Mitsubishi CR750 Series Instruction Manual page 181

Error No.
First 4 Last 5
Digits Digits
L.3987
30n00 Err. message
n=Mech. Cause
No.
Remedy
L.3987
31n00 Err. message
n=Mech.
Cause
No.
Remedy
H.3988 00n00 Err. message
n=Mech.
Cause
No.
Remedy
H.7650 00n00 Err. message
n=Mech.
Cause
No.
Remedy
H.7651 00n00 Err. message
* n=Mech.
Cause
No.
Remedy
H.7652 00n00 Err. message
* n=Mech.
Cause
No.
Remedy
H.766x 02n00 Err. message
n=Mech.
Cause
No.
Remedy
x=Sensor
axis
H8920 00n00 Err. message
n=Mech.
No.
Cause
Remedy
C8921 00n00 Err. message
n=Mech.
No.
Cause
Remedy
Error Cause and Remedy
Unable to execute the FsCTrg command.
The Mo trigger for the FsCTrg command executed first is enabled.
Execute after changing the control
Unable to specify the control
characteristics
The control
Change the program so that the command is not executed at the same time as
another command.
Unable to create a position command.
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.
Review the movement and, settings so that adjacents outside the movement
range and singular point adjacents are avoided.
The force sensor quantity setting is incorrect.
Only 1 force sensor can be used for a single robot.
Check the parameter (AXJNO, AXMENO) settings to see whether multiple
force sensors have been set.
Force sense I/F unit initialization error
The force sense I/F unit was not recognized, and therefore it was not possible
to successfully complete initialization.
Check the force sense I/F unit wiring and whether the power supply is ON.
Force sense I/F unit revision illegal
This force sense I/F unit revision is not supported.
Contact the maker.
The force sensor data exceeded the tolerance value.
The force acting on the force sensor exceeded the set tolerance value.
Check whether too large a force is acting on the force sensor.
Check whether an appropriate value has been set for parameter FSLMTMX.
* See section 6.4.3 for details on the error recovery method.
Sensor I/F unit error (**)
*) "**" is substituted with the "sensor I/F unit error No." (2 hexadecimal digits)
An error occurred at the force sensor interface unit.
13-3
See "Table Table " based on the error No. in the Err. Message.
Sensor I/F unit warning (**)
*) "**" is substituted with the "sensor I/F unit warning No." (2 hexadecimal
digits)
A warning occurred at the force sensor interface unit.
13-3
See "Table Table " based on the warning No. in the Err. Message.
characteristics
.
characteristics
change.
change has been set with another command.
Force Control Function Related Error Details 13-171
13 Troubleshooting