Mitsubishi CR800 Series Instruction Manual page 24

1Error list
Error No.
H093n * One of the errors below is detected.
(n indicates the Please take measures corresponding to an error message.
axis number (1
Error message Motor overcurrent
to 8).)
Cause
Measures
Error message Motor overcurrent (Grounding)
Cause
Measures
H094n Error message Overload (over weight 1)
(n indicates the
Cause
axis number (1
to 8).) Measures
H095n Error message Overload (over weight 2)
(n indicates the
Cause
axis number (1
to 8).) Measures
H096n Error message Excessive error 1
(n indicates the
Cause
axis number (1
to 8).)
Measures
H097n Error message Excessive error 2
(n indicates the
Cause
axis number (1
to 8).) Measures
H098n Error message Excessive error 3
(n indicates the
Cause
axis number (1
to 8).) Measures
1-15
Error no. H093n * (n indicates the axis number (1 to 8).)
An excessive current flowed to the motor, or the A/D converter output is abnormal. An abnormality may
have occurred in the connection of the motor's power line.
Turn the power OFF and ON once. Confirms the connection of the machine cable and the locomotion-axis
cable etc. If it comes back, contact your service provider.
The motor power cable is in contact with ground
Turn the power OFF and ON once. Confirms the connection of the machine cable and the locomotion-axis
cable etc. If it comes back, contact your service provider.
Operation tight for a motor (operation with high duty) was performed more than fixed time.
Decrease the acceleration/deceleration time of the operation speed, for instance.
Refer to "Detailed explanation of command words"/"Accel (Accelerate)," "Ovrd (Override)" and "Spd
(Speed)," or "Detailed explanation of Robot Status Variable"/"M_SetAdl," "M_LdfAct" and "Functions set
with parameters"/"JADL (Optimum acceleration/deceleration adjustment rate)" of the Separate Volume,
"INSTRUCTION MANUAL/Detailed Explanation of Functions and Operations."
Confirms that conveyance conditions (hand mass, work-piece mass) are less than specification values.
When it comes back, contact to the dealer.
The maximum output current continued for more than one second.
Check the load weight and the robot pressing, etc.
Confirms that conveyance conditions (hand mass, work-piece mass) are less than specification values.
When it comes back, contact to the dealer.
The position error exceeded at servo ON.
Moreover, this error may occur during the emergency-stop deceleration.
･ Check the load weight and press, etc.
Confirms the connection of the machine cable and the locomotion-axis cable etc.
If the surrounding temperature is low, or starting after stopping operation for an extended period of time,
perform running-in operation at low speed or use the warm-up operation mode.
･ When hand offset is long and acceleration-and-deceleration control is fixed or tracking is active in RH-
20FRH series.
please reduce the acceleration and deceleration speeds (Accel command) and movement speed (Ovrd
command). Refer to separate "Instruction Manual/Detailed Explanation of Functions and Operations" for
details of each command.
(This error may occur during the emergency-stop deceleration.)
･ While operation is performed in the compliance mode of the joint coordinate system, if the Excessive error
1 (H096n) occurs, increase the set value of parameter CMPJCLL to suppress this error.
Refer to "Detailed explanation of command words"/"Cmp Jnt (Compliance Joint)" and "Movement
parameter"/"CMPJCLL (Current Limit Level for Cmp Jnt)" given in separate "INSTRUCTION MANUAL/
Detailed explanation of functions and operations".
This error may have been triggered by the following errors. If this is the case, follow the solutions to each
error.
H0216: Current sensor failure
H221n: STR (ROBOT torque error 2)
The position error exceeded at servo OFF.
Check the moving robot arm by something power. When it comes back, contact to the dealer.
Abnormal motor power line connection.
Check the connection of motor power line. When the excessive error 1 was detected, the current of the
motor is off.
Error cause and measures