Mitsubishi MELSERVO MR-J5 Servo Drive

Mitsubishi MELSERVO MR-J5 Servo Drive Fault codes:

Fault Code and Meaning	Cause and Remedy
AL. 010.1 Voltage drop in the control circuit power	Cause: 1. Connection or wiring of the control circuit power supply is incorrect. Remedy: Check the connection and wiring of the control circuit power supply (screw tightening state, disconnected cables, loose connectors). Refer to “Example power circuit connections” in the Hardware Manual. Cause: 2. The voltage of the control circuit power supply is too low. Remedy: Check if voltage is equal to or lower than specified value (200V class: 160V AC, 400V class: 280V AC). Cause: 3. The power was cycled before the internal control circuit power supply stopped. Remedy: After shutting off power, make sure the seven-segment LED is off, then cycle power. Cause: 4. An instantaneous power failure lasted for longer than the specified time. Remedy: Check if the power supply has a problem. Cycle the power of the servo amplifier.
AL. 010.2 Voltage drop in the main circuit power	Cause: 1. Connection or wiring of the main circuit power supply is incorrect. Remedy: Check connection/wiring (screws, cables, connectors). Refer to “Example power circuit connections” in the Manual. Cause: 6. The voltage of the main circuit power supply is too low (dropped due to instantaneous power failure). Remedy: Check if voltage is lower than specified (200V class: 160V AC, 400V class: 280V AC). Increase voltage if low. Review power supply environment if instantaneous failure occurs. Cause: 7. Bus voltage is too low at acceleration. Remedy: Check if bus voltage during acceleration is lower than value (200V class: 200V DC, 400V class: 380V DC). Increase acceleration time constant or power supply capacity. Cause: 10. Main circuit capacitor has deteriorated. Remedy: Replace the servo amplifier if capacitor has reached end of service life. Cause: 11. The servo amplifier has malfunctioned. Remedy: If bus voltage is low but input voltage is correct, replace the servo amplifier.
AL. 011.1 Rotary switch setting error	Cause: 1. Each selected network has its settable range, and values set with rotary switches (SW1/SW2) were out of range. Remedy: Check settings of rotary switches (SW1/SW2). If value set does not match actual value, replace servo amplifier. Refer to “Switch setting and display” in the Manual.
AL. 011.2 Disabled axis setting error	Cause: 1. The settings of the disabling control axis switch are incorrect. Remedy: Check the setting of the disabling control axis switch. For 2-axis/3-axis amplifiers, ensure correct axis disabling combinations (e.g., A-axis disabled, B-axis disabled). If settings are correct but alarm persists, replace servo amplifier.
AL. 012.1 RAM error 1	Cause: 1. An internal part of the servo amplifier (RAM) has malfunctioned. Remedy: Disconnect all cables except control circuit power supply. Check repeatability. If failure continues, replace servo amplifier. Cause: 2. There is a problem with the surrounding environment (Noise). Remedy: Check power supply for noise and take countermeasures. Refer to “Noise reduction techniques” in the Manual.
AL. 013.1 CPU error 1	Cause: 1. An internal part of the servo amplifier has malfunctioned. Remedy: Disconnect cables (except power), check repeatability. If failure continues, replace servo amplifier. Cause: 2. A clock transmitted from the controller has an error. Remedy: Check if alarm occurs when connected to controller. If so, replace controller. Cause: 4. Problem with surrounding environment (Noise). Remedy: Check for noise; implement countermeasures. Check if connector has shorted.
AL. 014.1 Control process error 1	Cause: 1. The servo parameter settings are incorrect. Remedy: Return servo parameter to previous value and check if problem occurs again. Cause: 2. Problem with surrounding environment (Noise). Remedy: Check for noise; take countermeasures. Check for shorted connectors. Cause: 3. The servo amplifier has malfunctioned. Remedy: Replace the servo amplifier.
AL. 016.1 Encoder initial communication – Receive data error 1	Cause: 1. There is a problem with the encoder cable. Remedy: Check if cable is disconnected, incorrectly wired, or shorted. Repair or replace the cable. Cause: 2. Incompatible A/B/Z-phase differential output encoder. Remedy: Check if servo amplifier is compatible with the encoder being used. Cause: 4. The servo amplifier has malfunctioned. Remedy: Replace the servo amplifier. Cause: 5. The encoder has malfunctioned. Remedy: Replace the servo motor.
AL. 017.1 Board error 1	Cause: 1. There is a problem with the current detection circuit. Remedy: Check that alarm occurs in servo-on status. If it occurs, replace the servo amplifier. Cause: 2. Problem with surrounding environment (Noise). Remedy: Check noise/temperature conditions. Implement noise reduction techniques.
AL. 019.1 Flash-ROM error 1	Cause: 1. The Flash-ROM has malfunctioned. Remedy: Disconnect cables (except power), check repeatability. If failure continues, replace servo amplifier. Cause: 3. A firmware installation failed. Remedy: Install the firmware again.
AL. 01A.1 Servo motor combination error 1	Cause: 1. The servo amplifier and servo motor have been connected incorrectly. Remedy: Refer to “Servo amplifier/motor combinations” in the Manual. Check drive units and servo motor combinations. Cause: 2. Rotary servo motor does not support the firmware version. Remedy: Check if there are restrictions on the firmware version for the motor. Cause: 4. [Pr. PA17] and [Pr. PA18] were not set based on the servo motor used. Remedy: Check if parameters [Pr. PA17] and [Pr. PA18] have been set correctly. Cause: 5. The encoder has malfunctioned. Remedy: Replace the servo motor.
AL. 01A.2 Servo motor control mode combination error	Cause: 1. Combination of servo motor and [Pr. PA01.1 Operation mode selection] is not appropriate. Remedy: Check the [Pr. PA01.1] setting. Cause: 2. Fully closed loop: Motor-side and load-side encoders are incorrectly connected. Remedy: Refer to “USING A FULLY CLOSED LOOP SYSTEM” in the Manual.
AL. 01A.5 Servo motor combination error 3	Cause: 1. The servo motor connected at startup of absolute position detection system was changed. Remedy: Reconnect to the servo motor that was connected at startup. Cause: 2. At occurrence of [AL. 025], power was cycled without leaving motor for 5 s. Remedy: Set [Pr. PA03.1] to “1”, cycle power, deactivate alarm, and perform homing again. Cause: 6. The servo amplifier has malfunctioned. Remedy: Replace the servo amplifier.
AL. 01B.1 Protection coordination error 1	Cause: 1. The protection coordination cable is not connected correctly. Remedy: Connect the protection coordination cable correctly. Cause: 2. An alarm occurred in the converter unit during servo-on. Remedy: Check the alarm in the converter unit and take corrective action.
AL. 01E.1 Encoder malfunction	Cause: 1. The encoder has malfunctioned. Remedy: Replace the servo motor.
AL. 01F.1 Incompatible encoder	Cause: 1. An incompatible servo motor or linear encoder was connected. Remedy: Refer to “Compatible encoder list” in the Manual. Cause: 3. The encoder or linear encoder has malfunctioned. Remedy: Replace the servo motor or linear encoder.
AL. 020.1 Encoder normal communication – Receive data error 1	Cause: 1. Problem with encoder cable (disconnected/shorted). Remedy: Repair or replace the cable. Cause: 2. External conductor of encoder cable is not connected to ground plate. Remedy: Connect external conductor to ground plate of connector. Cause: 4. The servo amplifier has malfunctioned. Remedy: Replace the servo amplifier. Cause: 6. Problem with surrounding environment (Noise/Vibration). Remedy: Take noise countermeasures. Check for loose connections due to vibration.
AL. 021 Encoder normal communication error / Data error (Includes AL. 021.1, 021.2, 021.3)	Cause: An excessive speed or acceleration was detected due to oscillation or other factors. Remedy: Decrease the control gain, then check repeatability. If error does not repeat, use the encoder with a lower gain. Cause: The external conductor of the encoder cable is not connected to the ground plate. Remedy: Check if the external conductor (shield) is connected to the connector ground plate. Refer to the “Shield procedure” in the hardware manual. Cause: The encoder power supply voltage dropped considerably in the cable wiring. Remedy: Check if wires meet recommended specifications (especially if fabricated by customer). Replace with recommended wires/cables. Cause: Encoder cable problem (disconnected or shorted). Remedy: Check for shorts or disconnections. Repair or replace cable. Cause: Environmental noise or temperature issues. Remedy: Check ambient temperature, noise, and magnetic fields. Implement noise reduction countermeasures.
AL. 024 Main circuit error / Ground fault (Includes AL. 024.1, 024.2)	Cause: The servo motor power cable has a ground fault or has shorted. Remedy: Check wiring of U/V/W and grounding cable. If shorted, replace the power cable. Cause: The servo motor itself has a ground fault. Remedy: Disconnect motor cables and check insulation between phases (U/V/W) and ground. Replace servo motor if fault is found. Cause: Main circuit power supply cable and servo motor cable are touching/shorted. Remedy: Ensure main power and motor power cables are not in contact. Correct wiring. Cause: Servo amplifier malfunction. Remedy: If alarm occurs with motor cables disconnected, replace the servo amplifier.
AL. 025 Absolute position erased (Includes AL. 025.1, 025.2)	Cause: Power switched on for first time, or battery was removed/disconnected. Remedy: Check battery mounting. Perform homing (absolute position setting). Cause: Battery voltage is too low or exhausted. Remedy: Check voltage with tester (< 3V DC). Replace battery and execute homing. Cause: Loose connection or problem with battery/encoder cable. Remedy: Repair or replace the cable. Execute homing.
AL. 027 Initial magnetic pole detection error (Includes AL. 027.1 to 027.7)	Cause: A moving part collided against the machine. Remedy: Move the start position of the magnetic pole detection. Cause: Wiring of servo motor power cable is incorrect. Remedy: Check power cable wiring (U/V/W). Cause: Linear encoder resolution setting differs from value. Remedy: Check parameters [Pr. PL02] (Numerator) and [Pr. PL03] (Denominator). Cause: Limit switch error (Both switches off). Remedy: Check limit switch status and wiring.
AL. 028 Linear encoder error 2 (Includes AL. 028.1, 028.2)	Cause: Ambient temperature of linear encoder is outside specifications. Remedy: Check specifications and operating environment. Cause: Signal level of linear encoder dropped. Remedy: Check mounting condition of the linear encoder.
AL. 02A Linear encoder error 1 (Includes AL. 02A.1 to 02A.8)	Cause: Problem with mounting of linear encoder head. Remedy: Adjust positions of the linear encoder and head. Cause: External conductor (shield) not connected to ground plate. Remedy: Connect shield to connector ground plate (CN2 side). Cause: Noise or surrounding environment. Remedy: Implement noise reduction countermeasures (grounding, ferrite cores).
AL. 02B Encoder counter error (Includes AL. 02B.1, 02B.2)	Cause: Encoder cable problem (disconnected, shorted, or loose). Remedy: Check connections. Repair or replace cable. Execute homing. Cause: Connection of servo motor (U/V/W) is incorrect. Remedy: Check power circuit connections.
AL. 030 Regenerative error (Includes AL. 030.1, 030.2, 030.3)	Cause: Regenerative resistor settings are incorrect [Pr. PA02]. Remedy: Check resistor usage and parameter settings. Cause: Wiring issue (P+ and D connected incorrectly, or not connected). Remedy: Check wiring between P+, D, and C terminals based on option used. Cause: Power supply voltage is too high. Remedy: Ensure voltage is within limits (200V class < 264V, 400V class < 528V). Cause: Regenerative power/load is too large. Remedy: Reduce positioning frequency. Increase deceleration time. Use a regenerative option.
AL. 031 Overspeed (Includes AL. 031.1)	Cause: Command pulse frequency too high or Electronic gear setting incorrect. Remedy: Review operation pattern and input frequency. Check Electronic gear ratio. Cause: Servo system is unstable/oscillating. Remedy: Adjust servo gain. Reduce load. Cause: Wiring of power cable (U/V/W) or encoder is incorrect. Remedy: Check wiring connections (phases must match).
AL. 032 Overcurrent (Includes AL. 032.1, 032.2, 032.3)	Cause: Servo motor power cable ground fault or short. Remedy: Check cable for shorts/ground faults. Replace if necessary. Cause: Servo amplifier or Motor malfunction. Remedy: Disconnect motor. If alarm persists on Amp, replace Amp. Check motor insulation. Replace motor if failed. Cause: Dynamic brake malfunction. Remedy: Replace servo amplifier. Cause: Servo gain too high (causing vibration). Remedy: Reduce gain in [Pr. PB09].
AL. 033 Overvoltage (Includes AL. 033.1)	Cause: Regenerative option not connected or setting incorrect. Remedy: Check wiring (P+, D, C) and parameter [Pr. PA02]. Cause: Input power supply voltage too high. Remedy: Reduce power supply voltage. Cause: Regeneration capacity insufficient. Remedy: Use a larger capacity regenerative option. Increase deceleration time.
AL. 034 SSCNET receive error 1 (Includes AL. 034.1 to 034.7)	Cause: SSCNET III cable disconnected, broken, or dirty end. Remedy: Clean cable ends. Replace SSCNET III cable. Cause: Noise affecting communication. Remedy: Separate from power cables. Implement noise reduction techniques. Cause: Controller or Amp malfunction. Remedy: Replace Servo Amplifier or Controller.
AL. 035 Command frequency error (Includes AL. 035.1)	Cause: Command pulse frequency exceeds maximum input. Remedy: Review operation pattern. Check [Pr. PA13.2] Filter selection. Cause: Controller malfunction. Remedy: Replace the controller.
AL. 036 SSCNET receive error 2 (Intermittent) (Includes AL. 036.1)	Cause: Intermittent connection issue with SSCNET cable. Remedy: Check cable for tight bends or contact with other cables. Replace cable. Cause: Noise interference. Remedy: Check grounding and noise environment.
AL. 037.1 Parameter setting range error	Cause: A parameter was set outside of the setting range. Remedy: Check the parameter error No. on the alarm display screen (MR Configurator2). Review and correct the setting value of the parameter.
AL. 037.2 Parameter combination error	Cause: An inconsistent combination of parameters has been set. Remedy: Check the parameter error No. on the alarm display screen. If using master-slave operation, ensure Pr. PA01.1 is set to “0” (Standard control mode). Ensure Pr. PA04.3 (Forced stop deceleration) is set correctly for the function used.
AL. 037.3 Point table setting error	Cause: Point table setting values are incorrect. Remedy: Check if the setting value of the point table is within the setting range. Check the error number of the point table [Obj. 2A43h: 01h].
AL. 037.6 Parameter mismatch error	Cause: Mismatching with the saved parameters occurred because of an error in writing parameters. Remedy: Rewrite the setting value because the value before or after writing has been displayed. If the setting value changed due to malfunction, replace the servo amplifier.
AL. 037.7 Network parameter setting error	Cause: There is a problem with the network parameter settings. Remedy: Check if the setting value of the network parameter is within the setting range. Rewrite the setting value using MR Configurator2.
AL. 03A.1 Inrush current suppression circuit error	Cause: The inrush current limit resistor is overheated due to frequent power ON/OFF. Remedy: Review the usage frequency of power ON/OFF. If the amplifier has malfunctioned, replace the servo amplifier.
AL. 03D.1 Slave-side driver communication parameter combination error	Cause: The master-side transmission data selection for inter-driver communication has not been set correctly. Remedy: Review settings of “Driver communication setting” (Pr. PD16 and Pr. PD17).
AL. 03E.4 Control command mismatch 1	Cause: The control mode was switched to the torque control mode improperly. Remedy: Review the controller setting regarding control mode switching.
AL. 042.1 Servo control error based on position deviation	Cause: Pr. PA17 (Servo motor series) and Pr. PA18 (Servo motor type) were not set based on the servo motor used. Remedy: Check if [Pr. PA17] and [Pr. PA18] have been set correctly. Check the settings of the encoder resolution (Pr. PL02/PL03). Check the wiring and connection of the servo motor.
AL. 045.1 Main circuit device overheat error 1	Cause: The ambient temperature exceeded the specified value (60 °C). Remedy: Lower the ambient temperature if it exceeds the specified value. Check specifications for close mounting clearances. Clean the cooling fan, heat sink, or openings if clogged.
AL. 046.1 Servo motor temperature error 1	Cause: The ambient temperature of the servo motor has exceeded the specified value, or the motor is overloaded. Remedy: Lower the ambient temperature. Check the effective load ratio; if >100%, reduce load or review operation pattern.
AL. 047.1 Cooling fan stop error	Cause: A foreign object was caught in the cooling fan. Remedy: Remove any foreign objects found in the cooling fan. If the fan is contaminated or damaged, replace the fan unit.
AL. 050.1 Thermal overload error 1 during operation	Cause: The servo motor power cable was disconnected, or the U/V/W wiring is incorrect. Remedy: Check the servo motor power cable and repair/replace if necessary. Verify U/V/W wiring connections. Check if the electromagnetic brake has been released during operation. Reduce effective load ratio if too high.
AL. 052.1 Excessive droop pulse 1	Cause: The servo motor power cable was disconnected, or wiring is incorrect. Remedy: Repair or replace the servo motor power cable. Check U/V/W wiring for loose screws or incorrect connections. Increase torque limit value if enabled. Review operation pattern to avoid machine collisions.
AL. 054.1 Oscillation detection error	Cause: The servo system is unstable and oscillating. Remedy: Check torque ripple with MR Configurator2. Adjust servo gain using auto tuning. Set the machine resonance suppression filter.
AL. 056.2 Speed exceeded during forced stop	Cause: The forced stop deceleration time constant is too short. Remedy: Set a larger value in “Deceleration time constant at forced stop” (Pr. PC24 or Pr. PC51). If the torque limit is enabled, review the torque limit value.
AL. 061.1 Point table setting range error	Cause: “1” or “3” is set for the auxiliary function of the last point table. Remedy: Review the settings of the auxiliary function in the point table.
AL. 063.1 STO1 off	Cause: STO1 was turned off (enabled) while the servo motor was rotating (above speed threshold). Remedy: Ensure the servo motor stops before turning off STO1. Review “STO timing error selection” parameters (Pr. PF06.1 or Pr. PF09.1).
AL. 066.1 Encoder initial communication – Receive data error 1	Cause: There is a problem with the encoder cable (disconnected or shorted). Remedy: Check if the encoder cable is disconnected or shorted. Repair or replace the cable. Check power supply for noise and take countermeasures (Noise reduction techniques).
AL. 067 Encoder normal communication error 1 (safety sub-function)	Cause: Communication error between the encoder and servo amplifier. Remedy: Check the specific sub-code (e.g., 067.1) for details. Refer to AL. 066.1 handling methods in the manual (Page 91).
AL. 068.1 STO signal mismatch error	Cause: 1. STO1 or STO2 is input incorrectly. 2. The input status of STO1 and STO2 are different. 3. The setting of [Pr. PF18 STO diagnosis error detection time] is incorrect. 4. The STO circuit has malfunctioned. 5. Problem with the surrounding environment (noise/temp). Remedy: Check that STO1 and STO2 of the CN8 connector are wired correctly. Ensure on/off status of STO1 and STO2 are the same. Set a longer time in [Pr. PF18], then check repeatability. Replace the servo amplifier. Check noise and ambient temperature; implement countermeasures.
AL. 069.1 Forward rotation-side software limit detection – Command excess error	Cause: 1. Command position exceeded 32 bits when software limit was activated. 2. Command position exceeded 30 bits from software limit setting value. 3. Controller malfunction. 4. Environmental problem (noise). Remedy: Check if command is set for a position exceeding 32 bits. Check software limit settings [Pr. PT15/PT17]. Replace the controller. Take countermeasures to reduce noise.
AL. 069.3 Forward rotation stroke end detection – Command excess error	Cause: 1. Command position exceeded 30 bits from position detected after detecting LSP. 2. LSP limit switch not connected correctly. 3. Controller malfunction. 4. Environmental problem. Remedy: Review operation pattern so command does not exceed 30 bits. Check if limit switch is connected correctly. Replace the controller. Implement noise reduction techniques.
AL. 069.6 Lower stroke limit detection – Command excess error	Cause: 1. Command position exceeded 30 bits from position detected after detecting RLS. 2. Lower stroke limit switch not wired or positioned correctly. 3. Environmental problem. 4. Controller malfunction. Remedy: Review operation pattern so command does not exceed 30 bits. Check connection and position of limit switch. Implement noise reduction techniques. Replace the controller.
AL. 070.1 Load-side encoder initial communication – Receive data error 1	Cause: 1. Problem with load-side encoder cable (disconnected/shorted). 2. Servo amp not compatible with A/B/Z-phase differential output encoder. 3. Connection with A/B/Z-phase encoder incorrect. 4. Servo amplifier malfunction. 5. Load-side encoder malfunction. 6. Environmental problem. Remedy: Replace or repair the cable. Refer to “Compatible encoder list” in manual. Check wiring (PSEL connection). Replace the servo amplifier. Replace the load-side encoder. Check noise and temperature.
AL. 070.3 Load-side encoder initial communication – Receive data error 3	Cause: 1. Unused axes not disabled (multi-axis amp). 2. Cable disconnected/shorted. 3. External power supply unstable. 4. Communication method parameter incorrect. 5. A/B/Z wiring incorrect. 6. Incompatible 4-wire linear encoder. Remedy: Disable unused axes (SW3 switch). Check/replace encoder cable. Review power supply capacity/voltage. Set parameters [Pr. PC26.3] or [Pr. PC44.3] correctly. Check wiring to PSEL. Replace servo amplifier if malfunctioned.
AL. 071.1 Load-side encoder normal communication – Receive data error 1	Cause: 1. Problem with encoder cable. 2. Cable shield not connected to ground plate. 3. Parameter settings incorrect. 4. Hardware malfunction (Amp or Encoder). 5. Environmental problem. Remedy: Replace/repair cable. Connect external conductor to ground plate (CN2 side). Set servo parameters [Pr. PC26.3] or [Pr. PC44.3] correctly. Replace servo amplifier or load-side encoder. Implement noise reduction.
AL. 072.1 Load-side encoder data error 1	Cause: 1. Excessive speed/acceleration detected due to oscillation. 2. Load-side encoder malfunction. 3. Environmental problem (magnetic field/noise). Remedy: Decrease control gain and check repeatability. Replace the load-side encoder. Check external magnetic fields and noise.
AL. 086.1 Network communication error 1	Cause: 1. Network cable disconnected. 2. Wiring of cable incorrect. 3. Devices (hubs/repeaters) turned off. 4. Data transmission interrupted. 5. Controller settings incorrect. 6. Environmental noise. Remedy: Connect network cable correctly (Power OFF first). Check connection and devices. Turn on network devices. Review controller communication settings (CC-Link IE TSN). Take countermeasures to reduce noise. Replace servo amplifier or controller.
AL. 088.1 / AL. 888.1 Watchdog 1-1	Cause: 1. Problem with surrounding environment (noise). 2. Servo amplifier malfunction (CPU error). Remedy: Check noise/temperature and implement countermeasures. Replace the servo amplifier.
AL. 08A.1 Serial communication time-out error	Cause: 1. Communication command not transmitted. 2. Cable disconnected. 3. Servo amplifier malfunction. Remedy: Check if command is transmitted from PC/Controller. Replace the communication cable. Replace the servo amplifier.
AL. 08E.1 Serial communication receive error	Cause: 1. Settings of PC/Equipment incorrect. 2. Problem with communication cable. 3. Servo amplifier malfunction. 4. Environmental noise/Shorts. Remedy: Check settings of personal computer. Check communication cable. Check for connector shorts or noise. Replace servo amplifier.
AL. 090.1 Homing incomplete	Cause: 1. Homing has not been executed. 2. Positioning executed without homing after AL. 025. 3. Homing completion 2 (S_ZP2) turned off. 4. AL. 069 Command error occurred. Remedy: Execute homing. Execute homing after dealing with [AL. 025]. Remove causes that turned off S_ZP2 and re-home. Deal with [AL. 069] then execute homing.
AL. 090.2 Homing abnormal termination	Cause: 1. Proximity dog not connected to DOG. 2. Stroke limit detected after homing started. 3. Deceleration from homing speed to creep speed not possible. Remedy: Check proximity dog connection and I/O monitor. Check stroke limit switch. Review dog position, homing speed, and creep speed.
AL. 091.1 Main circuit device overheat warning	Cause: 1. Ambient temperature exceeded 60 °C. 2. Close mounting specifications not met. 3. Cooling performance deteriorated (clogged heat sink). Remedy: Lower the ambient temperature. Check mounting clearances (Refer to Manual). Clean the heat sink.
AL. 092 Battery cable disconnection warning AL. 092.1 Encoder battery cable disconnection warning AL. 092.2 Load-side encoder battery cable disconnection warning	Cause 1: The MR-BAT6V1SET(-A) battery or MR-BT6VCASE battery case is not connected to CN4. Remedy 1: Check if the battery is connected correctly. Cause 2: The battery cable has been disconnected. Remedy 2: Check if the battery cable has malfunctioned. Cause 3: The battery voltage is too low. The battery is exhausted. Remedy 3: Check the battery voltage with a tester. If the voltage is lower than 3.1 V DC, replace the battery. Cause 4: There is a problem with the encoder cable. Remedy 4: Check if the BAT wiring of the encoder cable has been disconnected or has shorted. Cause 5: The servo amplifier has malfunctioned. Remedy 5: Replace the servo amplifier, then check the repeatability. Cause 6: The encoder has malfunctioned. Remedy 6: Replace the servo motor, then check the repeatability.
AL. 092.3 Battery degradation	Cause 1: The battery voltage is too low. The battery is exhausted. Remedy 1: Check the battery voltage with a tester. If the voltage is lower than 3.0 V DC, replace the battery. Cause 2: The battery has malfunctioned. Remedy 2: Replace the battery, then check the repeatability.
AL. 093 ABS data transfer warning AL. 093.1 Magnetic pole detection incomplete warning at ABS data transfer request	Cause 1: The Z-phase was not turned on at servo-on. Remedy 1: Check if the position within one-revolution is “0”. If the position within one-revolution is “0” (with the Z-phase unpassed), turn on the Z-phase, then disable the magnetic pole detection. Perform homing again. Cause 2: The magnetic pole detection was executed. Remedy 2: If the ABS data was transferred during a magnetic pole detection, disable the magnetic pole detection. Afterwards, cycle SON (Servo-on), then transfer the ABS data.
AL. 095.1 STO1 off detection	Cause 1: STO1 was not input correctly. Remedy 1: Refer to the wiring diagram and correct the wiring. When the STO function is not used, install the short-circuit connector attached to the servo amplifier on CN8. Refer to “USING STO FUNCTION” in the Manuals. Cause 2: While detection by [AL. 063 STO timing error] has been enabled, STO1 was turned off (enabled) under speed conditions. Remedy 2: Turn on STO1 (disabled). Review the settings of “STO timing error selection” parameters (Pr. PF06.1 or PF09.1). Cause 3: The servo amplifier has malfunctioned. Remedy 3: Replace the servo amplifier, then check the repeatability. Cause 4: STO is off (enabled) when a safety component (e.g., MR-J3-D05) is being used. The safety component has a problem. Remedy 4: Take corrective actions according to the troubleshooting for the safety component being used.
AL. 095.2 STO2 off detection	Cause 1: STO2 was not input correctly. Remedy 1: Refer to the wiring diagram and correct the wiring. When the STO function is not used, install the short-circuit connector attached to the servo amplifier on CN8. Cause 2: While detection by [AL. 063 STO timing error] has been enabled, STO2 was turned off (enabled) under speed conditions. Remedy 2: Turn on STO2 (disabled). Review the settings of “STO timing error selection”. Cause 3: The servo amplifier has malfunctioned. Remedy 3: Replace the servo amplifier, then check the repeatability.
AL. 096.1 In-position warning at homing	Cause: During homing, INP (In-position) did not turn on within the specified time. Remedy: Adjust gains so that the droop pulses are set within the In-position range. Remove the cause of droop pulse occurrence, then perform homing.
AL. 096.2 Command input warning at homing	Cause 1: A command was input during homing. Remedy 1: Ensure that a command is not input during homing. Cause 2: Creep speed is too high. Remedy 2: Decelerate the creep speed, then perform homing.
AL. 096.3 Servo off warning at homing	Cause: An attempt to execute homing was made during servo-off. Remedy: After servo-on, execute homing.
AL. 096.4 Magnetic pole detection incomplete warning at homing	Cause: Z-phase was not turned on after servo-on. Remedy: Rotate the direct drive motor to turn on the Z-phase, then perform homing.
AL. 098 Software position limit warning	Cause 1: A software position limit has been reached. Remedy 1: Check the operation pattern. Cause 2: A software position limit has been reached in the JOG operation mode. Remedy 2: Operate the system in the range of the software position limit. Adjust the parameters related to the JOG operation mode as necessary. Cause 3: The software position limit was set within the actual operation range. Remedy 3: Check if [Pr. PT15] and [Pr. PT17] are set correctly.
AL. 099.1 Forward rotation stroke end off	Cause 1: The forward rotation stroke limit switch is not connected to LSP. Remedy 1: Check if the limit switch is connected correctly. Confirm input signal on MR Configurator2. Cause 2: The forward rotation stroke end was exceeded during driving. Remedy 2: Check the operation pattern. Cause 3: The limit switch has malfunctioned or sensor not adjusted. Remedy 3: Check if the limit switch is functioning correctly or if the sensor has been adjusted correctly.
AL. 099.2 Reverse rotation stroke end off	Cause 1: The reverse rotation stroke limit switch is not connected to LSN. Remedy 1: Check if the limit switch is connected correctly. Confirm input signal on MR Configurator2. Cause 2: The reverse rotation stroke end was exceeded during driving. Remedy 2: Check the operation pattern. Cause 3: The limit switch has malfunctioned or sensor not adjusted. Remedy 3: Check if the limit switch is functioning correctly or if the sensor has been adjusted correctly.
AL. 099.4 Upper stroke limit off	Cause 1: The upper stroke limit switch is not connected to FLS. Remedy 1: Check if the limit switch is connected correctly. Cause 2: The upper stroke limit was exceeded during driving. Remedy 2: Check the operation pattern. Cause 3: The limit switch has malfunctioned. Remedy 3: Check functionality of limit switch/sensor adjustment.
AL. 099.5 Lower stroke limit off	Cause 1: The lower stroke limit switch is not connected to RLS. Remedy 1: Check if the limit switch is connected correctly. Cause 2: The lower stroke limit was exceeded during driving. Remedy 2: Check the operation pattern. Cause 3: The limit switch has malfunctioned. Remedy 3: Check functionality of limit switch/sensor adjustment.
AL. 09B.1 Excessive droop pulse 1 warning AL. 09B.3 Excessive droop pulse 2 warning	Cause 1: The servo motor power cable was disconnected. Remedy 1: Repair or replace the servo motor power cable. Cause 2: The connection of the servo motor is incorrect. Remedy 2: Check the U/V/W wiring. Refer to “Example power circuit connections”. Cause 3: The connection of the encoder cable is incorrect. Remedy 3: Check if the encoder cable is connected correctly. Cause 4: The torque limit has been enabled. Remedy 4: If the torque has been limited, increase the torque limit value. Cause 5: A moving part collided against the machine. Remedy 5: Review the operation pattern to avoid collision. Cause 6: The torque is insufficient. Remedy 6: Check peak load ratio. Review operation pattern or replace with larger capacity motor. Cause 7: The power supply voltage has dropped. Remedy 7: Review the power supply voltage and capacity. Cause 8: Acceleration/deceleration time constant is insufficient. Remedy 8: Set a longer acceleration/deceleration time constant. Cause 9: The position control gain is too small. Remedy 9: Increase the value of [Pr. PB08 Position control gain]. Cause 10: The servo motor shaft was rotated by an external force. Remedy 10: Measure the actual position under the servo-lock status. Review the machine if external force is present. Cause 11: The encoder or linear encoder has malfunctioned. Remedy 11: Replace the servo motor or linear encoder.
AL. 09B.4 Excessive error warning during 0 torque limit	Cause: The torque limit value is 0. Remedy: Do not input a command when the torque limit value is 0.
AL. 09C.1 Converter unit warning	Cause: A warning occurred in the converter unit during servo-on. Remedy: Check the warning of the converter unit. Refer to “CONVERTER UNIT TROUBLESHOOTING” in the MR-CV User’s Manual.
AL. 09E.2 Communication cycle setting warning	Cause 1: The communication cycle was set to 31.25 μs. Remedy 1: For 1-axis: Set [Pr. PA01.7 High speed mode] to “1”. For multi-axis: Set communication cycle to 62.5 μs or longer. Cause 2: An unsupported communication cycle was set. Remedy 2: Review the settings on the master side. Cause 3: The communication cycle was set to 250 μs or less while speed was 100 Mbps (CC-Link IE TSN). Remedy 3: Change cycle to 500 μs or more, or change speed to 1 Gbps. Cause 4: CC-Link IE TSN Class A cycle set incorrectly. Remedy 4: Set the communication cycle between 500 μs and 500 ms inclusive.
AL. 09E.3 Number of cyclic points warning	Cause: A value larger than the maximum size was set to the cyclic points number. Remedy: Change the communication cycle, or review the mapping. Refer to “Communication specifications” in the User’s Manual.
AL. 09E.4 Parameter file warning	Cause 1: There is an error on the parameter file of the parameter automatic setting. Remedy 1: Replace the parameter automatic setting file. Cause 2: The processing of the automatic parameter setting was interrupted. Remedy 2: Refer to [AL. 086.1 Network communication error 1].
AL. 09E.5 Cyclic communication setting warning	Cause: An unsupported communication cycle was set. Remedy: Review the settings on the master side.
AL. 09E.6 IP address setting warning	Cause: Duplication of an IP address has been detected. Remedy: Review [Pr. NPA01 IP address setting], [Pr. NPA02 IP address], and the rotary switch setting.
AL. 09E.7 Parameter unreflected warning	Cause: Parameter automatic setting was performed for the parameters that require power cycling. Remedy: Cycle the power.
AL. 09E.8 Master station error detection warning	Cause: An error was detected on the master side. Remedy: Check the status on the master side.
AL. 09E.9 Control mode setting warning	Cause 1: An unsupported control mode was selected. Remedy 1: Check the synchronous/asynchronous mode and the control mode. Cause 2: A function of an unsupported control mode was selected. Remedy 2: When cyclic synchronous pressure mode is used, set [Pr. PW12.2] to “1” or “2” and disable reverse-side stop function.
AL. 09E.A Communication cycle setting warning	Cause 1: Servo parameter settings not supported by current network communication cycle. Remedy 1: Change communication cycle or set control mode/functions compatible with the cycle. Cause 2: The servo amplifier is set to use a communication cycle of 31.25 μs when network cycle is different. Remedy 2: Set [Pr. PA01.7 High speed mode] to “0”. Cause 3: Values of the servo parameters for manufacturer setting have been changed. Remedy 3: Set the servo parameters for manufacturer setting to the initial values.
AL. 09E.B PDO setting warning	Cause: The PDO setting for FSoE communication is incorrect. Remedy: Review the PDO setting for FSoE communication.
AL. 09F.1 Low battery	Cause 1: The battery is not connected to CN4. Remedy 1: Check if the battery is connected correctly. Cause 2: The battery voltage is too low (exhausted). Remedy 2: Check voltage. If lower than 4.9 V DC, replace the battery. Cause 3: There is a problem with the encoder cable. Remedy 3: Check if the BAT wiring of the encoder cable has been disconnected or has shorted. Cause 4: The servo amplifier has malfunctioned. Remedy 4: Replace the servo amplifier, then check the repeatability. Cause 5: The encoder has malfunctioned. Remedy 5: Replace the servo motor, then check the repeatability.
AL. 09F.2 Battery degradation warning	Cause 1: The absolute position storage unit is not connected. Remedy 1: Check if the absolute position storage unit is connected correctly. Cause 2: The battery voltage is too low. Remedy 2: Replace the battery.
AL. 0E0.1 Excessive regeneration warning	Cause: The regenerative load ratio exceeded 85 %. Remedy: Refer to [AL. 030.1 Regenerative heat error].
AL. 0E1.1 Thermal overload warning 1 during operation	Cause: The load was over 85 % of the alarm trigger level of [AL. 050.1]. Remedy: Refer to [AL. 050.1 Thermal overload error 1 during operation].
AL. 0E1.2 Thermal overload warning 2 during operation	Cause: The load was over 85 % of the alarm trigger level of [AL. 050.2]. Remedy: Refer to [AL. 050.2 Thermal overload error 2 during operation].
AL. 0E1.3 Thermal overload warning 3 during operation	Cause: The load was over 85 % of the alarm trigger level of [AL. 051.1]. Remedy: Refer to [AL. 051.1 Thermal overload error 3 during operation].
AL. 0E1.4 Thermal overload warning 4 during operation	Cause: The load was over 85 % of the alarm trigger level of [AL. 050.3]. Remedy: Refer to [AL. 050.3 Thermal overload error 4 during operation].
AL. 0E1.5 Thermal overload warning 1 during a stop	Cause: The load was over 85 % of the alarm trigger level of [AL. 050.4]. Remedy: Refer to [AL. 050.4 Thermal overload error 1 during a stop].
AL. 0E1.6 Thermal overload warning 2 during a stop	Cause: The load was over 85 % of the alarm trigger level of [AL. 050.5]. Remedy: Refer to [AL. 050.5 Thermal overload error 2 during a stop].
AL. 0E1.7 Thermal overload warning 3 during a stop	Cause: The load was over 85 % of the alarm trigger level of [AL. 051.2]. Remedy: Refer to [AL. 051.2 Thermal overload error 3 during a stop].
AL. 0E1.8 Thermal overload warning 4 during a stop	Cause: The load was over 85 % of the alarm trigger level of [AL. 050.6]. Remedy: Refer to [AL. 050.6 Thermal overload error 4 during a stop].
AL. 0E2.1 Servo motor temperature warning	Cause: The temperature of the servo motor reached 85 % of the occurrence level of [AL. 046.2]. Remedy: Refer to [AL. 046.2 Servo motor temperature error 2].
AL. 0E2.2 Servo motor temperature warning 2	Cause: The temperature inside of the servo motor has reached a warning level. Remedy: Refer to [AL. 046.1 Servo motor temperature error 1].
AL. 0E3.1 Multi-revolution counter travel distance exceeded warning	Cause 1: The travel distance from the home position became 32768 rev or more. Remedy 1: Review the operation range. After the power is cycled, perform homing again. Cause 2: Mitsubishi Motion module configuration error. Remedy 2: Set [Pr. PC29.5] to “0” (disabled).
AL. 0E3.2 Absolute position counter warning	Cause 1: There is a problem with the surrounding environment (noise). Remedy 1: Check the noise/ambient temperature. Refer to “Noise reduction techniques” in manuals. Cycle power and homing. Cause 2: The encoder has malfunctioned. Remedy 2: Replace the servo motor.
AL. 0E3.6 Scale measurement encoder absolute position counter warning	Cause 1: There is a problem with the surrounding environment (noise). Remedy 1: Check the noise/ambient temperature. Refer to “Noise reduction techniques”. Cause 2: The encoder has malfunctioned. Remedy 2: Replace the servo motor or the encoder.
AL. 0E4.1 Parameter setting range error warning	Cause: A parameter was set outside of the setting range with the controller. Remedy: Set the value within the setting range.
AL. 0E5.1 Time-out during ABS data transfer	Cause 1: The wiring of input/output signals is incorrect. Remedy 1: Check for disconnection or loose connection in the I/O signal wire. Cause 2: The sequence program is incorrect. Remedy 2: Modify the sequence program.
AL. 0E6.1 Forced stop warning	Cause 1: EM2/EM1 was turned off. Remedy 1: After ensuring safety, turn EM2/EM1 on. Cause 2: An external 24 V DC power supply has not been input. Remedy 2: Input the external 24 V DC power supply. Cause 3: The servo amplifier has malfunctioned. Remedy 3: Replace the servo amplifier.
AL. 0E7 Controller forced stop warning	Cause: The emergency stop signal of the controller was input (Emergency stop enabled). Remedy: Ensure safety, then cancel the emergency stop signal of the controller.
AL. 0E7.1 Controller forced stop input warning	Cause: The emergency stop signal of the controller was input. Remedy: Ensure safety, then cancel the emergency stop signal of the controller.
AL. 0E8 Decreased cooling fan speed warning	Cause: The cooling fan speed decreased to a warning level or lower. Remedy: Refer to specific sub-codes below.
AL. 0E8.1 Decreased cooling fan speed	Cause: A foreign object was caught in the cooling fan. The cooling fan has reached the end of its service life. Remedy: Remove the foreign object. Check the total power-on time. If service life is exceeded, replace the servo amplifier or fan unit.
AL. 0E9 Main circuit off warning	Cause: Servo-on command input with main circuit power off, or bus voltage dropped during low speed rotation. Remedy: Refer to specific sub-codes below.
AL. 0E9.1 Servo-on signal on during main circuit off	Cause: Bus voltage is less than specified (200V class: 215V DC, 400V class: 430V DC). Servo-on command input with main circuit power off. Wiring between P3 and P4 disconnected. Main circuit power supply wiring disconnected. Fuse disconnected. Power supply capacity insufficient. Main circuit capacitor deteriorated. Servo amplifier malfunction. (MR-J5D_) Servo-on command input with converter power off. (MR-J5D_) Converter unit power wiring disconnected. (MR-J5D_) Magnetic contactor control connector disconnected. (MR-J5D_) Bus bar disconnected. Converter unit malfunction. Remedy: Review wiring. Check power supply capacity. Turn on main circuit power. Wire between P3 and P4. Wire the main circuit power supply. Check charge light after a period of time. Check if specified capacity is satisfied. Replace servo amplifier if capacitor reached end of life. Replace servo amplifier. Turn on power supply of converter unit. Check wiring of converter unit power supply. Check magnetic contactor control connector (CN23). Check bus bar installation. Replace converter unit.
AL. 0E9.2 Bus voltage drop during low speed operation	Cause: The bus voltage dropped under the specified value when the servo motor was rotating at 50 r/min or lower. Remedy: Review the power supply capacity. Increase the acceleration time constant.
AL. 0E9.4 Converter unit forced stop	Cause: Forced stop of the converter unit became enabled during input of the servo-on command. Protection coordination cable is not connected correctly. Remedy: Cancel forced stop of the converter unit. Connect the protection coordination cable correctly.
AL. 0EA ABS servo-on warning	Cause: Servo amplifier did not become servo-on status within 1s after ABSM (ABS transfer mode) was turned on. Remedy: Refer to specific sub-codes below.
AL. 0EA.1 ABS servo-on warning	Cause: Wiring of input/output signals is incorrect. The sequence program is incorrect. Remedy: Check for disconnection or loose connection in I/O signal wire. Modify sequence program so servo-on is enabled within 1s after ABSM is turned on.
AL. 0EB The other axis error warning	Cause: An alarm stopping all axes (e.g., AL 024, AL 032) occurred on a different axis. Remedy: Refer to specific sub-codes below.
AL. 0EB.1 The other axis error warning	Cause: [AL. 024 Main circuit error] occurred on a different axis. [AL. 032 Overcurrent] occurred on a different axis. [Pr. PF02.0 Target alarm selection] is set to “1” (All alarms). Remedy: Eliminate the cause of [AL. 024] on the axis. Eliminate the cause of [AL. 032] on the axis. Remove the cause of the alarm on the different axis.
AL. 0EC Overload warning 2	Cause: Operation was repeated with a high load ratio while the servo motor shaft was not rotating. Remedy: Refer to specific sub-codes below.
AL. 0EC.1 Overload warning 2	Cause: The load is excessive or the capacity is insufficient. Remedy: Reduce the load or replace the servo motor with a larger-capacity servo motor.
AL. 0ED Output watt excess warning	Cause: Output wattage (speed × torque) exceeded rated output steadily. Remedy: Refer to specific sub-codes below.
AL. 0ED.1 Output watt excess warning	Cause: The output wattage of the servo motor (speed × torque or thrust) steadily exceeds 120% of the rated output. Remedy: Reduce the servo motor speed, reduce the load, or replace the servo motor with a larger-capacity servo motor.
AL. 0EF Reverse-side stop warning	Cause: The set reverse-side position was exceeded in the pressure control mode. Remedy: Refer to specific sub-codes below.
AL. 0EF.1 Reverse-side stop warning	Cause: The setting of [Pr. PW12.2 Forward/reverse-side stop function] is incorrect. Remedy: Check if the setting value of [Pr. PW12.2] is “1”.
AL. 0F0 Tough drive warning	Cause: The tough drive function was activated. Remedy: Refer to specific sub-codes below.
AL. 0F0.1 Instantaneous power failure tough drive warning	Cause: The voltage of the control circuit power supply has dropped. Remedy: Refer to [AL. 010.1 Voltage drop in the control circuit power].
AL. 0F0.3 Vibration tough drive warning	Cause: The setting value of the machine resonance suppression filter was changed due to a machine resonance. Remedy: Set the machine resonance suppression filter. Check the machine status for loose screws and other problems.
AL. 0F2 Drive recorder warning	Cause: Writing/reading/clearing of the drive recorder data failed. Remedy: Refer to specific sub-codes below.
AL. 0F2.1 Drive recorder warning 1	Cause: There is an error in the drive recorder data. There is a memory error. The Flash-ROM has malfunctioned. Remedy: Check if clearing alarm history with MR Configurator2 disables the warning. Refer to AL 119.1, 119.7, or 119.8 memory errors. Replace the servo amplifier.
AL. 0F3 Oscillation detection warning	Cause: The oscillation of the servo motor was detected. Remedy: Refer to AL 054.1 (Oscillation detection error) for details.
AL. 0F4 Positioning warning	Cause: Target position or accel/decel time constant set outside range. Remedy: Refer to specific sub-codes below.
AL. 0F4.4 Target position setting range error warning	Cause: The target position was set outside of the setting range. Remedy: Set the target position correctly, then cancel the warning (turn on C_ORST).
AL. 0F4.6 Acceleration time constant setting range error	Cause: The acceleration time constant was set outside of the setting range. Remedy: Set [Pr. PT49] correctly, then cancel warning (turn on C_ORST).
AL. 0F4.7 Deceleration time constant setting range error	Cause: The deceleration time constant was set outside of the setting range. Remedy: Set [Pr. PT50] correctly, then cancel warning (turn on C_ORST).
AL. 0F4.8 Control command input error warning	Cause: The relative position command was input while the unit was set to “degree”. Remedy: If Controlword bit 6 is on while [Pr. PT01.2] is “2”, turn off Controlword bit 6, then cancel warning.
AL. 0F4.A Fully closed loop control – Switching warning	Cause: Switching between semi closed loop and fully closed loop was executed during homing mode (hm) or profile position mode (pp). Remedy: Stop operation in homing/profile mode. Cancel warning by turning on C_ORST.
AL. 0F7 Machine diagnosis warning	Cause: The equipment on which the servo motor is installed may have malfunctioned. Remedy: Refer to specific sub-codes below.
AL. 0F7.1 Vibration failure prediction warning	Cause: Due to degradation of components, vibration became larger. The servo system is unstable and oscillating. Remedy: Adjust vibration threshold multiplication [Pr. PF40.1/PF52.1]. Inspect equipment. Adjust servo gain (auto tuning) or machine resonance suppression filter.
AL. 0F7.2 Friction failure prediction warning	Cause: Due to degradation of components, friction changed. Surrounding environment changed. Remedy: Adjust friction threshold multiplication [Pr. PF40.0/PF52.0]. Inspect equipment. If environment changed, reset the threshold and re-create it.
AL. 0F7.3 Failure prediction warning based on servo motor total travel distance	Cause: The servo motor total travel distance has exceeded the threshold. Remedy: Check if threshold is correct. Inspect and maintain equipment.
AL. 0F7.4 Gear failure prediction warning	Cause: Gear abrasion made the backlash larger. Backlash estimation value was set incorrectly. Remedy: Compare backlash estimation with manufacturer spec. Inspect equipment. Set [Pr. PF66] and [Pr. PF67] correctly based on gear ratio.
AL. 0F7.5 Static friction failure prediction warning	Cause: Surrounding environment changed. Equipment configuration changed. Degradation of components. Remedy: Reset threshold and re-create. Reset threshold and re-create. Set larger value for static friction threshold [Pr. PF40.4/PF52.4]. Inspect equipment.
AL. 0F7.6 Belt failure prediction warning	Cause: Belt extension made tension smaller. Belt tension threshold setting is incorrect. Remedy: Perform inspection and maintenance. Set [Pr. PF76] taking initial belt stretch into account.
AL. 0FE Two-digit warning No. display warning	Cause: A three-digit warning is occurring (100-series, 200-series, etc.), but the display only shows two digits. Remedy: Check the full warning number using MR Configurator2 or the amp display object to identify the specific AL code.
AL. 0FE.1 to AL. 0FE.F Two-digit warning for AL. 100~900, A00~F00	Cause: A warning with a warning No. in the specific range (100s, 200s… up to F00s) is occurring. Remedy: Check the warning number using an object that can read three-digit numbers, the servo display, or MR Configurator2, and take corrective action for that specific alarm.
AL. 118 Encoder diagnosis	Cause: The servo amplifier is in the test operation mode. Remedy: Refer to specific sub-codes below.
AL. 118.1 Encoder communication circuit diagnosis in progress	Cause: The servo amplifier is in the encoder communication circuit diagnosis mode. Remedy: Cancel the encoder communication circuit diagnosis mode.
AL. 119 Memory error 4	Cause: There is a memory error. Remedy: Refer to specific sub-codes below.
AL. 119.1 Memory error 4-1	Cause: There is a problem with the surrounding environment (noise/shorts). An internal part of the servo amplifier has malfunctioned. Remedy: Check power supply for noise. Check if connector has shorted. Replace the servo amplifier.
AL. 119.3 Memory error 4-3	Cause: The firmware has been updated. (See AL 119.1 causes). Remedy: Update to latest firmware, check repeatability. (See AL 119.1 remedies).
AL. 119.5 Memory error 4-5	Cause: The firmware has been updated. (See AL 119.1 causes). Remedy: Cycle the power, then check repeatability. (See AL 119.1 remedies).
AL. 119.7 Memory free space error 4-1	Cause: The free memory space is insufficient. Remedy: Delete unnecessary files. If failed, backup data and initialize servo amplifier.
AL. 119.8 Memory free space error 4-2	Cause: Too many files are saved in the memory. Remedy: Delete files to reduce the number of files. If failed, backup data and initialize servo amplifier.
AL. 11A.1 Servo motor constant file error	Cause: 1. Writing of the servo motor constant file failed. The file may be damaged due to noise during writing. Remedy: After writing the servo motor constant again, cycle the power. For details, contact your local sales office. Cause: 2. There is a problem with the surrounding environment (noise/temperature). Remedy: Check noise and ambient temperature. Implement countermeasures (Refer to “Noise reduction techniques” in User’s Manual). Cause: 3. The Flash-ROM has malfunctioned. Remedy: Replace the servo amplifier.
AL. 11A.2 Servo motor constant file extension error	Cause: 1. A file with an extension other than “.mmd2” was written. Remedy: Delete the written file, then write another file with the extension “.mmd2”. Cause: 2. There is a problem with the surrounding environment. Remedy: Check noise and ambient temperature; implement countermeasures.
AL. 11A.3 Servo motor constant file amount error	Cause: 1. Two or more servo motor constant files were written in the folder. Remedy: Delete the written files, then write only one servo motor constant file. Cause: 2. Problem with surrounding environment. Remedy: Check noise/temperature and take countermeasures. Cause: 3. The Flash-ROM has malfunctioned. Remedy: Replace the servo amplifier.
AL. 11B.1 Protection coordination end terminal setting error	Cause: 1. The setting of the protection coordination end terminal is incorrect. Remedy: Check system configuration and setting of [Pr. PC46.3]. Cause: 2. The protection coordination cable is not connected correctly. Remedy: Connect the protection coordination cable correctly (Refer to User’s Manual). Cause: 3. The protection coordination cable was disconnected. Remedy: Replace the protection coordination cable, then check repeatability.
AL. 130.1 Regenerative heat error	Cause: 1. The settings of the regenerative resistor are incorrect. Remedy: Refer to “Regenerative option” in the User’s Manual. Cause: 2. The regenerative resistor is not connected. Remedy: Connect the regenerative resistor/option. Cause: 3. Regenerative resistor and servo amplifier are connected in a wrong combination. Remedy: Check the combination of the resistor and amplifier. Cause: 4. The power supply voltage is too high. Remedy: Check if voltage exceeds upper limit (264V AC for 200V class; 528V AC for 400V class). Lower voltage if necessary. Cause: 5. The regenerative power is too large. Remedy: Reduce frequency of positioning. Set longer deceleration time. Reduce load. Use a regenerative option if not used.
AL. 139.1 Input open-phase error	Cause: 1. An open phase occurred in the main circuit power line. Remedy: Check main circuit power line connection. Ensure 1-phase AC is not input to an amplifier that requires 3-phase. Replace main circuit power line if open. Cause: 2. The main circuit power supply is distorted. Remedy: Review the power-supply environment. Cause: 3. Input open-phase detection is enabled (For MR-J5D_). Remedy: Set [Pr. PC20.4] to “0” and cycle power.
AL. 139.2 Output open-phase error	Cause: 1. An open phase occurred in the servo motor power line. Remedy: Check connections between amplifier and motor. Replace servo motor power line if open. Cause: 2. The winding inside the servo motor is disconnected. Remedy: Replace the servo motor, then check repeatability.
AL. 139.3 Servo motor wiring error	Cause: 1. The connected servo motor is not the correct one (power line vs encoder cable mismatch). Remedy: Check the servo motor to which the power line and encoder cable are connected. Replace servo motor power line if open. Cause: 2. The winding inside the servo motor is disconnected. Remedy: Replace the servo motor, then check repeatability.
AL. 139.4 Limit detection error at servo motor incorrect wiring detection	Cause: 1. The limit switches are turned off when the motor incorrect wiring is detected. Remedy: Check the limit switches and remove the cause.
AL. 13D.1 Driver communication – Cyclic transmission setting unset error	Cause: 1. The connected controller does not support driver communication. Remedy: Connect a controller that supports driver communication. Cause: 2. The network settings have not been configured correctly. Remedy: Set [Pr. PD22] and [Pr. PD23.1] correctly. Refer to “Network settings” in User’s Manual. Cause: 3. The parameter automatic setting has been disabled. Remedy: Enable the parameter automatic setting on the controller side.
AL. 13D.2 Driver communication – Cyclic transmission setting error	Cause: 1. The network settings have not been configured correctly. Remedy: Set [Pr. PD22] and [Pr. PD23.1] correctly. Refer to “Network settings” in User’s Manual.
AL. 13D.3 Driver communication – Control slave axis setting unset error	Cause: 1. The servo amplifier has not been set as a control slave axis. Remedy: Set [Pr. PD23.1] correctly (Control slave axis No. setting).
AL. 168.1 STO function error	Cause: 1. A servo amplifier incompatible with STO function does not have a short-circuit connector on CN8. Remedy: Install the short-circuit connector attached to the servo amplifier in the CN8.
AL. 16A.1 / AL. 16A.2 Master-slave operation simultaneous stop error 1 & 2	Cause: An error in the master-slave operation simultaneous stop function was detected. Remedy: Refer to [AL. 086.1 Network communication error 1] in the User’s Manual (Page 104).
AL. 17A.1 to AL. 17A.8 Load-side linear encoder error (1-1 to 1-8)	Cause: 1. The linear encoder and the head have been incorrectly mounted. Remedy: Adjust the positions of the linear encoder and the head. Cause: 2. The external conductor of the encoder cable is not connected to ground. Remedy: Refer to “Shield procedure” in Partner’s Encoder User’s Manual. Cause: 3. Problem with surrounding environment (noise/temp). Remedy: Check noise/temp and implement countermeasures. Cause: 4. A linear encoder alarm was detected. Remedy: Refer to “DETAILED EXPLANATION OF [AL. 02A LINEAR ENCODER ERROR 1]” in Partner’s Encoder User’s Manual.
AL. 182.1 / AL. 182.2 Driver communication error 1 & 2	Cause: A driver communication error was detected. Remedy: Refer to [AL. 086.1 Network communication error 1] in the User’s Manual.
AL. 188.1 Watchdog 2-1	Cause: 1. An internal part of the servo amplifier has malfunctioned. Remedy: Replace the servo amplifier.
AL. 19D.1 IP address change unreflected warning	Cause: 1. The IP address setting was configured after communication with master station was established. Remedy: Cycle the power of the servo amplifier or reset software to apply changes.
AL. 19D.2 IP address change failed warning 1	Cause: 1. [Pr. NPA01] is set to “0” (rotary switch used) but the rotary switch is set to non-zero. Remedy: Set [Pr. NPA01] to “1” OR configure IP address after setting rotary switch to “0”.
AL. 19E (1-6) Network warning 2	Cause: 1. Error detected in parameter automatic backup setting. Remedy: Check if master station supports power interruption protection. If not, set [Pr. PN20] to “0”. Cause: 2. Unsupported control mode used. Remedy: Check if control mode corresponds to communication cycle. Cause: 3. Safety communication enabled on controller but disabled on amp. Remedy: Match the safety communication settings on controller and amplifier. Cause: 4. Connected controller not compatible. Remedy: Check compatibility. Cause: 5. Attempt to switch to unsupported control mode. Remedy: Check if both modes are switchable (Refer to “Drive profile” in Manual). Cause: 6. Setting of [Pr. PW13.4] is incorrect or timeout. Remedy: Review setting of [Pr. PW13.4]. Set [Pr. PW38] (timeout) to twice the time in controller.
AL. 1BD (1-4) Driver communication warning	Cause: 1. Unsupported driver communication cycle set. Remedy: Review settings on controller side. Cause: 2. Value larger than maximum size set to cyclic points number. Remedy: Cycle power; set objects of PDO Mapping Objects to initial values. Cause: 3. Command data transmission disabled. Remedy: Refer to AL. 1BD.2 remedy.
AL. 1E9.1 Input open-phase warning	Cause: 1. An open phase occurred in the main circuit power line. Remedy: Refer to [AL. 139.1 Input open-phase error]. Cause: 2. Input open-phase detection is enabled. Remedy: Set [Pr. PC20.4] to “0” and cycle power.
AL. 1EA.1 / AL. 1EA.2 Master-slave operation stop warning	Cause: 1. The servo motor of the master/slave axis stopped. Remedy: Remove the cause of the stop.
AL. 1F6 (1-6) Manufacturer setting error	Cause: 1. Values of the servo parameters for manufacturer setting have been changed. Remedy: Set the servo parameters for manufacturer setting to the initial values.
AL. 1F8.1 / AL. 1F8.2 Memory warning 1	Cause: 1. Writing frequency exceeded guaranteed number. Remedy: Prepare to replace amplifier (backup data). Warning can be disabled by [Pr. PF02.4]. Cause: 2. Available free space in memory is insufficient. Remedy: Delete unnecessary files. Initialize servo amplifier if needed. Warning can be disabled by [Pr. PF02.5].
AL. 201 – 28F Manufacturer setting error	Cause: 1. Values of the servo parameters for manufacturer setting have been changed. Remedy: Set the servo parameters for manufacturer setting to the initial values.
AL. 290 – 2FF Manufacturer setting warning	Cause: 1. Values of the servo parameters for manufacturer setting have been changed. Remedy: Set the servo parameters for manufacturer setting to the initial values.
AL. 510 (Sub-codes A1-B6) Power supply voltage diagnosis error (safety sub-function)	Cause: 1. The power supply connection is incorrect. Remedy: Check the wiring. Refer to “SIGNALS AND WIRING” in User’s Manual. Cause: 2. The servo amplifier has malfunctioned. Remedy: Replace the servo amplifier. Cause: 3. There is a problem with the surrounding environment. Remedy: Check power supply for noise. Implement countermeasures.
AL. 512 (Includes: 512.2, 512.3, 512.A, 512.B) Memory error 1 (RAM) (safety sub-function) The internal part of the servo amplifier (RAM) has malfunctioned.	Cause: An internal part of the servo amplifier has malfunctioned. Remedy: Noise from the power supply may have caused the failure. Disconnect all cables except for those for the control circuit power supply, then check the repeatability. If the failure continues, replace the servo amplifier. Cause: There is a problem with the surrounding environment. Remedy: Check the power supply for noise. If there is noise, take countermeasures to reduce the noise (Refer to “Noise reduction techniques” in the Hardware Manual).
AL. 514 (Includes: 514.9, 514.A) Control process error (safety sub-function) The process did not complete within the specified time.	Cause: The servo parameter settings are incorrect. Remedy: Return the servo parameter to the value it had before the alarm occurrence, then check if the problem occurs again. Cause: An internal part of the servo amplifier has malfunctioned. Remedy: Replace the servo amplifier. Cause: There is a problem with the surrounding environment. Remedy: Check the power supply for noise. If there is noise, take countermeasures to reduce the noise.
AL. 515 (Includes: 515.9, 515.A) Memory error 2 (ROM) (safety sub-function) The internal part of the servo amplifier (ROM) has malfunctioned.	Cause: There is a problem with operation of ROM at power-on. Remedy: Noise from the power supply may have caused the failure. Disconnect all cables except for those for the control circuit power supply, then check repeatability. If failure continues, replace the servo amplifier. Cause: There is a problem with the surrounding environment. Remedy: Check power supply for noise. Take countermeasures to reduce noise. Cause: The frequency of writing exceeded 100,000. Remedy: Check if excessively frequent changes have been made to parameters, then replace the servo amplifier. After replacement, adjust processing to reduce frequency of parameter changes. Cause: Problem with ROM during normal operation. Remedy: Check if this alarm occurs when changing a parameter during normal operation. If so, replace the controller.
AL. 516 (Includes: 516.1 to 516.5, 516.9, 516.A to 516.D) Encoder initial communication error 1 (safety sub-function) There is a communication error between the encoder and servo amplifier.	Cause: There is a problem with the encoder cable. Remedy: Check if the encoder cable has been disconnected or has shorted. If there is a problem with the cable, repair or replace the cable. Cause: The encoder has malfunctioned. Remedy: Replace the servo motor. Cause: The servo amplifier has malfunctioned. Remedy: Replace the servo amplifier. Cause: There is a problem with the surrounding environment. Remedy: Check the power supply for noise. If there is noise, take countermeasures to reduce the noise.
AL. 517 (Includes: 517.2, 517.9) Board error (safety sub-function) There is a problem with an internal part of the servo amplifier.	Cause: An internal part of the servo amplifier has malfunctioned. Remedy: Replace the servo amplifier. Cause: There is a problem with the surrounding environment. Remedy: Check the noise, ambient temperature, and other conditions, and implement appropriate countermeasures.
AL. 518 (Includes: 518.2, 518.A) Synchronous control error (safety sub-function) There is a problem with an internal part of the servo amplifier.	Cause: An internal part of the servo amplifier has malfunctioned. Remedy: Replace the servo amplifier. Cause: There is a problem with the surrounding environment. Remedy: Check the power supply for noise. If there is noise, take countermeasures to reduce the noise.
AL. 519 (Includes: 519.2, 519.A) Memory error 3 (Flash-ROM) (safety sub-function) There is a problem with an internal part of the servo amplifier.	Cause: The Flash-ROM has malfunctioned. Remedy: Noise from power supply may have caused failure. Disconnect cables (except control power), check repeatability. If failure continues, replace servo amplifier. Cause: There is a problem with the surrounding environment. Remedy: Check the power supply for noise. If there is noise, take countermeasures to reduce the noise.
AL. 520 (Includes: 520.1 to 520.4, 520.9, 520.A to 520.C) Encoder normal communication diagnosis error 1 There is a communication error between the encoder and servo amplifier.	Cause: (Same as AL. 516) Remedy: Refer to remedies for AL. 516 (Check cables, replace motor, replace amplifier, check noise).
AL. 521 (Includes: 521.1 to 521.3, 521.9, 521.A, 521.B) Encoder normal communication diagnosis error 2 The encoder detected an error signal.	Cause: The voltage of the control circuit power supply has become unstable. Remedy: Check the voltage of the control circuit power supply. If instantaneous power failure is occurring, review the power supply environment. Cause: General communication error. Remedy: Refer to remedies for AL. 516 (Check cables, replace motor, replace amplifier, check noise).
AL. 522 to AL. 528 Encoder normal communication diagnosis error 3 through 9 The encoder detected an error signal.	Cause: Communication error or Encoder malfunction. Remedy: Refer to remedies for AL. 516: 1. Check encoder cable for disconnection/shorts. 2. Replace servo motor. 3. Replace servo amplifier. 4. Check environment for noise. Specific Note for AL. 523: Cause: The encoder has malfunctioned. Remedy: Replace the servo motor.
AL. 529 (Includes: 529.1, 529.9) Encoder data error (safety sub-function) There is an error in the data of the encoder.	Cause: Data error. Remedy: Refer to remedies for AL. 522 (Communication/Hardware checks).
AL. 52A (Includes: 52A.1, 52A.9) Position feedback error (safety sub-function) There is an error in the data of the encoder.	Cause: The position feedback data does not change within the time set in [Pr. PSA22 Position feedback error detection time]. Remedy: Review the setting of [Pr. PSA22]. Alternatively, operate the system within the time set in [Pr. PSA22]. Cause: The servo motor has malfunctioned. Remedy: If the position feedback does not change even when the servo motor is driven, replace the servo motor. Cause: The servo amplifier has malfunctioned. Remedy: Replace the servo amplifier.
AL. 52B (Includes: 52B.1, 52B.9) Encoder thermal error (safety sub-function) There is a problem with the internal temperature of the encoder.	Cause: The ambient temperature of the servo motor has exceeded the specified value. Remedy: Check the ambient temperature, and if it exceeds the specified value, lower the ambient temperature. Cause: The ambient temperature of the servo motor has fallen below the specified value. Remedy: Check the ambient temperature, and if it has fallen below the specified value, raise the ambient temperature. Cause: The servo motor is overloaded. Remedy: Reduce the load or review the operation pattern. Cause: The thermal sensor in the encoder has malfunctioned. Remedy: Replace the servo motor. Cause: The servo amplifier has malfunctioned. Remedy: Replace the servo amplifier.
AL. 537 (Includes: 537.1, 537.2, 537.3, 537.9, 537.A) Parameter setting range error (safety sub-function) There is an error in a functional safety parameter.	Cause: A functional safety parameter was set outside of the setting range. Remedy: Check the parameter error No. on the alarm display screen of MR Configurator2 or with another method, then review the setting value of the functional safety parameter. Cause: A servo parameter or a functional safety parameter has been set incorrectly. Remedy: Check parameter error No. in MR Configurator2. Review setting values. Refer to “Parameter combinations that trigger AL. 537.2” in the Manual. Cause: A functional safety parameter failed to be set properly. Remedy: Check the parameter error No. on the alarm display screen of MR Configurator2, then review the setting value.
AL. 53A AL. 53A.2 AL. 53A.A Parameter verification error (safety sub-function)	Cause: 1. There is a problem with the functional safety parameter settings. 2. The servo amplifier has malfunctioned. Remedy: Confirm which parameter has an error by using MR Configurator2, then set the parameter correctly. Replace the servo amplifier.
AL. 540, AL. 541, AL. 542 AL. 543, AL. 545, AL. 546 AL. 547, AL. 549, AL. 54A AL. 54D, AL. 54F, AL. 550 AL. 551, AL. 552, AL. 554 (Includes sub-codes .1, .2, .3, .4, .9, .A, .B, .C) Internal diagnosis error / Safety software error / Input device internal diagnosis error	Cause: 1. The servo amplifier has malfunctioned. 2. There is a problem with the surrounding environment (noise). Remedy: Replace the servo amplifier. Check the power supply for noise. If there is noise, take countermeasures to reduce the noise (Refer to “Noise reduction techniques” in MR-J5/MR-J5D User’s Manual).
AL. 544 (Includes sub-codes .1, .2, .9, .A) Temperature diagnosis error (safety sub-function)	Cause: 1. The ambient temperature exceeded the specified value (60 °C). 2. The ambient temperature is 0 °C or lower. 3. The servo amplifier does not meet the specifications of close mounting. 4. A cooling fan, heat sink, or opening is clogged. 5. The servo amplifier has malfunctioned. Remedy: Check the ambient temperature; if it exceeds the specified value, lower the ambient temperature. Check the ambient temperature; if it is lower than 0 °C, raise the ambient temperature. Check the specifications of close mounting (Refer to “Mounting direction and clearances” in Manual). Clean the cooling fan, heat sink, or openings. Replace the servo amplifier.
AL. 553 (Includes sub-codes .1, .2, .3, .9, .A, .B) Input device diagnosis error (safety sub-function)	Cause: 1. A signal of an input device has not been input correctly. 2. The functional safety parameter in the input device setting has been set incorrectly. 3. The test pulse time has been set incorrectly. 4. The servo amplifier has malfunctioned. 5. There is a problem with the surrounding environment. Remedy: Check if the input device cable is wired correctly. Check if the functional safety parameter has been set correctly. Review the setting value of [Pr. PSD26 Input device – Test pulse off time]. Replace the servo amplifier. Check noise/ambient temperature. Take countermeasures to reduce noise (Refer to “Noise reduction techniques” in Manual).
AL. 555 (Includes sub-codes .1, .2, .3, .9, .A, .B) Output device diagnosis error 1 (safety sub-function)	Cause: 1. A signal of an output device has been output incorrectly, or the load of the output device has exceeded the specified range. 2. The output device current is too large. 3. The servo amplifier has malfunctioned. 4. There is a problem with the surrounding environment. Remedy: Check if the output device cable is wired correctly, or check if the load is within specifications. Check if the current value is within the specified value. Lower the output current if exceeded. Replace the servo amplifier. Check noise/ambient temperature and take countermeasures.
AL. 556 (Includes sub-codes .1, .2, .3, .9, .A, .B) Output device diagnosis error 2 (safety sub-function)	Cause: 1. [Pr. PSD30 Output device – Test pulse off time] is set incorrectly. 2. Other causes related to wiring or environment (same as AL. 555). Remedy: Review the setting value of [Pr. PSD30]. Refer to actions for AL. 555 (Check wiring, load, noise).
AL. 557.1 SDI1 input mismatch error A (safety sub-function)	Cause: 1. The input signals of the SDI1A and SDI1B remained mismatched for longer than the specified time (Pr. PSD18). 2. The servo amplifier has malfunctioned. 3. There is a problem with the surrounding environment (noise). Remedy: Review the wiring of SDI1A and SDI1B. Refer to “USING STO FUNCTION” in the manual. Set [Pr. PSD18] to a value longer than the mismatched time of SDI1. Replace the servo amplifier. Check ambient temperature and noise conditions. Implement noise reduction techniques.
AL. 557.2 SDI2 input mismatch error A (safety sub-function)	Cause: 1. The input signals of SDI2A and SDI2B remained mismatched for longer than the specified time (Pr. PSD19). Remedy: Review wiring of SDI2A and SDI2B. Set [Pr. PSD19] to a value longer than the mismatched time of SDI2. Replace the servo amplifier.
AL. 560.1 SOS feedback speed exceeded A	Cause: 1. Absolute value of servo motor speed exceeds setting of [Pr. PSA04] for longer than [Pr. PSA15] during SOS function. 2. The encoder has malfunctioned. 3. The servo amplifier has malfunctioned. 4. Problem with surrounding environment (noise). Remedy: Review operation pattern. If motor overshoots, adjust gains or set larger value in [Pr. PSA15]. Replace the servo motor. Replace the servo amplifier. Check noise countermeasures.
AL. 560.2 SOS command speed exceeded A	Cause: The absolute value of the speed command exceeds setting of [Pr. PSA04] for longer than [Pr. PSA15] during SOS function. Remedy: Review parameter or operation pattern. Set [Pr. PSA03 SS1/SS2 deceleration monitor time] to a longer time than deceleration time. Check if speed command was input after SOS was activated.
AL. 560.3 SOS feedback position exceeded A	Cause: The feedback position changed by a value equal to or more than [Pr. PSA05] and remained out of permissible range for time set in [Pr. PSA17]. Remedy: If motor overshoots, adjust gains or set larger value in [Pr. PSA17]. Review operation pattern.
AL. 561.1 SLS1 feedback speed exceeded A	Cause: 1. Servo motor speed exceeds setting of [Pr. PSA11 SLS speed 1] for longer than [Pr. PSA15]. 2. Electronic gear settings incorrect. 3. Servo system unstable/oscillating. 4. Velocity waveform overshot. 5. Incorrect encoder cable connection. Remedy: Set speed command lower than [Pr. PSA11] or increase [Pr. PSA07]. Check electronic gear settings. Adjust servo gain or reduce load. Increase acceleration/deceleration time constants. Check connection destination of the encoder. Replace servo motor.
AL. 561.2 SLS1 command speed exceeded A	Cause: Speed command exceeds setting of [Pr. PSA11 SLS speed 1] for longer than [Pr. PSA15]. Remedy: Set speed command lower than [Pr. PSA11]. Set [Pr. PSA15] to a longer value. If in torque control, set speed limit lower than [Pr. PSA11].
AL. 562.1 SLS3 feedback speed exceeded A	Cause: Servo motor speed exceeds setting of [Pr. PSA13 SLS speed 3] for longer than [Pr. PSA15]. Remedy: Set speed command lower than [Pr. PSA13] or increase [Pr. PSA07]. Review operation pattern.
AL. 563.1 SS1 feedback speed exceeded A	Cause: 1. Servo motor exceeded observation speed [Pr. PSA24] when SS1 command was turned off. 2. Encoder connection incorrect. 3. Problem with servo motor or power cable. Remedy: Set larger value in [Pr. PSA26] or adjust servo gains. Check encoder connection. Replace servo motor or power cable. Check noise/environment.
AL. 563.2 SS1 command speed exceeded A	Cause: Speed command input exceeded observation speed [Pr. PSA24] when SS1 command was turned off. Remedy: Review operation pattern. Adjust settings so time set in [Pr. PC24] becomes shorter than [Pr. PSA24].
AL. 564.1 SLI feedback position exceeded A	Cause: Feedback position moved by distance exceeding permissible travel distance [Pr. PSB02] or [Pr. PSB06] after SLI function operation. Remedy: Review parameter or operation pattern. Check if SLI command was input before the motor stopped.
AL. 565.1 SDIP feedback speed exceeded A	Cause: 1. Servo motor moved in address increasing direction while SDI function was operating. 2. Velocity waveform overshot. 3. Incorrect servo motor connection (U/V/W). Remedy: Check if command in address increasing direction was input. Increase acceleration/deceleration time constant to prevent overshoot. Check U/V/W wiring.
AL. 568.1 SLT1 feedback torque exceeded error A	Cause: Torque feedback exceeded torque set in [Pr. PSB10] and [Pr. PSB14] after SLT function operation. Remedy: Check if threshold for torque monitor is too small. Check if servo motor collides with machine. Review operation pattern.
AL. 580.3 Safety verification code mismatch A	Cause: The safety verification code of the controller does not match the setting of [Pr. PSC06]. Remedy: Check if IP address in safety communication settings matches servo amplifier. Set correct values in [Pr. PSC06] avoiding duplication, then match in controller settings.
AL. 581.1 Safety communication error 1 – Receive data error A1	Cause: 1. Safety communication settings of master station are incorrect. 2. Problem on safety master station side. Remedy: Review safety communication settings. Refer to “Safety sub-function control by network”. Check if alarm occurred on safety master station.
AL. 584 FSoE communication setting error (safety sub-function)	Cause: 1. FSoE Address set in FSoE Master does not match the setting in [Pr. PSC07]. 2. The setting value of FSoE Watchdog Timer notified by FSoE Master is not supported. 3. The parameter length notified by FSoE Master is incorrect. 4. The SRA parameter notified by FSoE Master is incorrect. Remedy: Review the FSoE Address setting in FSoE Master or [Pr. PSC07]. Review the setting value of FSoE Watchdog Timer set in FSoE Master. Review the project setting in FSoE Master. If the SRA parameter is set, do not set it because it is not supported.
AL. 585 FSoE communication error 1 (safety sub-function) (Includes sub-codes 585.1 to 585.9, A to F)	Cause: There is a problem with data reception in the safety communication (During initial communication). Specific causes include: Safety communication settings of FSoE Master are incorrect. Problem with FSoE Master (alarm occurred). Network cable disconnected or wiring incorrect. Devices on network (hubs/repeaters) are turned off. Network disconnected by incorrect procedure. Data transmission interrupted by noise or environment. Servo amplifier or Controller hardware malfunction. Remedy: Review safety communication settings (refer to manual). Check FSoE Master for alarms and troubleshoot. Turn off control circuit power, then reconnect network cable correctly. Check that all network devices (hubs) are turned on. Check noise, ambient temperature, and implement countermeasures. Replace the servo amplifier, controller, or network devices if malfunctioned.
AL. 586 FSoE communication error 2 (safety sub-function) (Includes sub-codes 586.1 to 586.D)	Cause: There is a problem with data reception in the safety communication (During runtime communication). The update time of safety communication exceeded the time set in FSoE Watchdog Time. Network cable issues, noise, or hardware malfunction (same as AL. 585). Remedy: Review the setting value of FSoE Watchdog Time in FSoE Master. Review the communication cycle setting. Check network cables, connections, and noise environment. Replace hardware if necessary.
AL. 587 FSoE communication error 3 (safety sub-function)	Cause: There is a problem with the safety communication. Causes are identical to AL. 585 (Settings, Cable, Noise, Hardware). Remedy: Review safety communication settings. Check network cabling and power to network devices. Implement noise reduction techniques. Replace servo amplifier or controller if malfunctioned.
AL. 595 STO command off warning (safety sub-function)	Cause: The STO command of the functional safety has been turned off (enabled). Remedy: Turn on (disable) the STO command of the functional safety.
AL. 596 SS1 time-out warning (safety sub-function)	Cause: 1. The time set in [Pr. PSA03 SS1/SS2 deceleration monitor time] has passed after the SS1 command was turned off. 2. Speed did not fall below the stop speed [Pr. PSA04] within the delay time [Pr. PSA15]. Remedy: Turn on (disable) the SS1 command. Review deceleration monitor time and speed detection delay time settings.
AL. 59D Internal diagnosis error (safety sub-function)	Cause: 1. The servo amplifier has malfunctioned. 2. There is a problem with the surrounding environment (noise/temperature). Remedy: Replace the servo amplifier. Check noise, ambient temperature, and implement countermeasures.
AL. 5E0 Safety input device fixing diagnosis incomplete warning	Cause: 1. A fixing diagnosis at startup has not been executed. 2. Fixing diagnosis set incorrectly in parameters. 3. Incorrect wiring. 4. Servo amplifier malfunction. 5. Environmental noise. Remedy: Check if a fixing diagnosis at startup has been executed. Check [Pr. PSD27 Input device – Fixing diagnosis] setting. Check if the wiring is correct. Replace the servo amplifier. Implement noise reduction techniques.
AL. 5E1 Test mode setting mismatch warning (safety sub-function)	Cause: The test operation mode has been set incorrectly. Remedy: Check if the servo amplifier and [Pr. PSA01.1 Input mode selection] are both set for test mode. If they do not match, review the settings.
AL. 5E2 Safety communication warning (safety sub-function)	Cause: 1. Connection with the controller has not been established. 2. The safety communication settings are incorrect. 3. The IP address was changed after connecting to the controller. Remedy: Check if the display shows “A” (unconnected). Review “Safety sub-function control by network” settings in the manual. If the IP address was changed, cycle the power.
AL. 5E6 SS1 command off warning (safety sub-function)	Cause: 1. The SS1 command has been turned off (enabled). 2. An external 24 V DC power supply has not been input to CN8. 3. The servo amplifier has malfunctioned. Remedy: Turn on (disable) the SS1 command. Input the 24 V DC power supply. Replace the servo amplifier.