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Mitsubishi CR760-Q Instruction Manual

Cr750 series; cr751 series; cr760 series mitsubishi industrial robot
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Mitsubishi Industrial Robot
CR750/CR751/CR760 Series Controller
INSTRUCTION MANUAL
Troubleshooting
This instruction manual apply to both the CR-750-Q/CR751-Q/CR760-Q controller corresponding
to iQ Platform, and the CR-750-D/CR751-D/CR760-D controller of standalone type.
BFP-A8871-U

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Summary of Contents for Mitsubishi CR760-Q

  • Page 1 Mitsubishi Industrial Robot CR750/CR751/CR760 Series Controller INSTRUCTION MANUAL Troubleshooting This instruction manual apply to both the CR-750-Q/CR751-Q/CR760-Q controller corresponding to iQ Platform, and the CR-750-D/CR751-D/CR760-D controller of standalone type. BFP-A8871-U...
  • Page 3 Safety Precautions Always read the following precautions and the separate "Safety Manual" before starting use of the robot to learn the required measures to be taken. CAUTION All teaching work must be carried out by an operator who has received special training.
  • Page 4 The points of the precautions given in the separate "Safety Manual" are given below. Refer to the actual "Safety Manual" for details. DANGER When automatic operation of the robot is performed using multiple control devices (GOT, programmable controller, push-button switch), the interlocking of operation rights of the devices, etc.
  • Page 5 WARNING When the robot arm has to be moved by hand from an external area, do not place hands or fingers in the openings. Failure to observe this could lead to hands or fingers catching depending on the posture. CAUTION Do not stop the robot or apply emergency stop by turning the robot controller's main power OFF.
  • Page 6 CAUTION Use the network equipments (personal computer, USB hub, LAN hub, etc) confirmed by manufacturer. The thing unsuitable for the FA environment (related with conformity, temperature or noise) exists in the equipments connected to USB. When using network equipment, measures against the noise, such as measures against EMI and the addition of the ferrite core, may be necessary.
  • Page 7 *CR751-D or CR751-Q controller Notes of the basic component are shown. CAUTION Please install the earth leakage breaker in the primary side supply power supply of the controller of CR751-D or CR751-Q because of leakage protection. Controller Controller Three phase Single phase AC200V AC200V...
  • Page 8 Revision history Date of print Specifications No. Details of revisions 2012-02-13 BFP-A8871 ・ First print 2012-06-11 BFP-A8871-A ・ Error H096n was corrected (measures in RH-20FH). ・ The cause and measures of error H017m were corrected. 2012-06-18 BFP-A8871-B ・ The measures of H096n was corrected (measures in RH-20FH) 2012-09-03 BFP-A8871-C ・...
  • Page 9 Date of print Specifications No. Details of revisions 2015-10-29 BFP-A8871-R ・ Converter circuit board is added to the table of applicable fuses in ”Fig. 2-1: Pneumatic hand’s power fuse exchange place”. ・ The causes and measures were added. L2610, L2611 ・...
  • Page 10 ■ Introduction Thank you for purchasing the Mitsubishi industrial robot. This instruction manual describes the causes and measures for errors that may occur while using the robot. If an error should occur, refer to this manual and take appropriate measures.

  • Page 11: Table Of Contents

    Contents Page 1 Error list ......................................1-1 (1) Error No................................... 1-1 (2) If the display of the operation panel goes out ....................1-1 (3) Cause and measures against the error ......................1-1 2 Appendix ..................................Appendix-58 2.1 Place where fuse replacement is required ....................Appendix-58 2.1.1 Place where a hand fuse or brake fuse replacement is required.

  • Page 12: Error List

    1Error list 1 Error list (1) Error No. When an error occurs, a 5-digit error No. (example: "C0010") will appear at the STATUS NUMBER display on the operation panel at the front of the controller, and the [RESET] switch lamp will light. The four-digit error number (number except the one character of the head.) is displayed on LCD of T/B.
  • Page 13 1Error list Error No. Error cause and measures H0009 * One of the errors below is detected. Please take measures corresponding to an error message. Error message Version UP (ALL) Cause Message at version up. Measures Turn the power OFF and ON once. Error message Version UP (MAIN) Cause Version UP (MAIN)
  • Page 14 1Error list Error No. Error cause and measures L0031 Error message Air pressure error Cause This is a user setting error. Measures Reset the error after releasing the cause. H0039 Error message Door Switch Signal line is faulty. Cause The one point of contact in 2 points of contact of the door switch has broken. Or wiring is not the double lines.
  • Page 15 1Error list Error No. Error cause and measures H0051 Error message Wiring of the external emergency stop is abnormal. Cause If the emergency stop of T/B turns on, this error may occur simultaneously. Measures Turn OFF the power supply. Confirm whether there is any problem in wiring of the external emergency stop switch. And, please confirm whether it is wiring of the dual line.
  • Page 16 1Error list Error No. Error cause and measures H0083 * Error message Fuse is broken (hand input power) Cause 1) The pneumatic hand's power fuse has broken. Possibly the power supply line of the hand input/output signal short-circuited. 2) If any other error occurred simultaneously, the fuse (4 A fuse, model: LM40) installed at the bottom of the 24 V power supply circuit in the controller may have blown out.
  • Page 17 1Error list Error No. Error cause and measures H0093 Error message Safety relay fuse is blown. Cause 1) Safety relay fuse is blown. 2) Investigate and correct the ground fault or short circuit portion in the wiring made by the customer. Then, replace the fuse inside the controller.
  • Page 18 1Error list Error No. Error cause and measures H0131 * Error message Plural Ope-panel are installed. Cause One operation panel can be installed. Measures Install only one operation panel. H0140 Error message Fuse is blown.(Safety unit) Cause Fuse is blown.(Safety unit) If external emergency stop is turning ON, this error occurs.
  • Page 19 1Error list Error No. Error cause and measures H0210 * Error message Power supply fault (5V) Cause The power supply output voltage is out of the specified range. Measures The output voltage of the 5V power supply is the specified value or higher/lower. After turning OFF the power, turn ON the power again to reset the error.
  • Page 20 1Error list Error No. Error cause and measures H054n * Error message Servo sys. error (over run) (n indicates the Cause The servo amplifier software data process did not end within the specified time. axis number (1 to 8).) Measures Turn the power OFF and ON once.
  • Page 21 1Error list Error No. Error cause and measures H066n * Error message Incremental position error (n indicates the Cause An error was detected in the relative position detection circuit within the absolute position linear scale. axis number (1 to 8).) Measures Turn the power OFF and ON once.
  • Page 22 1Error list Error No. Error cause and measures H0750 * Error message Power supply memory error Cause An error in the memory circuit of converter or AD converter was detected. Measures Turn the power OFF and ON once. If it comes back, contact your service provider. H0760 * Error message Power supply error Cause...
  • Page 23 1Error list Error No. Error cause and measures H0880 * Error message Power module overheat H088n * Cause Overheating of the power module regenerative resistor was detected. (n indicates the Measures Turn the controller power OFF, wait a while, and then turn ON again. If it comes back, contact your service axis number (1 provider.
  • Page 24 1Error list Error No. Error cause and measures H096n Error message Excessive error 1 (n indicates the Cause The position error exceeded at servo ON. axis number (1 Moreover, this error may occur during the emergency-stop deceleration. to 8).) Measures ･...
  • Page 25 1Error list Error No. Error cause and measures H105n * Error message Encoder init communication error (n indicates the Cause Initial communication with the encoder was not possible axis number (1 to 8).) Measures Check the encoder cable connection H106n * Error message Encoder communication error (n indicates the Cause...
  • Page 26 1Error list Error No. Error cause and measures H113n * One of the errors below is detected. (n indicates the Please take measures corresponding to an error message. axis number (1 Error message Encoder per rotation data error to 8).) Cause An error was detected in the position detector's one rotation data.
  • Page 27 1Error list Error No. Error cause and measures C126n Error message Encoder communication error (n indicates the Cause Initial communication could not be established with the low-speed serial type absolute position linear scale. axis number (1 to 8).) Measures Check the detector cable connection and conductivity. If it comes back, contact your service provider. C127n Error message Encoder communication error (n indicates the...
  • Page 28 1Error list Error No. Error cause and measures C138n Error message Removing control axis (servo) (n indicates the Cause An instruction to remove the axis was issued by the controller. axis number (1 to 8).) Measures Cancel the instruction of removing axis. H1390 Error message Emergency stop (Servo amplifier) Cause...
  • Page 29 1Error list Error No. Error cause and measures H154n * Error message Communication error between units (n indicates the Cause The transmission data between servo amplifier units is illegal axis number (1 to 8).) Measures Check the communication cable connection and conductivity H1550 * Error message Emergency stop is a breakdown Cause...
  • Page 30 1Error list Error No. Error cause and measures H1680 Error message Cannot servo ON (timeout) Cause The servo did not turn ON within the specified time. Measures Turn the power supply OFF and ON once. If it comes back, confirm that power supply voltage is in the specification value, and connection of the external emergency stop is correct.
  • Page 31 1Error list Error No. Error cause and measures C1770 Error message Origin setting incomplete Cause The origin is not set. Measures Re-execute after setting the origin. C1780 Error message Cannot set origin (illegal axis) Cause The origin was not set simultaneously for the interference axis. Measures Set the origin simultaneously for the interference axis.
  • Page 32 1Error list Error No. Error cause and measures H188n * Error message Jn addition axis amplifier cooling fan stop. (n indicates the Cause The cooling fan of the addition axis amplifier of Jn axis may be out of order. axis number (1 to 8).) Measures Please replace the cooling fan of addition axis amplifier.
  • Page 33 1Error list Error No. Error cause and measures H2040 Error message Teaching position is not correct. Cause Change the teaching position. Measures The work coordinates were not able to be calculated from the teaching position. The cause is the following content.
  • Page 34 1Error list Error No. Error cause and measures H216n Error message Jn (+) angle exceeds the limit (n indicates the Cause The axis "n" + Joint limit was exceeded. When the teach mode, numerical "0" is set to n. axis number (1 to 8).) Measures Adjust the position.
  • Page 35 1Error list Error No. Error cause and measures H222m * Error message DSI inconsistency (m indicates Cause The duplex DSI status is not consistent. the DSI Measures The duplex DSI signal ON/OFF status is not consistent. Check the following for the DSI. number (1 or ・...
  • Page 36 1Error list Error No. Error cause and measures H2370 * One of the errors below is detected. Please take measures corresponding to an error message. Error message SF monitoring mode inconsistency Cause The monitoring mode is inconsistent between the main CPU and the servo CPU. Measures The monitoring mode status of the functional safety is inconsistent between the main CPU and the servo CPU.
  • Page 37 1Error list Error No. Error cause and measures L2430 Error message Collision avoidance re-detect Cause Collision avoidance was already detected Measures Move the robot arm from the interference area and resume the operation. L2500 Error message Tracking encoder data error Cause An error was detected in the data of tracking encoder.
  • Page 38 1Error list Error No. Error cause and measures L2610 Error message Spline interpolation error (Spline file) Cause An error related to the spline file occurred. Measures Refer to the error details No. and check the details of the occurring error. Then take actions for those error details.
  • Page 39 1Error list Error No. Error cause and measures L2611 Error message Spline interpolation error (path point) Cause An error related to the path point registered in the spline file has occurred. Measures Refer to the error details No. and check the details of the occurring error. Then take actions for those error details.
  • Page 40 1Error list Error No. Error cause and measures L2613 Error message Spline interpolation error (interpolation process) Cause An error occurred during the spline interpolation process. Measures Refer to the error details No. and check the details of the occurring error. Then take actions for those error details.
  • Page 41 1Error list Error No. Error cause and measures L2614 Error message Spline interpolation error (other functions) Cause A function that cannot be used with the spline interpolation was executed. Measures Refer to the error details No. and check the details of the occurring error. Then take actions for those error details.
  • Page 42 1Error list Error No. Error cause and measures H264n Error message Add axis FLS signal is input (n indicates the Cause Add axis FLS signal is input axis number (1 to 8)) Measures Release the brake and move the arm by hand. Or, referring to "Operation to Temporarily Reset an Error that Cannot Be Canceled"...
  • Page 43 1Error list Error No. Error cause and measures H2780 Error message Offset position speed over (**) Note) "**" is substituted with "Jn" (n is axis No.) Cause The speed of movement to the position after offsetting with force sense control exceeded the speed limit. The movement speed may be too fast, or the robot may have been moved at the singular point adjacent.
  • Page 44 1Error list Error No. Error cause and measures L3100 One of the errors below is detected. Please take measures corresponding to an error message. Error message PROC stack over Cause For example, if it jumped by GoSub but did not return by the Return command, or if it escaped by GoTo using the For and Next commands, stack memory decreased gradually.
  • Page 45 1Error list Error No. Error cause and measures L3150 Error message Cannot Print (INPUT mode) Cause The file open mode is INPUT, so writing is not possible. Measures Check the file No. and open mode, and re-execute. L3170 Error message Cannot Input (OUTPUT mode) Cause The file open mode is OUTPUT, so writing is not possible.
  • Page 46 1Error list Error No. Error cause and measures L3280 Error message Cannot execute without GetM Cause The command you attempted to execute cannot be executed without GetM. Or, a non-existing mechanical number was specified. Measures Execute it after executing the RelM and GetM commands in another task slot. L3281 Error message Cannot execute during RUN Cause...
  • Page 47 1Error list Error No. Error cause and measures L3361 Error message Can not load the program (SLT*) Cause A non-existing program was specified in the slot parameter (SLTn). Measures A non-existing program was specified in the slot parameter (SLTn). L3370 Error message Cannnot execute XClr (empty) Cause XClr is not possible as the program has not been selected.
  • Page 48 1Error list Error No. Error cause and measures L3830 Error message Cannot execute GetM Cause GET of the mechanisms is not possible. Measures Check whether the designated mechanisms are being used with a different slot. L3840 Error message Return without GoSub Cause Return was executed without using GoSub.
  • Page 49 1Error list Error No. Error cause and measures L3970 Error message ColChk cannot be performed Cause Collision detection serves as prohibition of use Measures Change parameter COL into use permission L3980 Error message Load mode cannot be specified. Cause Prec command is executed Measures Repeal high accuracy mode (execute Prec Off) L3982...
  • Page 50 1Error list Error No. Error cause and measures L3986 One of the errors below is detected. Please take measures corresponding to an error message. Error message Unable to enable force sense control. (Sensor) Cause Unable to execute because the force sensor is not connected. Measures Connect the force sensor, or delete the command that cause the error.
  • Page 51 1Error list Error No. Error cause and measures L3987 One of the errors below is detected. Please take measures corresponding to an error message. Error message Force sense control is disabled. Cause Force sense control is disabled, and so unable to execute the command. Measures Enable the force sense control function.
  • Page 52 1Error list Error No. Error cause and measures H3988 Error message Unable to create a position command. Cause 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. Measures Review the movement and, settings so that adjacents outside the movement range and singular point adjacents are avoided.
  • Page 53 1Error list Error No. Error cause and measures L4210 Error message Too long statement Cause The command statement length is limited to 240 characters. Measures Delete the No. of characters in the command statement to within 240 characters. L4220 Error message Syntax error Cause There is an error in the syntax of the input command statement.
  • Page 54 1Error list Error No. Error cause and measures L4390 Error message Variable type combination error Cause The type of the user-defined external variable is different. Measures Match the variable types. L4400 Error message Program is faulty. Cause The content of the program is abnormal. Measures Delete the program.
  • Page 55 1Error list Error No. Error cause and measures L4930 One of the errors below is detected. Please take measures corresponding to an error message. Error message CavChk cannot be executed (*) Cause Collision avoidance serves as prohibition of use Measures Change parameter CAV into use permission Error message CavChk cannot be used Cause...
  • Page 56 1Error list Error No. Error cause and measures L5110 Error message Continuous RUN is not possible Cause A different program name has been designated. Measures Designate the correct program name. L5120 Error message Cannot select program (not PSA) Cause The specified slot is not in the program selection state. Measures Reset the program.
  • Page 57 1Error list Error No. Error cause and measures L5650 Error message Cannot execute during STOP Cause Cannot execute during stop operation. Measures Complete the stop, and then execute. L5660 Error message Edit during RUN (include ALWAYS) Cause Editing cannot be performed while in operation (including continuous execution). Measures Stop the program, and then execute.
  • Page 58 1Error list Error No. Error cause and measures L6610 Error message Cannot output (hand input) Cause The hand input signal cannot be written. Measures Use the correct output signal. L6620 Error message Cannot write (special Input) Cause The input signal cannot be written into the robot dedicated area. Measures Use an actual signal.
  • Page 59 1Error list Error No. Error cause and measures C7010 Error message Delete target file was not found Cause The delete target file was not found. Measures Input the correct file name. C7020 Error message Rename target file was not found Cause The rename target file was not found.
  • Page 60 1Error list Error No. Error cause and measures C7310 Error message Changed variables weren't saved Cause The power was OFF during program execution. Measures Don't turn the power OFF during program execution. L7311 Error message The power was OFF during file saving Cause The power was OFF during file saving.
  • Page 61 1Error list Error No. Error cause and measures C7510 Error message Battery voltage low (R/C) Cause The battery will be spent soon. Measures Replace the battery of controller. For more information about the replacement procedure, refer to the separate volumes, "Controller setup, basic operation, and maintenance.". C7520 Error message Battery consumption time is over Cause...
  • Page 62 1Error list Error No. Error cause and measures H7612 * Error message JOG smoothening time constant of additional axis is illegal. Cause The value of AXJOGTS (JOG smoothening time constant) parameter is illegal. Measures Change the values of all elements of this parameter to 0 or positive real number. H7613 * Error message Turn OFF the power supply once, and turn ON it again.
  • Page 63 1Error list Error No. Error cause and measures H7820 Error message Mxt Scommand timeout Cause The setting time of the MXTTOUT parameter has been exceeded. Measures Make the MXTTOUT parameter value larger. H7830 Error message "Ethernet card is not installed, or command disable" Cause Ethernet card is not installed, or command disable.
  • Page 64 1Error list Error No. Error cause and measures L8630 Error message The recognition cell is illegal Cause There is no value on the cell Measures Please check the recognition cell L8631 Error message The cell is outside the range Cause The range of the cell is exceeded Measures Please check the range of the cell...
  • Page 65 1Error list Error No. Error cause and measures L8730 Error message I/O module (m) remove error. (m): Target parameter numbers 1-4. (correspond to QXYUNIT 1-4) Cause PC I/O module was removed. Measures Please mount PC I/O module. 1-54 Error no. L8730...
  • Page 66 1Error list Error No. Error cause and measures H8800 * One of the errors below is detected. Please take measures corresponding to an error message. Error message ASIC communication error Cause A failure was detected in the communication within the controller. The internal temperature of the controller may be high.
  • Page 67 1Error list Error No. Error cause and measures H8810 One of the errors below is detected. Please take measures corresponding to an error message. Error message Communication error Cause Error occurred by the data transmission to the servo Measures Check the communication cable connection. Check that there is not a source of noise. Error message Illegal ID Cause ID of the com.
  • Page 68 1Error list Error No. Error cause and measures H9000 Error message User High level error ～ Cause A high-level alarm was issued from the robot program. H9099 Measures Check the program. L9100 Error message User Low level error ～ Cause A low-level alarm was issued from the robot program.

  • Page 69: Appendix

    2 Appendix 2.1 Place where fuse replacement is required 2.1.1 Place where a hand fuse or brake fuse replacement is required. (1) CR750/CR751 controller Removes the top cover of the controller and replaces the fuse of the printed circuit board (YZ801n). The part number and the model for fuse replacement depend on the robot model and the serial number of the controller.

  • Page 70: Cr760 Controller

    (2) CR760 controller Replace the fuse of the safety unit (R760SFT) in the controller. Non-CE marking CE marking specification specification Safety unit (R760SFT) CR760 POWER R760SFT MCOUT Hand fuse (1 pc.) Model: LM16 View A: Inside of CR760 controller Brake fuse (2 pcs.) Model: GP75 Safety unit (R760 SFT)

  • Page 71: Place Where Fuse (F8) Replacement Is Required

    2.1.2 Place where fuse (F8) replacement is required. Removes the top cover of the controller and replaces the fuse (F8) of the printed circuit board (YZ311). Remove the six top cover fixing screws (M3 x 6), and remove the top cover. Top cover fixing screws Top cover ・...

  • Page 72: Fan Installation Place Of Robot Controller (Drive Unit)

    2.2 Fan installation place of robot controller (drive unit). The installation place of the fan of the robot controller (drive unit) is shown in the following. <CR750 controller/drive unit> Top view Churning fan Front view Cooling fan <CR751 Drive unit> <CR751 controller>...

  • Page 73: Troubles And Measures

    2.3 Troubles and measures Issue Operation panel does not display anything. ・ CPU has not started up properly. Cause ・ There is no power supply. ・ An instantaneous power cut exceeding the specification level may have occurred. ・ Check that the primary side’s power supply voltage is being supplied properly. Measures If that the same issue occurs when turning on the power supply, please contact the manufacturer.
  • Page 74 Issue In automatic drive mode the system does not start up even if a startup signal is input. The robot stops during automatic drive. ・ A stop signal (STOP/STOP2/SKIP) is being input from an external source. ・ The operating right is not given. (IOENA parameters settings/exclusive input and output). ・...
  • Page 75 Issue The hand does not move properly (air hand) ・ An air leak/break in the piping. ・ The solenoid bulb has failed. ・ Wire breakage on the hand signal line. ・ The hand IF card has failed or has been inserted incorrectly. Cause ・...

  • Page 76: Errors Involving Change In Specification

    Issue Brake is not working properly [Occurs only when operating manually] ・ T/B operation error. ・ The enabling device input is open. Cause [Occurs when operating manually and automatically] ・ Faulty connection of the cables that run between devices. ・ Brake failure. [Occurs only when operating manually] ・...

  • Page 77: Force Sense Interface Unit Errors

    2.5 Force sense interface unit errors The errors of the force sense interface unit used in the force sense function option. Table 2-1 ： Force sense interface unit errors Error No. (Name) Cause Remedy 12 (memory error) Force sense interface unit internal part fault Replace the unit.
  • Page 78 Appendix-67...
  • Page 80 HEAD OFFICE: TOKYO BUILDING, 2-7-3, MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN NAGOYA WORKS: 5-1-14, YADA-MINAMI, HIGASHI-KU NAGOYA 461-8670, JAPAN Authorised representative: MITSUBISHI ELECTRIC EUROPE B.V. GERMANY Gothaer Str. 8, 40880 Ratingen / P.O. Box 1548, 40835 Ratingen, Germany Sep., 2016 MEE Printed in Japan on recycled paper.

This manual is also suitable for:

Cr751-qCr750-qCr750-dCr751-dCr760-d

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