Mitsubishi CR800 Series Instruction Manual page 36

1Error list
Error No.
H2231 * Error message Mismatch of Dual Safety Output Feedback
Cause
Measures
H2240 * Error message Origin data change
Cause
Measures
C2250 Error message Safety function execution disabled (No origin setting)
Cause
Measures
H2260 * Error message Safety Unit communication error
Cause
Measures
H2261 * Error message Extended safety unit's No. error
Cause
Measures
H2270 Error message Cannot servo ON (SS1/STO active)
Cause
Measures
H2280 Error message SS1 deceleration time exceeded
Cause
Measures
H2281 Error message SS2 deceleration time exceeded
Cause
Measures
H2282 Error message SOS (Position error)
Cause
Measures
Error message SOS (Speed error)
Cause
Measures
Error message SOS (Position command error)
Cause
Measures
Error message SOS (Speed command error)
Cause
Measures
H230n Error message SLS (Joint Speed Error)
(n indicates
Cause
the axis
Measures
number (1 to
8).)
1-27
Error no. H2231 *
State of Dual Safty Output and the feeedback do not match
Turn the power OFF and ON once
If the same error recurs, contact the manufacturer.
The origin data is changed during execution of the position monitoring function.
The error occurs when the origin data is changed by setting the origin during execution of the position
monitoring function. After turning OFF the power, turn ON the power again to reset the error.
The safety function cannot be executed because the origin is not set.
The safety monitoring function is not activated when the origin is not set. Set the origin.
Extended Safety Unit communication failed
To use the safety monitoring function, it is necessary to connect the extended safety unit of the robot
safety option to the controller. Connect the extended safety unit.
If the error occurs even when the Safety extension unit is connected, check that the Safety extension unit
is powered on. Or check whether pseudo-input mode has been enabled. If none of these solutions rectify
the problem, the Safety extension unit may be faulty. Contact Mitsubishi Electric.
The extended safety unit's station No. is illegal
Set the extended safety unit's station No. to 2
The servo cannot be turned ON while SS1/STO is active
Disable SS1 before turning the servo ON
The robot didn't stop within deceleration time from SS1 enabled
Please confirm the robot movement and the load, stop speed parameter (SFSPZERO) setting
The robot didn't stop within deceleration time from SS2 enabled
Please confirm the robot movement and the load, stop speed parameter (SFSPZERO) setting
Detect the change of position FB on SOS
An error that the position FB has changed on SOS due to external force was detected.
Eliminate the cause of the external force or perform the risk assessment. Then modify the value of the
parameter "SOSTLRNC" to extend the acceptable range of SOS.
Detect FB speed over on SOS
Please check external force or related parameter settings
Detect the change of position CMD on SOS.
Please confirm the robot movement or related parameter setting
Detect CMD speed over on SOS.
Please confirm the robot movement or related parameter setting
Speed monitor detected the speed over
A speed feedback exceeding the limit speed is detected by the speed monitoring function. Check the robot
movement or the monitoring speed setting. Or else, check the delay time (parameterSLSDLY) setting.
Error cause and measures