Mitsubishi Electric A173UHCPU Programming Manual page 332

APPENDICES
Table 2.6 List of Errors that Occur at Current Value/Speed Changes
Control Mode
Error
Code
! ! ! ! ! !
300
301
! !
302
! ! ! ! !
303
304
! ! ! ! ! !
305
309
310
311
312
(4) Errors occurring at current value changes and speed changes (300 to 399)
The errors shown in this section are those that occur on execution of current
value changes and speed changes.
Error codes, causes, processing, and corrective actions are shown in table 2.6.
• An attempt was made to change the current
value data of an axis in motion.
• An attempt was made to change the current
value data of an axis that had not been
! ! ! ! !
started up.
• An attempt was made to change the current
value data of an axis whose status was
"servo OFF".
• An attempt was made to change the speed
!
of an axis executing a zeroing.
• An attempt was made to change the speed
of an axis executing circular interpolation.
• An attempt was made to change the speed
!
of an axis after automatic deceleration had
started in positioning.
• An attempt was made to change the speed
of an axis during deceleration initiated by
!
turning OFF the JOG operation start signal
(M3202+20n, M3203+20n).
• The speed to be changed to in a speed
change was set outside the range of 0 to the
! !
speed limit value.
• A current value change command outside
the range of 0 to 35999999 (
has been issued for an axis whose control
units are degrees.
• A speed change was attempted during high-
speed oscillation.
!
• A speed change to "0" request was issued
during high-speed oscillation.
• A value outside the range 1 to 500% was
set in the torque limit value change request
(CHGT).
• A torque limit change request (CHGT) was
made for an axis not started yet.
Error Cause
Processing
The current
value data is
not changed.
The speed is
not changed.
The speed is
kept at the
speed limit
value.
The current
×
-5
10 degrees)
value data is
not changed.
The speed is
not changed.
The torque
limit value is
not changed.
APP − 15
Error
Corrective Action
• Use the following states of the following
devices as interlocks to ensure that the
current value of an axis in motion cannot
be changed.
(1) OFF state of the start accept flag (M2001
to M2032) for the relevant axis.
(2) ON state of the servo READY flag
M2415+20n.
• The speed of an axis executing a zeroing
cannot be changed.
• The speed of an axis executing circular
interpolation cannot be changed.
• The speed of an axis cannot be changed
after automatic deceleration has started.
• Do not attempt a speed change during
deceleration initiated by turning OFF the
JOG operation start signal (M3202+20n,
M3203+20n).
• Set the speed within the range from 0 to
the speed limit value.
• Make a setting in the range of 0 to
×
−5
35999999 ( 10 degrees).
• Do not perform speed changes during
high-speed oscillation.
• Make a change request within the range 1
to 500% .
• Make a change request for a started axis.