Mitsubishi Electric MELFA CR750 Series Instruction Manual page 68

6 Troubleshooting
Error
number
Countermeasure
Error message
Cause
Countermeasure
H221n Error message
(The letter
Cause
"n" indicates
Countermeasure
the axis
number 1 to
8.)
Error message
Cause
Countermeasure
H222m * Error message
(The letter
Cause
"m"
Countermeasure
indicates
the DSI
number 1 or
2.)
H2240 * Error message
Cause
Countermeasure
C2250 Error message
Cause
Countermeasure
H2260 * Error message
Cause
Countermeasure
H2300 Error message
Cause
Countermeasure
H2310 Error message
Cause
Countermeasure
H2320 Error message
Cause
Countermeasure
H2340 * Error message
Cause
Countermeasure
H2370 * Error message
Cause
6-56 List of errors related to the safety monitoring function
Causes of the error and its countermeasures
The monitoring position calculated based on the robot feedback position exceeds the
operable area limit defined by the plane of the position monitoring function. Check the
relevant parameter setting such as details of the robot movement or the definition of the
plane.
SLP robot position error (SCPU)
A position in excess of the limit is detected by the position monitoring function.
The monitoring position calculated by the servo CPU exceeds the operable area limit
defined by the plane of the position monitoring function. Check the relevant parameter
setting such as details of the robot movement or the definition of the plane.
STR robot torque error (MCPU)
A torque error is detected by the torque width monitoring function.
A feedback torque in excess of the predetermined allowable torque width is detected by the
torque width monitoring function of the main CPU. Check the relevant parameter setting
such as details of the robot movement, interference with the peripheral equipment, or the
allowable torque width / terminal load setting.
STR robot torque error (SCPU)
A torque error is detected by the torque width monitoring function.
A feedback torque in excess of the predetermined allowable torque width is detected by the
torque width monitoring function of the servo CPU. Check the relevant parameter setting
such as details of the robot movement, interference with the peripheral equipment, or the
allowable torque width / terminal load setting.
DSI inconsistency
The duplex DSI status is not consistent.
The duplex DSI signal ON/OFF status is not consistent. Check the following for the DSI.
 DSI wiring
 Duplex signal ON/OFF status
 ON/OFF status switching timing
(The error occurs when the ON/OFF status remains inconsistent between the duplex
signals for about 0.2 seconds or more.)
 Parameter DSINO setting
Origin data change
The origin data is changed during execution of the position monitoring function.
The error occurs when the origin data is changed by setting the origin during execution of
the position monitoring function. After turning OFF the power, turn ON the power again to
reset the error.
Safety function execution disabled (No origin setting)
The safety function cannot be executed because the origin is not set.
The safety monitoring function is not activated when the origin is not set. Set the origin.
Safety function execution disabled (No extended safety unit)
The extended safety unit of the robot safety option is not connected.
To use the safety monitoring function, it is necessary to connect the extended safety unit of
the robot safety option to the controller. Connect the extended safety unit.
If the error occurs even if the extended safety unit is connected, the extended safety unit
may be faulty. Contact your service provider.
SLS TCP speed F/B error
An excessive speed feedback is detected by the speed monitoring function.
A speed feedback exceeding the predetermined speed is detected by the speed monitoring
function. Check the robot movement or the monitoring speed setting. Or else, check that the
reaction time (parameter SFREACT) setting is not too short.
SLS TCP speed command error
An excessive speed command is detected by the speed monitoring function.
A speed command exceeding the predetermined speed is detected by the speed monitoring
function. Check the robot movement or the monitoring speed setting. Or else, check that the
reaction time (parameter SFREACT) setting is not too short.
SF robot control error
The robot motion command and the feedback are inconsistent.
The robot position command and the feedback position are inconsistent. Check the details
of the robot movement, the terminal load setting, or interference with the peripheral
equipment.
SF motion command error
A robot motion command error is detected.
An error is detected in the conversion process of the robot motion command. After turning
OFF the power, turn ON the power again to reset the error. If the same error recurs, contact
the manufacturer.
SF monitoring mode inconsistency
The monitoring mode is inconsistent between the main CPU and the servo CPU.