Mitsubishi Electric 4F-FS001-W200 Instruction Manual page 215

Error No.
First 4 Last 5
Digits Digits
Remedy
L.3987 26n00 Err.
n=Mech. message
No.
Cause
Remedy
L.3987 27n00 Err.
n=Mech. message
No.
Cause
Remedy
L.3987 28n00 Err.
n=Mech. message
No.
Cause
Remedy
L.3987 29n00 Err.
n=Mech. message
No.
Cause
Remedy
L.3987 30n00 Err.
n=Mech. message
No.
Cause
Remedy
L.3987 31n00 Err.
n=Mech. message
No.
Cause
Remedy
L.3987 40n00 Err.
n=Mech. message
No. Cause
Remedy
L.3987 41n00 Err.
n=Mech. message
No.
Cause
Remedy
L.3987 42n00 Err.
n=Mech. message
No.
Cause
Remedy
H.3988 00n00 Err.
n=Mech. message
No.
Cause
Remedy
H.7650 00n00 Err.
n=Mech. message
No.
Cause
Remedy
H.7651 00n00 Err.
* n=Mech. message
No.
Cause
Error Cause and Remedy
Execute the FsLog On command after log data recording is complete.
Force sense control is enabled.
The parameter setting is currently being used by the force sense
control function and so cannot be changed.
If changing the parameter, disable the force sense control function
once..
Unable to enable the Mo trigger.
The Mo trigger for the FsCtrg command executed first is enabled.
Execute after changing the control characteristics.
Mo trigger timeout
The Mo trigger did not turn ON within the specified time.
Review the Mo trigger conditions and robot program.
Unable to execute the FsCTrg command.
The control characteristics is currently being changed.
Execute after changing the control characteristics.
Unable to execute the FsCTrg command.
The Mo trigger for the FsCTrg command executed first is enabled.
Execute after changing the control characteristics.
Unable to specify the control characteristics change.
The control characteristics change has been set with another
command.
Change the program so that the command is not executed at the
same time as another command.
FsHndEst command is not executed
Cannot execute without FsHndEst On command
Please execute FsHndEst command and then execute FsGetDat
Input data error(F.Ctrl Calib)
Input data for the force sensor calibration is illegal
Please confirm data for the force sensor calibration
Calculation error(F.Ctrl Calib)
Calculation result of the force sensor calibration is illegal
Increase the rotation angle of the calibration operation then get data
for the force sensor calibration again.
Unable to create a position command.
It is not possible to convert linear position data to joint angle after
offsetting with force control.
The position after offsetting lies outside the movement range or is a
singular point.
Review the movement and, settings so that adjacents outside the
movement range and singular point adjacents are avoided.
The force sensor quantity setting is incorrect.
Only 1 force sensor can be used for a single robot.
Check the parameter (AXJNO, AXMENO) settings to see whether
multiple force sensors have been set.
Force sense I/F unit initialization error
The force sense I/F unit was not recognized, and therefore it was not
possible to successfully complete initialization.
Force Control Function Related Error Details 13-203
13 Troubleshooting