Mitsubishi Electric A173UHCPU Programming Manual page 325

APPENDICES
Error Code
Stored in Error Name
D9190
Center point setting
error (when executing
n10* circular interpolation by
designating a center
point)
Interpolation control unit
11
setting error
Speed limit value
12
setting error
Acceleration time
setting error
13
FIN acceleration/
deceleration setting
error
Deceleration time
14
setting error
Rapid stop deceleration
15
time setting error
Torque limit value
16
setting error
Allowable error range
17 for circular interpolation
setting error
18 Repeat count error
START instruction
19
setting error
20 Point setting error
Reference axis speed
21
setting error
S-curve ratio setting
22
error
23 VSTART setting error
Cancel function start
24
program No. error
High-Speed oscillation
25 command amplitude
error
High-Speed oscillation
26 command starting angle
error
High-Speed oscillation
27 command frequency
error
Table 2.2 Servo Program Setting Error List (Continued)
Error Contents
(1) An address outside the applicable range is
set when executing absolute positioning
control.
Unite Address Setting Range
×
−5
degree 1 to 35999999 10 degree
(2) The center point is set to −2147483648
(H80000000) when executing incremental
positioning control.
The interpolation control unit is set outside the
range 0 to 3.
The speed limit value is set outside the
applicable range.
The acceleration time is set to "0".
FIN acceleration/deceleration setting is other
than 1 to 5000.
The deceleration time is set to "0".
The rapid stop deceleration time is set to "0".
The torque limit value is set outside the range 1
to 500.
The allowable error range for circular
interpolation is set outside the applicable range.
Unite Address Setting Range
×
µ m
−1
mm 10
×
−5
inch 10 inch
1 to 100000
×
−5
degree 10 degree
PULSE PLS
The repeat count is set outside the range 1 to
32767.
(1) The servo program designated by the
START instruction does not exist.
(2) There is a START instruction in the
designated servo program.
(3) More than one axis has been designated for
the started servo program.
No point has been designated in the instruction
for constant-speed control.
In linear interpolation using the reference axis
speed designation method, an axis not involved
in the interpolation has been designated as the
reference axis.
The S-curve ratio when designating S-curve
acceleration/deceleration is outside the range 0
to 100%.
Not even one speed-switching point has been
set between a VSTART and VEND instruction,
or between a FOR and NEXT instruction.
The start program No. for the cancel function
has been set outside the range 0 to 4095.
Operation cannot be started because the
amplitude commanded for the high-speed
oscillation function is outside the range 1 to
2147483647.
Operation cannot be started because the
commanded starting angle for the high-speed
oscillation function is outside the range 0 to
×
3599 ( 0.1 degrees).
Operation cannot be started because the
commanded frequency for the high-speed
oscillation function is outside the range 1 to
5000 (CPM).
Error Processing
Positioning control does not start.
Control is executed at the default value of "3".
Control is executed at the default value of
200000 PLS/s.
Control is executed at the default value of
1000.
Control is executed at the default value of
300%.
Control is executed at the default value
(100PLS).
Control is executed with the repeat count set to
"1".
Positioning control does not start.
Positioning control does not start.
Positioning control does not start.
Control is executed with an S-curve ratio of
100%.
Positioning control does not start.
Positioning control does not start.
Positioning control does not start.
Positioning control does not start.
Positioning control does not start.
APP − 8
Corrective Action
(1) If the control unit is degrees,
set the address in the range 0
to 35999999.
(2) Set the travel value in the
range 0 to ±2147483647.
Set the interpolation control unit in
the range 0 to 3.
Set the speed limit value in the
specified range.
Set the acceleration time in the
range 1 to 65535.
Set FIN acceleration/deceleration
within range 1 to 5000.
Set the deceleration time in the
range 1 to 65535.
Set the rapid stop deceleration
time in the range 1 to 65535.
Set the torque limit value in the
range 1 to 500.
Set the allowable error range for
circular interpolation in the
applicable range.
Set the repeat count in the range 1
to 32767.
(1) Create a servo program
designated by the START
instruction.
(2) Delete the servo program
containing the START
instruction.
(3) Do not designate more than
one axis.
Designate a point between
CPSTART and CPEND.
Set one of the axes involved in the
interpolation as the reference axis.
Set the S-curve ratio within the
range 0 to 100%.
Set a speed switching point
between the VSTART and VEND
instructions or the FOR and NEXT
instructions.
Set the start program No. within
the range 0 to 4095 and then start.
Set the commanded amplitude
within the range 1 to 214783647
and then start.
Set the starting angle within the
×
range 0 to 3599 ( 0.1 degree)
and then start.
Set the frequency within the range
1 to 5000 (CPM) and then start.