MITSUBISHI Mitsubishi Industrial Robot CR1/CR2/CR3/CR4/CR7/CR8/CR9 Controller INSTRUCTION MANUAL Troubleshooting BFP-A5993-K
Safety Precautions Always read the following precautions and the separate "Safety Manual" before starting use of the robot to learn the required measures to be taken. CAUTION CAUTION WARNING CAUTION WARNING CAUTION CAUTION CAUTION All teaching work must be carried out by an operator who has received special training. (This also applies to maintenance work with the power source turned ON.
The points of the precautions given in the separate "Safety Manual" are given below. Refer to the actual "Safety Manual" for details. CAUTION Use the robot within the environment given in the specifications. Failure to do so could lead to a drop or reliability or faults. (Temperature, humidity, atmosphere, noise environment, etc.) CAUTION Transport the robot with the designated transportation posture.
C.Precautions for the basic configuration are shown below.(When CR1-571/CR1B-571 is used for the controller.) CAUTION Provide an earth leakage breaker that packed together on the primary power supply of the controller as protection against electric leakage. Confirm the setting connector of the input power supply voltage of the controller, if the type which more than one power supply voltage can be used. Then connect the power supply. Failure to do so could lead to electric shock accidents.
Revision history Date of print Specifications No. Details of revisions 1999-06-16 BFP-A5993Z-* First print 1999-07-28 BFP-A5993Z-a Change title. 1999-09-24 BFP-A5993Z-b Error in writing correction. 1999-11-10 BFP-A5993 Error in writing correction. 1999-12-03 BFP-A5993-A Error in writing correction. The error no. L1820 was added. 1999-12-17 BFP-A5993-B Error in writing correction of L1820. 2000-08-17 BFP-A5993-C Change title. Error in writing correction.
■ Introduction Thank you for purchasing the Mitsubishi industrial robot. This instruction manual describes the causes and measures for errors that may occur while using the robot. If an error should occur, refer to this manual and take appropriate measures. ・ No part of this manual may be reproduced by any means or in any form, without prior consent from Mitsubishi. ・ The contents of this manual are subject to change without notice. ・ An effort has been made to make full descriptions in this manual.
Contents Page 1 Error list ............................................................................................................................................................................................... 1-1 2Appendix ............................................................................................................................................................................. Appendix-33 Appendix 1: Place where fuse replacement is required ........................................
Page ii
1Error list 1 Error list When an error occurs, a 5-digit error No. (example: "C0010") will appear at the STATUS NUMBER display on the operation panel at the front of the controller, and the [RESET] switch lamp will light. If any key, such as the T/B [MENU] key is pressed, a 4-digit error No. (number excluding first character, for example "0010" will appear for C0010) will appear on the T/B LCD display. The message, cause and measures to be taken are displayed in Table 1-1 for the error Nos.
1Error list Error No. H0015 * L0016 * C0018 H0020 * H0021 * H0022 * C0023 H0025 * H0026 * H0027 * L0030 L0031 H0039 H0040 H0041 * H0042 * Error cause and measures Error message Illeagal Version (file) Cause Illeagal Version (file) Measures Contact the maker. Error message Turn the power OFF and ON once Cause The time from turning the power OFF to turning the power ON again is too short. Measures Give more time before turning the power ON again after turning the power OFF.
1Error list Error No. H0043 * H0050 H0051 H0052 H0053 H0060 H0061 H0070 H0071 H0072 H0073 H0074 H0075 H0082 * H0083 * Error cause and measures Error message Comm. error (Remote I/O #3) Cause An error was found in the communication line for remote I/O channel 3. Measures Confirm the communication cable or connected device's power supply. Error message EMG signal is input. (external) Cause The external emergency stop is being input.
1Error list Error No. H0084 * H0085 * H0086 L0091 H0100 * L0101 C0102 L0110 C0111 C0112 C0460 H0470 * L0480 C049n * (n indicates the axis number (1 to 8).) H050n * (n indicates the axis number (1 to 8).) H0510 * Error cause and measures Error message Fuse is broken(O/P) Cause The operation panel's power fuse has broken. Measures Exchange the fuse. Refer to the Page 33, "Appendix 1: Place where fuse replacement is required"for details.
1Error list Error No. H0520 * H053n * (n indicates the axis number (1 to 8).) H054n * (n indicates the axis number (1 to 8).) H055n * (n indicates the axis number (1 to 8).) H056n * (n indicates the axis number (1 to 8).) H057n * (n indicates the axis number (1 to 8).) H058n * (n indicates the axis number (1 to 8).) H059n * (n indicates the axis number (1 to 8).) H060n * (n indicates the axis number (1 to 8).) H061n * (n indicates the axis number (1 to 8).
1Error list Error No. H064n * (n indicates the axis number (1 to 8).) H065n * (n indicates the axis number (1 to 8).) H066n * (n indicates the axis number (1 to 8).) H067n * (n indicates the axis number (1 to 8).) H068n * (n indicates the axis number (1 to 8).) H0690 * H0700 * H0710 * H0720 * H0730 * H0740 * H0750 * H0760 * Error cause and measures Error message System error (ABS CPU) Cause An error in the CPU of the absolute position linear scale was detected.
1Error list Error No. H078n * (n indicates the axis number (1 to 8).) H079n * (n indicates the axis number (1 to 8).) H080n * (n indicates the axis number (1 to 8).) H081n * (n indicates the axis number (1 to 8).) H0820 * H082n * (n indicates the axis number (1 to 8).) H083n * (n indicates the axis number (1 to 8).) H0840 * H0850 * H0860 H087n * (n indicates the axis number (1 to 8).) H0880 * H088n * (n indicates the axis number (1 to 8).) H089n (n indicates the axis number (1 to 8).
1Error list Error No. H0920 * H092n * (n indicates the axis number (1 to 8).) H093n * (n indicates the axis number (1 to 8).) H094n (n indicates the axis number (1 to 8).) H095n (n indicates the axis number (1 to 8).) H096n (n indicates the axis number (1 to 8).) H097n (n indicates the axis number (1 to 8).) H098n (n indicates the axis number (1 to 8).) H101n (n indicates the axis number (1 to 8).) H102n (n indicates the axis number (1 to 8).
1Error list Error No. H1100 * H111n (n indicates the axis number (1 to 8).) H112n * (n indicates the axis number (1 to 8).) H113n * (n indicates the axis number (1 to 8).) H114n * (n indicates the axis number (1 to 8).) H115n * (n indicates the axis number (1 to 8).) H116n * (n indicates the axis number (1 to 8).) H117n * (n indicates the axis number (1 to 8).) H118n * (n indicates the axis number (1 to 8).) H119n * (n indicates the axis number (1 to 8).
1Error list Error No. C126n (n indicates the axis number (1 to 8).) C127n (n indicates the axis number (1 to 8).) C128n (n indicates the axis number (1 to 8).) C129n (n indicates the axis number (1 to 8).) C130n (n indicates the axis number (1 to 8).) C131n (n indicates the axis number (1 to 8).) C132n (n indicates the axis number (1 to 8).) C133n (n indicates the axis number (1 to 8).) C134n (n indicates the axis number (1 to 8).) C135n (n indicates the axis number (1 to 8).
1Error list Error No. C1400 H1410 C1420 C143n (n indicates the axis number (1 to 8).) H144n * (n indicates the axis number (1 to 8).) H1450 * H1460 * H1470 * H1480 * H1490 * H150n * (n indicates the axis number (1 to 8).) H156n (n indicates the axis number (1 to 8).) H157n (n indicates the axis number (1 to 8).) C158n (n indicates the axis number (1 to 8).
1Error list Error No. C1620 C1630 C1640 C1650 C1660 C1670 H1680 H1681 C1690 C1700 C1710 C1720 C1730 C1740 C1750 C1760 Error cause and measures Error message Illegal robot No. Cause The designated mechanism No. is incorrect. Measures Set the correct mechanism No. Error message Cannot servo ON (during error) Cause The servo cannot be turned ON during a servo error. Measures Reset the servo error before turning the servo ON.
1Error list Error No. C1770 C1780 C1781 H1790 * H1800 * H1810 * L182n (n indicates the axis number (1 to 8).) L1830 L184n (n indicates the axis number (1 to 8).) C1850 L1860 C1870 * L2000 L2010 L2020 L2030 Error cause and measures Error message Origin setting incomplete Cause The origin is not set. Measures Re-execute after setting the origin. Error message Cannot set origin (illegal axis) Cause The origin was not set simultaneously for the interference axis.
1Error list Error No. H2031 * H209n (n indicates the zone number (1 to 8).) H211n (n indicates the plane number (1 to 8).) H2129 H2130 H213n (n indicates the axis number (1 to 8).) H2140 H214n (n indicates the axis number (1 to 8).) H215n (n indicates the axis number (1 to 8).) H2160 H216n (n indicates the axis number (1 to 8).) H217n (n indicates the axis number (1 to 8).
1Error list Error No. H2183 H2191 H2192 H2193 H2500 L2600 L2601 L2602 L2603 L2700 C2710 C2720 C272n (n indicates the axis number (1 to 8).) C2730 C273n (n indicates the axis number (1 to 8).) C2740 Error cause and measures Error message Z(+) data exceeds the limit Cause The Z axis + XYZ limit was exceeded. Measures Adjust the position.
1Error list Error No. L2750 L2800 L2801 L2802 L2803 L2804 L2810 H2820 H2830 H2840 H2850 H2860 H2870 H2880 * H2890 L2900 Error cause and measures Error message Cannot execute while tracking Cause Cannot execute while tracking Measures Execute the "TRK OFF" command, and then execute the "CMP OFF" command. Error message Illegal position data Cause This may occur for a position to which the robot cannot reach. Measures Adjust the position.
1Error list Error No. L3100 L3110 L3120 L3130 L3140 L3150 L3170 L3180 L3200 L3210 L3220 L3230 L3240 L3250 L3251 L3252 Error cause and measures Error message PROC stack over Cause For example, if it jumped by GOSUB but did not return by the RETURN instruction, or if it escaped by GOTO using the FOR and NEXT instructions, stack memory decreased gradually. Measures Correct so that in the case of GOSUB, return by RETURN, and in the case of FOR and NEXT, do not exit by GOTO.
1Error list Error No. L3253 L3254 L3255 L3260 L3270 L3280 L3281 L3282 L3283 L3284 L3285 L3286 L3287 L3288 L3289 L3290 Error cause and measures Error message "Nesting over (IF,ENDIF)" Cause The No. of nesting stages exceeded 8 stages (IF). Measures Correct the program and re-execute. Error message SELECT END SELECT statements unmatch Cause SELECT END SELECT statements unmatch. Measures Correct the program and re-execute.
1Error list Error No. L3300 L3310 L3320 L3330 L3340 L3350 L3360 L3361 L3370 L3380 L3390 L3400 L3500 L3600 L3700 L3710 Error cause and measures Error message User slot cannot be executed Cause A user slot cannot be executed. Measures Check whether the system slot is being operated. Error message Cannot execute XRUN (Runing) Cause XRUN is not possible as the designated slot is operating. Measures Stop the specification slot, and execute.
1Error list Error No. L3720 L3810 L3820 L3830 L3840 L3850 L3860 L3870 L3880 L3890 L3900 L3910 L3930 L3940 L3950 L3960 Error cause and measures Error message RC NX statements unmatch Cause RC NX statements unmatch Measures Match the numbers of RC and NX. Error message Different argument type Cause The type of an argument in an arithmetic operation, monadic operation, comparison operation or each function is different. Measures Designate the correct argument.
1Error list Error No.
1Error list Error No. L4210 L4220 L4230 L4240 L4250 L4300 L4310 L4320 L4330 L4340 L4350 L4360 L4370 L4380 L4390 L4400 Error cause and measures Error message Too long statement Cause The command statement length is limited to 127 characters. Measures Delete the No. of characters in the command statement to within 127 characters. Error message Syntax error Cause There is an error in the syntax of the input command statement.
1Error list Error No. L4410 L4420 L4430 L4440 L4450 L4460 L4800 Error cause and measures Error message Renumbering data error Cause There is an error in the data designated with renumbering. Measures Reset the data. Error message Line No exceeds 32767 Cause The new line No. or line gap is large. Measures Do not use line Nos. exceeding 32767. Error message Not found the string searched Cause The character string searched for was not found. Measures Check the program.
1Error list Error No. L5100 L5110 L5120 L5130 L5140 L5150 L5200 * L5210 * L5400 L5410 L5420 L5430 L5600 C5610 L5620 L5630 Error cause and measures Error message No program is selected Cause A program is not selected for the designated slot. Measures Select a program for the designated slot. Error message Continuous RUN is not possible Cause A different program name has been designated. Measures Designate the correct program name.
1Error list Error No. L5640 L5650 L5660 L5990 L6010 L6020 L6030 L6040 C6050 C6060 C6070 C6080 C6500 H6510 H6520 H6530 * Error cause and measures Error message Cannot execute during RUN Cause Cannot execute during operation. Measures Stop the operation, and then execute. Error message Cannot execute during STOP Cause Cannot execute during stop operation. Measures Complete the stop, and then execute.
1Error list Error No. L6600 L6610 L6620 L6630 H6640 H6641 H6642 H6643 L6650 * L6651 * L6660 L6670 L6800 * C6900 C7000 C7010 Error cause and measures Error message Signal number is out of range. Cause The designated signal No. has not been defined. Measures Change the signal No. to the correct No. Error message Cannot output (hand input) Cause The hand input signal cannot be written. Measures Use the correct output signal.
1Error list Error No. C7020 H7030 * C7040 H7050 H7060 * C7070 L7071 C7080 C7081 C7090 C7100 * C7200 * H7300 * C7310 L7311 L7330 Error cause and measures Error message Rename target file was not found Cause The rename target file was not found. Measures Input the correct file name. Error message System error (param size over) Cause The change capacity is too large. Measures Contact the maker.
1Error list Error No. L7331 L7332 L7340 L7341 L7342 L7343 C7410 C7420 C7430 C7440 C7500 C7510 C7530 C7540 C7520 Error cause and measures Error message Can't change memory size in RAM mode Cause Can't change memory size in RAM mode. Measures Please change to RAM mode and perform again. Error message Can't change to RAM mode in CTN mode Cause Can't change to RAM mode in continue mode. Measures Please change to RAM mode and perform again.
1Error list Error No. H7600 * H7601 * H7602 * H7603 * H7604 * H7605 * H7606 * H7607 * H7608 * H7609 * H7610 * H7611 * H7612 * H7613 * H7620 * C7630 Error cause and measures Error message Illegal parameter (AXMENO) Cause The additional axis mechanism No. is incorrect. Measures Correct parameter AXMENO and AXUNUM. Error message Illegal parameter (AXJNO) Cause The additional axis No. is incorrect. Measures Correct parameter AXJNO.
1Error list Error No. H7700 * H7710 * H7720 * L7730 L7731 L7750 H7760 * L7780 L7781 H7799 * H7800 H7802 * H7803 * H7810 H7820 H7830 Error cause and measures Error message Illegal OPTION Slot No.(CC-Link) Cause CC-Link Card is installed SLOT1/3. Measures Install CC-Link Card in SLOT2. Error message Can't set the Master Station Cause The CC-Link interface card of the robot cannot be set at the master station. Measures Set the rotary switch except 0.
1Error list Error No. H7840 H7901 H7902 * H7903 H7911 H7912 H7913 H7920 * H7930 * H7990 * H8015 * H8201 H8202 H8203 H8204 H8206 Error cause and measures Error message MXT/MXS command Illegal received data Cause The command argument and the data type do not match. Measures Check the command and the data you are sending. Error message OPTION1#1 Parameter illgal Cause Correct the parameters. Measures Correct the parameters, and then turn the power ON again.
1Error list Error No. H8207 C8208 L8300 L8310 H8320 H8400 H9000 ～ H9099 L9100 ～ L9199 C9200 ～ C9299 Error cause and measures Error message Failed in writing the data(trap function) Cause Failed in writing the data. Measures Please do the operation over again. Error message There is a possibility of the flash ROM breakdown Cause The rewriting count of the flash ROM has exceeded 100,000. Measures Disable the trap function.
2Appendix 2 Appendix Appendix 1: Place where fuse replacement is required (1) Place where fuse replacement is required in the event of error No. H0082 * Replace the fuse (F1) of the pneumatic hand interface (RZ365/RZ367 card). Fuse（F1） （Rating 1.6A） CR1-571 controller (RZ386/RZ387 card） CR2A-572 controller (RZ326/RZ327 card) Enlargement CR2/CR3/CR4/CR7/CR8 controller (RZ181 card) Pneumatic hand interface (RZ365/RZ375 card) (2) Place where fuse replacement is required in the event of error No.
2Appendix ■ When using the CR2A-572 controller Replace the fuse (F2) of the RZ326/RZ327 card. Fuse（F2） （Rating 1.6A） Enl ar g em ent RZ326/RZ327 card RZ326/RZ327 card CR2A-572 controller ■ When using the CR2/CR3/CR4/CR7/CR8 controller Replace the fuse (F6) of the RZ181A card. Fuse（F5） （Rating 3.2A） Enlargement Fuse（F6） （Rating 1.6A） R6ｘ2CPU RZ181A card Fuse（F7） （Rating 0.
2Appendix (3) Place where fuse replacement is required in the event of error No. H0084 * Replace the fuse (F5) of the RZ181A card. Fuse（F5） （Rating 3.2A） Enlargement Fuse（F6） （Rating 1.6A） R6ｘ2CPU RZ181A card Fuse（F7） （Rating 0.6A） RZ181A card (4) Place where fuse replacement is required in the event of error No. H0085 * Replace the fuse (F7) of the RZ181A card. Fuse（F5） （Rating 3.2A） Enlargement Fuse（F6） （Rating 1.6A） R6ｘ2CPU RZ181A card Fuse（F7） （Rating 0.
HEAD OFFICE : MITSUBISHI DENKI BLDG MARUNOUCHI TOKYO 100-8310 TELEX : J24532 CABLE MELCO TOKYO NAGOYA WORKS : 1-14, YADA-MINAMI 5, HIGASHI-KU, NAGOYA, JAPAN JAN..2005 MEE Printed in Japan on recycled paper. Specifications are subject to change without notice.
