Mitsubishi CR800 Series Instruction Manual page 40

1Error list
Error No.
L2612 Error message Spline interpolation error (Execution error)
Cause
Measures
Error message This robot does not support spline interpolation.
Cause
Measures
Error message Can't execute with these start conditions.
Cause
Measures
Error message Another spline interpolation is being executed
Cause
Measures
Error message Can't execute step return
Cause
Measures
1-31
Error no. L2612
An error related to the spline interpolation execution conditions occurred.
Refer to the error details No. and check the details of the occurring error. Then take actions for those
error details.
Spline interpolation was attempted with a robot that does not support spline interpolation.
Use a different movement command than spline interpolation.
Spline interpolation was attempted with a robot program in a slot having the start conditions
ALWAYS•ERROR.
Spline interpolation cannot be executed with a slot having the start conditions ALWAYS•ERROR. Delete
spline interpolation or change the start conditions to START.
Multiple spline interpolations cannot be executed simultaneously.
Check whether spline interpolation was attempted with a different robot during spline interpolation, or
whether spline interpolation was directly attempted while spline interpolation was halted.
Step return was attempted in respect to spline interpolation.
Spline interpolation does not support the step return operation. Do not attempt step return.
Error cause and measures