Mitsubishi Electronics Q172HCPU, Q173HCPU manual 416

APPENDICES

Table 1.12 Servo error (2000 to 2899) list (Continued)

Error		Error cause	Error check	Error	Corrective action
code	Name	Description		processing
		• Machine struck something.			• Review operation pattern.
					• Install limit switches.
		• Wrong connection of servomotor. (Servo			• Connect correctly.
		amplifier's output terminals U, V, W do
		not match servo motor's input terminals
		U, V, W.)
		• Servo system is instable and hunting.			`• Repeat acceleration/
					deceleration to execute auto
					tuning.
					• Change auto tuning response
2051	Overload 2				setting.
					• Set auto tuning to OFF and make
					gain adjustment manually.
		• Encoder faulty.			• Replace the servomotor.
		[Checking method]
		When the servomotor shaft is rotated
		with the servo off, the cumulative
		feedback pulses do not vary in
		proportion to the rotary angle of the shaft
		but the indication skips or returns
		midway.	Any time during
		• Acceleration/deceleration time constant	operation		• Increase the
		is too small.		Immediate	acceleration/deceleration time.
		• Torque limit value is too small.		stop	• Increase the torque limit value.
		• Motor cannot be started due to torque			• Review the power supply
		shortage caused by power supply			capacity.
		voltage drop.			• Use servomotor which provides
					larger output.
		• Model loop gain value of servo			• Increase set value and adjust to
		parameter is small.			ensure proper operation.
		• Servomotor shaft was rotated by			• When torque is limited, increase
2052	Error excessive	external force.			the limit value.
					• Reduce load.
					• Use servomotor that provides
					larger output.
		• Machine struck something.			• Review operation pattern.
					• Install limit switches.
		• Encoder faulty			• Replace the servomotor.
		• Wrong connection of servomotor. (Servo			• Connect correctly.
		amplifier's output terminals U, V, W do
		not match servomotor's input terminals
		U, V, W.)
	Motor	• Fault in combination with the servo	• Servo amplifier		• Use the correct combination with
2060		amplifier and servomotor.	power on.		the servo amplifier and
	combination
					servomotor.
(AL.1A)	error		• Multiple CPU
			system power on.

APP - 29