Mitsubishi Electric MELSEC Q Series Programming Manual page 223

6 TROUBLESHOOTING
Error Detail
code code Error contents
(SD32) (SD33)
Safety observation
device memory

47
check error
(Motion CPU)
Safety signal output
off check error at
48
power-on
(PLC CPU)
Error Safety signal output
off check error at
device No.
49
(HEX) power-on
(Note-3)
(Motion CPU)
Output off check
50
error (PLC CPU)
Output off check
51
error (Motion CPU)
Speed monitoring
101 parameter
comparison error
Servo axis data
102
error
Command speed
110
monitoring error
Feedback speed
111
monitoring error
Speed
monitoring
Feedback position
112
parameter
monitoring error
block No.
Speed deviation
113 value monitoring
error
External auxiliary
pulse input
114
deflection
monitoring error
Safety operating
115 stop position
command error
Table 6.1 Safety observation error list (Continued)
Error cause
An error is detected in a device memory
check of the Motion CPU.
Although the output signal of the safety
signal module is turned off using the output
off check function, there is a feedback input
signal which stays ON.
The following causes are assumed:
• The output status of the safety signal
module is changed in the interrupt
program, etc. during the output off check.
• Failure of the output transistor on the
safety signal module
Setting mismatch in speed monitoring
parameter. (Mismatch of safety speed and
safety motor speed in the unit of
mechanical system.)
The consistency of pulses per rotation and
travel value amount per rotation in the
servo data setting and speed monitoring
parameter do not match.
Or, the initial processing of the servo
amplifier is not completed.
The command speed exceeded the safety
speed during the speed monitor.
The feedback speed exceeded the safety
motor speed during the speed monitoring.
The difference between the command
position and feedback position exceeded
the allowance position deviation amount
during the speed monitoring.
The difference between the command
speed and feedback speed exceeded the
allowance deviation amount during the
speed monitoring.
Motor feedback position (speed) and
external auxiliary pulse input, or safety
encoder cumulative travel value exceeded
the allowable deflection amount during the
speed monitoring.
The command position changed during the
safety operating stop.
Corrective action
The Motion CPU may have a failure.
Explain the error symptom and get advice
from our sales representative.
Check if the output status of the safety signal
module is changed in the interrupt program.
When the error cannot be cleared by the
above solution, replace the safety signal
module.
After measures, execute the output off check
if there is no problem.
Correct the speed monitoring parameter and
write to the Motion CPU.
Correct the speed monitoring parameter and
write to the Motion CPU.
Or, correct the program so that the speed
monitor request signal is turned on after the
initial processing of the servo amplifier is
completed.
Correct the program so that the operation is
executed at the safety speed or lower.
Check if the safety speed is set properly.
Correct the program so that the operation is
executed at the safety speed or lower.
Check if the safety motor speed is set
properly.
Review the set gain of the servo amplifier.
Check if the allowance value of position
deviation is set properly.
Check the control behaviour at the motor side.
Check the load fluctuation of mechanical
system.
Check if the allowance value of speed
deviation is set properly.
Check the machine connection of the external
auxiliary pulse input.
Check the machine connection of the motor.
Check if the consistency of the motor travel
and the external auxiliary pulse input travel
matches.
Check if the motor speed does not exceed the
allowable input frequency of the external
auxiliary pulse input.
Correct the program so that an operation
which changes the command position during
the safety operation stop is not executed.
6 - 4
Relevant CPU
PLC Motion Reset
CPU CPU






(Note-6)