the power switch
Wrong power input Use the voltmeter to see if the power Apply to the correct power
ASDA-B2 Chapter 9 Troubleshooting
Revision December 2014 9-5
(incorrect power
system)
system matches the specification. supply or serial adaptor.


AL004:Motor combination error

Causes Checking Method Corrective Actions
The encoder is
damaged.
The encoder is abnormal. Change the motor
The encoder is
loose.
Check the encoder connector. Install the motor again.
Motor Combination
Error
Connect to the right motor. Change the motor


AL005:Regeneration error

Causes Checking Method Corrective Actions
Choose wrong
regenerative
resistor or does not
connect to external
regenerative
resistor
Check the connection of regenerative
resistor.
Calculate the value of the
regenerative resistor again
and correctly set the value of
P1-52 and P1-53. If issue
persists, please send the
drive back to the distributors
or contact with Delta.
Parameter P1-53 is
not set to zero
when the
regenerative
resistor is not in
use.
Check if parameter P1-53 of
regenerative resister is set to zero.
Set parameter P1-53 of
regenerative resistor to zero
when it is not applying.
Wrong parameter
setting
Check the setting value of parameter
P1-52 and P1-53.
Correctly reset the value of
P1-52 and P1-53.


AL006:Overload

Causes Checking Method Corrective Actions
Over the rated
loading of the drive
and continuously
excessive using
Set parameter P0-02 to 11 and see if
the average torque [%] is over 100% all
the time.
Increase the motor capacity
or reduce the load.
The setting of the
control system
parameter is
inappropriate.
1. Check if there is any mechanical
vibration.
2. Check if the acceleration /
deceleration constant are set too fast.
1. Adjust the gain value of the
control circuit.
2. Slow down the
acceleration / deceleration
setting time.
Wrong wiring of the
motor and the
encoder.
Check the wiring of U, V, W and the
encoder.
Correct wiring
The encoder of the
motor is defective.
Send the drive back to the distributors or contact with Delta.
Chapter 9 Troubleshooting ASDA-B2
9-6 Revision December 2014

See more info here: Torque IHS and Homing


AL007:Overspeed

Causes Checking Method Corrective Actions
Unreasonable
command
Use the scope to check if the signal of
analog voltage is abnormal.
Less steep command used
or filter applying to smooth
command.
Inappropriate
parameter setting
Check if the setting of parameter P2-34
is too small (the condition of over-speed
warning).
Correctly set parameter P2-
34 (the condition of overspeed warning).


AL008:Abnormal pulse command

Causes Checking Method Corrective Actions
The pulse
command
frequency is higher
than the rated input
frequency.
Use the scope to check if the input
frequency is over the rated input
frequency.
Correctly set the input pulse
frequency.


AL009:Excessive deviation of Position Command

Causes Checking Method Corrective Actions
Parameter P2-35 is
set too small
Check the setting value of parameter
P2-35 (The warning condition of
excessive position deviation)
Increase the setting value of
P2-35 (The warning condition
of excessive position
deviation)
The setting of the
gain value is too
small.
Check if the setting value is
appropriate
Correctly adjust the gain
value
The torque limit is
too low.
Check the torque limit value Correctly adjust the torque
limit value
Excessive external
load
Check the external load Reduce the external load or
evaluate the motor capacity
again

See more info here: Torque IHS and Homing


AL011:Encoder error

Causes Checking Method Corrective Actions
Wrong wiring of the
encoder
Check if the wiring follows the
suggested wiring of the user manual.
Correct wiring
The encoder is loose Check the drive connector of CN2
and encoder
Install the encoder again
Bad connection of the
encoder
Check if the connection between
CN2 of the drive and the encoder of
the servo motor is loose
Reconnect the wiring
The encoder is
damaged
Check if the motor is damaged Change the motor
ASDA-B2 Chapter 9 Troubleshooting
Revision December 2014 9-7


AL012:Adjustment error

Causes Checking Method Corrective Actions
The analog input
contact is incorrectly
set back to zero
Measure if the voltage of the analog
input contact is the same as the
ground voltage
Correctly ground the analog
input contact
The detection device
is damaged
Reset the power supply If issue persists, send the
drive back to the distributors
or contact with Delta.


AL013:Emergency stop

Causes Checking Method Corrective Actions
Press the emergency
stop button
Check if the emergency stop button
is enabled.
Activate emergency stop


AL014:Reverse limit error

Causes Checking Method Corrective Actions
Reverse limit switch is
activated.
Check if the limit switch is enabled. Enable the reverse limit
switch
The servo system is
unstable.
Check the control parameter and
inertia ratio
Re-adjust the parameter or
evaluate the motor capacity.


AL015:Forward limit error
Causes Checking Method Corrective Actions
Forward limit switch is
activated.
Check if the limit switch is enabled. Enable the forward limit
switch
The servo system is
unstable.
Check the control parameter and
inertia ratio
Re-adjust the parameter or
evaluate the motor capacity.


AL016:IGBT Overheat
Causes Checking Method Corrective Actions
Over the rated
loading of the drive
and continuously
excessive using
Check if it is overloading or the motor
current is too high.
Increase the motor capacity
or reduce the load.
The drive output is
short-circuit
Check the drive output wiring Correct wiring


AL017:Abnormal EEPROM
Causes Checking Method Corrective Actions
It is in error when
DSP accesses
EEPROM.
Press the SHIFT Key on the panel
and it shows EXGAB.
X = 1, 2, 3
G = group code of the parameter
AB = hexadecimal of the parameter
The fault occurs when
applying to the power. It
means one of the parameters
is over the reasonable range.
Please re-power on after
Chapter 9 Troubleshooting ASDA-B2
9-8 Revision December 2014
If it shows E320A, it means it is
parameter P2-10; If it shows E3610,
it means it is parameter P6-16.
Please check the parameter.
adjusting.
The fault occurs in normal
operation. It means it is in
error when writing the
parameter. The alarm can be
cleared by DI.ARST.
Abnormal hidden
parameter
Press the SHIFT Key on the panel
and it shows E100X
The fault occurs in parameter
reset. The setting of the drive
is wrong. Please set the
correct type of the drive.
Data in ROM is
damaged.
Press the SHIFT Key on the panel
and it shows E0001
The fault occurs when it is
servo-on. Usually it is
because the data in ROM is
damaged or there is no data
in ROM. Please send the
drive back to the distributors
or contact with Delta.


AL018:Abnormal signal output
Causes Checking Method Corrective Actions
The encoder is in
error and cause the
abnormal signal
output
Check the fault records (P4-00~P4-
05). See if the alarm exists with the
encoder error (AL011, AL024,
AL025, AL026)
Conduct the corrective
actions of AL.011, AL.024,
AL.025, AL.026
The output pulse
exceeds the hardware
allowable range.
Check if the following conditions
produce:
P1-76 < Motor Speed or
6 1019.8 4 461P
60
Speed Motor 
Correctly set parameter P1-
76 and P1-46:
P1-76 > Motor Speed or
6 1019.8 4 461P

AL019:Serial communication error
Causes Checking Method Corrective Actions
Improper setting of
the communication
parameter
Check the setting value of
communication parameter
Correctly set the parameter
value
Incorrect
communication
address
Check the communication address Correctly set the
communication address
Incorrect
communication value
Check the accessing value Correctly set the value


AL020:Serial communication time out
Causes Checking Method Corrective Actions
Improper setting of
the time-out
parameter
Check the parameter setting Correctly set the value
ASDA-B2 Chapter 9 Troubleshooting
Revision December 2014 9-9
The drive hasn’t
received the
communication
command for a long
time.
Check if the communication cable is
loose or broken.
Correct wiring


AL022:Main circuit power lack phase
Causes Checking Method Corrective Actions
The main circuit
power is abnormal
Check if RST power cable is loose or
does not connect to the power. This
alarm occurs when no power
connects to single phase servo drive
Make sure it applies to the
power. If issue persists,
please send the drive back to
the distributors or contact
with Delta.


AL023:Early warning for overload
Causes Checking Method Corrective Actions
Early warning for
overload
1. Check if it is used in overload
condition.
2. Check if the value of parameter
P1-56 is set to small.
1. Please refer to the
corrective actions of
AL006.
2. Please increase the
setting value of parameter
P1-56. Or set the value
over 100 and deactivate
the overload warning
function.


AL024:Encoder initial magnetic field error
Causes Checking Method Corrective Actions
The initial magnetic
field of the encoder is
in error
(Signal, U, V, W of
the encoder magnetic
field is in error.)
1. Check if the servo motor is
properly grounded.
2. Check if the encoder cable
separates from the power supply
or the high-current circuit to avoid
the interference.
3. Check if the shielding cables are
used in the wiring of the encoder.
If issue persists, please send
the drive back to the
distributors or contact with
Delta.


AL025:The internal of the encoder is in error
Causes Checking Method Corrective Actions
The internal of the
encoder is in error.
(The internal memory
and the internal
counter are in error)
1. Check if the servo is properly
grounded.
2. Check if the encoder cable
separates from the power supply
or the high-current circuit to avoid
the interference.
3. Check if the shielding cables are
1. Please connect the UVW
connector (color green) to
the heat sink of the servo
drive.
2. Please check if the
encoder cable separates
from the power supply or
Chapter 9 Troubleshooting ASDA-B2
9-10 Revision December 2014
used in the wiring of the encoder. the high-current circuit.
3. Please use shielding
mesh.
4. If issue persists, please
send the drive back to the
distributors or contact with
Delta.


AL026:Unreliable internal data of the encoder
Causes Checking Method Corrective Actions
The encoder is in
error.
(Errors occur in the
internal data for three
times continuously)
1. Check if the servo is properly
grounded.
2. Check if the encoder cable
separates from the power supply
or the high-current circuit to avoid
the interference.
3. Check if the shielding cables are
used in the wiring of the encoder.
1. Please connect the UVW
connector (color green) to
the heat sink of the servo
drive.
2. Please check if the
encoder cable separates
from the power supply or
the high-current circuit.
3. Please use shielding
mesh.
4. If issue persists, please
send the drive back to the
distributors or contact with
Delta.


AL027:The internal of the encoder is in error
Causes Checking Method Corrective Actions
The internal reset of
the encoder is in
error.
1. Check if the servo is properly
grounded.
2. Check if the encoder cable
separates from the power supply
or the high-current circuit to avoid
the interference.
3. Check if the shielding cables are
used in the wiring of the encoder.
1. Please connect the UVW
connector (color green) to
the heat sink of the servo
drive.
2. Please check if the
encoder cable separates
from the power supply or
the high-current circuit.
3. Please use shielding
mesh.
4. If issue persists, please
send the drive back to the
distributors or contact with
Delta.


AL028:The internal of the encoder is in error
Causes Checking Method Corrective Actions
The encoder U, V, W
signals are in error.
1. Check if the servo is properly
grounded.
2. Check if the encoder cable
1. Please connect the UVW
connector (color green) to
the heat sink of the servo
ASDA-B2 Chapter 9 Troubleshooting
Revision December 2014 9-11
separates from the power supply
or the high-current circuit to avoid
the interference.
3. Check if the shielding cables are
used in the wiring of the encoder.
drive.
2. Please check if the
encoder cable separates
from the power supply or
the high-current circuit.
3. Please use shielding
mesh.
4. If issue persists, please
send the drive back to the
distributors or contact with
Delta.


AL029:The internal of the encoder is in error
Causes Checking Method Corrective Actions
The internal address
of the encoder is in
error.
1. Check if the servo is properly
grounded.
2. Check if the encoder cable
separates from the power supply
or the high-current circuit to avoid
the interference.
3. Check if the shielding cables are
used in the wiring of the encoder.
1. Please connect the UVW
connector (color green) to
the heat sink of the servo
drive.
2. Please check if the
encoder cable separates
from the power supply or
the high-current circuit.
3. Please use shielding
mesh.
4. If issue persists, please
send the drive back to the
distributors or contact with
Delta.


AL030:Motor crash error
Causes Checking Method Corrective Actions
Motor Crash Error
1. Check if P1-57 is enabled.
2. Check if P1-57 is set too small and
the time of P1-58 is set too short.
1. If it is enabled by mistake,
please set P1-57 to zero.
2. According to the actual
torque setting, if the value
is set too small, the alarm
will be triggered by
mistake. However, if the
value is set too big, it will
lose the function of
protection.
Chapter 9 Troubleshooting ASDA-B2
9-12 Revision December 2014


AL031:Incorrect wiring of the motor power line U, V, W
Causes Checking Method Corrective Actions
The wiring of U, V, W
of the motor is
incorrect connected
or the connection is
breakdown.
Check if U, V, W of the motor is
incorrect connected or the
connection is breakdown.
Follow the user manual to
correctly wire U, V, and W
and make sure it is
grounded.


AL035:Encoder temperature exceeds the protective range
Causes Checking Method Corrective Actions
Encoder temperature
is over 120°C.
Check if the environment
temperature is excessive or the
motor temperature is over 105°C.
Try to reduce operating
temperature.


AL048:Excessive encoder output error
Causes Checking Method Corrective Actions
Encoder error causes
abnormal encoder
output.
Exam error recording (P4-00 ~ P4-
05) to check if encoder error also
occurs. (AL011, AL024, AL025,
AL026)
Please refer to the corrective
actions of AL011, AL024,
AL025 and AL026
The output pulse
exceeds hardware
tolerance.
Check if following conditions occur:
P1-76 < Motor speed or
6 1019.8 4 461
60
speedMotor P 
Correctly set P1-76 and P1-
46:
P1-76 > Motor speed and
6 1019.8 4 461

AL067:Encoder temperature warning
Causes Checking Method Corrective Actions
Encoder temperature
is over 100°C.
Check if the operating temperatur
ASDA-B2 Chapter 9 Troubleshooting
Revision December 2014 9-13
2. Check if there is any problem of
lack phase when connecting
UVW from servo to motor
(unconnected or wrong
connection)
Analog signal (GND)
from servo drive is
interfered
Check if the GND of analog signal is
misconnected to other signal.
Please refer to Chapter 3 and
conduct the wiring again.
GND of analog signal cannot
be grounded with other
signals.


AL085:Regeneration error
Causes Checking Method Corrective Actions
Choose wrong
regenerative resistor or
does not connect to
external regenerative
resistor
Check the connection of
regenerative resistor.
Calculate the value of the
regenerative resistor again
and correctly set the value of
P1-52 and P1-53. If issue
persists, please send the
drive back to the distributors
or contact with Delta.
Parameter P1-53 is not
set to zero when the
regenerative resistor is
not in use.
Check if parameter P1-53 of
regenerative resister is set to zero.
Set parameter P1-53 of
regenerative resistor to zero
when it is not applying.
Wrong parameter
setting
Check the setting value of
parameter P1-52 and P1-53.
Correctly reset the value of
P1-52 and P1-53.


AL099:DSP firmware upgrade
Causes Checking Method Corrective Actions
Upgrade DSP firmware Check if the firmware is upgraded. Firstly set P2-08 to 30. Then
set P2-08 to 28, the alarm
will be cleared when repower on.
AL555:System failure
Causes Checking Method Corrective Actions
DSP processing error N/A If AL555 occurs, do not do
any anything and send the
drive back to the distributors
or contact with Delta.

Chapter 9 Troubleshooting ASDA-B2
9-14 Revision December 2014
AL880:System failure
Causes Checking Method Corrective Actions
DSP processing error N/A If AL880 occurs, do not do
any anything and send the
drive back to the distributors
or contact with Delta. 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Keywords: Delta Servo Alarm Code AL000 AL00 Al001 al002 al002 al003 al004 al006 al005 al007 al008 plasma torch height THC ERROR Servo error control Zslide plasma z plazma control box warning al code 

Drives (Servo) - Mitsubishi

Drives (Servo) - Mitsubishi

Drive Error List - Mitsubishi

Display Name Definition Cause Action
AL.10 Under-Voltage Power supply
voltage dropped to 160VAC or less.
1. Power supply voltage is low Check the power supply.
2. There was an instantaneous control power failure of 60ms or longer.
3. Shortage of power supply capacity caused the power supply voltage to drop at start, etc.
4. The bus voltage dropped to 200VDC.
5. Faulty parts in the servo amplifier Change the servo amplifier.
AL.12 Memory Error 1 RAM, memory fault Faulty parts in the servo amplifier Change the servo amplifier.
AL.13 Clock Error Printed board fault
AL.15 Memory Error 2 EEP-ROM fault 1. Faulty parts in the servo amplifier Change the servo amplifier.
2. The number of write times to EEP-ROM exceeded 100,000.
AL.16 Encoder Error 1 Communication error
occurred between encoder and servo amplifier.
1. Encoder connector (CN2) disconnected. Connect correctly.
2. Encoder fault Change the servo motor.
3. Encoder cable faulty (Wire breakage or shorted) Repair or change cable.
AL.17 Board Error CPU/Parts Fault 1. Faulty parts in the servo amplifier Change the servo amplifier.
The output terminals U, V, W of the servo amplifier and the input terminals U, V, W of the servo motor are not connected. 2. The wiring of U, V, W is disconnected or not connected. Correctly connect the output terminals U, V, W of the servo amplifier and the input terminals U, V, W of the servo motor.
AL.19 Memory Error 3 ROM memory fault Faulty parts in the servo amplifier Change the servo amplifier.
AL.1A Motor Combination
Error
Wrong combination of servo amplifier and servo motor. Wrong combination of servo amplifier and servo motor connected. Use correct combination.
AL.20 Encoder Error 2 Communication error occurred between encoder and servo amplifier. 1. Encoder connector (CN2) disconnected. Connect correctly.
2. Encoder fault Change the servo motor.
3. Encoder cable faulty (Shorted or broken wire) Repair or change cable.
Drives (Servo) - Mitsubishi

Fuse Sizing Chart - Mitsubishi

Mitsubishi Servo Drive Fusing
Model Number   KW Rec. Fusing Manual Sec.
MR-E-40-KH003   0.4 15 13.2.2
MR-E-70-KH003   0.75 15 13.2.2
MR-E-100-KH003   1 15 13.2.2
         
MR-J4-40A   0.4 15 11.1
MR-J4-70A   0.75 20 11.1
MR-J4-100A   1 20 11.1
         
Mitsubishi VFD Fusing
Model Number HP KW Rated Current Fuse
FR-D720S-008-NA 0.125 0.1 0.8 1
FR-D720S-014-NA 0.25 0.2 1.4 2
FR-D720S-025-NA 0.5 0.4 2.5 4
FR-D720S-042-NA 1 0.75 4.2 5
FR-D720S-070-NA 2 1.5 7 10
FR-D720S-100-NA 3 2.2 10 16
         
FR-D720-008-NA 0.125 0.1 0.8 1
FR-D720-014-NA 0.25 0.2 1.4 2
FR-D720-025-NA 0.5 0.4 2.5 4
FR-D720-042-NA 1 0.75 4.2 5
FR-D720-070-NA 2 1.5 7 10
FR-D720-100-NA 3 2.2 10 16
FR-D720-165-NA 5 3.7 16.5 20
FR-D720-238-NA 7.5 5.5 23.8 32
FR-D720-318-NA 10 7.5 31.8 40
         
FR-D740-012-NA 0.5 0.4 1.2 2
FR-D740-022-NA 1 0.75 2.2 4
FR-D740-036-NA 2 1.5 3.6 6
FR-D740-050-NA 3 2.2 5 6
FR-D740-080-NA 5 3.7 8 10
FR-D740-120-NA 7.5 5.5 12 16
FR-D740-160-NA 10 7.5 16 20
Drives (Servo) - Mitsubishi

Mitsubishi Drive & Motor Wiring Diagram – Apollo III

Mitsubishi-Drive-&-Motor-Wiring-Diagram---Apollo-III.JPG

Drives (Servo) - Mitsubishi

Brake Wiring - Mitsubishi J4