Mitsubishi CR750-Q Series Instruction Manual page 109

(*1) About the factor that the L9110 error occurs
Positional variable "PVTR" in 'CM1' program is calculated based on the setting of the A1-C1 program.
The calculation result is a difference between the position of [+] mark set with the vision sensor and the position
taught by the 'C1' program.
And, the L9110 error occurs when the difference exceeds the numerical value specified for positional variable
"PCHK".
Therefore, there is a possibility that the L9110 error occurs in the following cases.
[a] The position taught by the 'C1' program shifts to [+] mark specified with the vision sensor.
For instance, when the vision sensor output the triangular top, ● sign was taught in the 'C1' program.
In this case, the difference is recognized as a gap.
[b] There is a difference to the flange and each hand of the robot in the gap for the multi hand.
The calibration executed by using the 'B1' program, the calibration treatment device is used.
It is installed in the flange of the robot. The position that the vision sensor outputs becomes the flange
position of the robot.
However, when teaching by the 'C1' program, the gap is caused there to use and to teach the hand.
[c] In the setting of 'A1' - 'C1' program, some mistakes are found.
"P_EncDlt()" (the amount of the movement of the robot per a pulse) in the 'A1' program is an unexpected
value.
Or, in the 'B1' program, the direction of three points specified by the calibration was different or it was
the inputting error of coordinates.
Occurrence of Error Numbers in the Range from 9000 to 9999 20-99
20 Troubleshooting