Mitsubishi CR800 Series Instruction Manual page 33

Error No.
C1970 Error message Agitating fan stopped (robot)
Cause
Measures
L2000 Error message The servo is OFF
Cause
Measures
L2010 Error message Pulse output was not possible
Cause
Measures
L2020 Error message Reading external position data
Cause
Measures
L2030 Error message JOG operation cannot be accepted
Cause
Measures
H2031 * Error message "Illegal parameter(JOGTSJ,JOGJSP)"
Cause
Measures
H2040 Error message Teaching position is not correct.
Cause
Measures
L2041 Error message Can't calculate frame transformation coordinates.
Cause
Measures
L2042 Error message Frame transformation coordinates are not set
Cause
Measures
L2050 Error message CPU processing time exceeds
Cause
Measures
H2090 Error message In interference zone n. (n indicates the zone number (1 to 32).)
Cause
Measures
H211n Error message Free plane n overrun
(n indicates the
Cause
plane number (1
Measures
to 8).)
The agitating fan in the robot stopped
Confirm the rotation of the agitating fan
* According to the type of the stopped fan, "inside the robot arm" and "inside the robot base" are shown
separately.
Because servo is turned off, the robot can't move.
Turn the servo ON and then restart.
There is an error in the pulse output designation.
Correct the program.
A command that cannot be executed while reading the external commands was executed.
Correct the program.
The JOG operation request was issued when the JOG operation request could not be accepted.
Changes the JOG mode after the JOG operation.
The parameter JOGTSJ, JOGJSP settings are not correct. [JOGPSP]、 [JOGJSP] = (element 1, element
2) = (constant high, constant low)
Set the set dimension to 5 or less.
Change the teaching position.
The work coordinates were not able to be calculated from the teaching position. The cause is the following
content.
1. Two points are the same position.
2. Three points line up on the straight line.
Confirm and correct the teaching position
The position data that defines the coordinate system used with frame transformation are on the same point
or arranged on a straight line so the coordinate system could not be calculated.
Change the position data to appropriate positions so the coordinate system can be calculated.
Frame transformation was attempted even though the coordinate system for frame transformation was not
set.
Set the coordinate system or cancel frame transformation.
Check that the MvSpl command argument <Frame transformation> designation is correct.
Because the function made effective is many at the same time
The CPU processing time exceeded the limiting value. Please take measures of either of following.
1. If interference avoidance function is activated, changes some cylinder models into the sphere model, or
reduces the number of the models for checking .
2. Invalidate some functions of following.
Interference avoidance, User definition area, Free plane limit, Collision detection, Compliance, Tracking,
Force sense
3. Reduces the Interrupt definition function currently used by the program.
Movement outside the user-defined area "n" range was attempted.
Adjust the position.
Movement outside the plane defined with free plane "n" was attempted.
Adjust the position.
Error cause and measures
1Error list
1-24
Error no. C1970