Mitsubishi CR800 Series Instruction Manual page 41

Error No.
L2613 Error message Spline interpolation error (interpolation process)
Cause
Measures
Error message Not enough path points
Cause
Measures
Error message Not enough arc designated points (nnnn)
Cause
Measures
Error message Block data calculation error (ssssssss)
Cause
Measures
Error message Block data does not exist
Cause
Measures
Error message Spline interpolation command calculation error (nnnn)
Cause
Measures
An error occurred during the spline interpolation process.
Refer to the error details No. and check the details of the occurring error. Then take actions for those
error details.
There are less than four path points registered in the spline file.
At least four path points are required to execute spline interpolation. Use a spline file in which four or more
path points are registered.
Three consecutive path points are not designated for the spline interpolation arc.
The number of points in the arc containing the path point No. "nnnn" displayed in the error message is
insufficient. To generate an arc, an arc for three consecutive path points must be designated. This error
occurs if there are only two consecutive points. Add another path point in the arc designation to move with
an arc path.
An error occurred in the process to calculate the data related to the spline interpolation block.
The details of the error differ according to "ssssssss" in the error message.
• Reg.Pt.:
The information on the number of path points saved in the spline file does not match the number of path
points actually registered. Open the spline file in the Spline File Edit screen once, save it again and export
it to the controller.
• Cir.Arc:
The arc could not be generated. Check that the path points for the arc designation are not arranged on a
straight line.
• Frm.Cnv.:
The frame transformation calculation failed. Review the path point positions.
• Blk.Stp.:
Generation of the data for the block stopped, and spline interpolation could not be executed. Reset the
program.
• PtoJ.:
The joint angle cannot be calculated at the position. Review the path point positions.
The load in the process for the controller during spline interpolation was large, and the data for the spline
interpolation block could not be generated in time.
Check whether the load in the spline interpolation execution process can be reduced in the following ways.
• Stop simultaneous execution of functions related to movement such as the collision detection function or
visual control function.
• Review the multi-tasks and reduce the number of slots executed simultaneously.
• Reduce the dedicated output signal assignments.
• Reduce the spline interpolation command speed.
An error occurred in the process for calculating the spline interpolation position commands.
Review the position of path point No. "nnnn" indicated in the error message or the MvSpl command argu -
ment's setting value.
Check that the cancel angle is set correctly. (Does the spline curve bend suddenly?)
Error cause and measures
1Error list
1-32
Error no. L2613