Mitsubishi CR800 Series Instruction Manual page 45

Error No.
C2740 Error message Cmp error (coordinates conv.)
Cause
Measures
L2750 One of the errors below is detected.
Please take measures corresponding to an error message.
Error message Cannot execute while tracking
Cause
Measures
Error message Cannot invalidate F.Ctrl (Trk)
Cause
Measures
Error message Unable to disable force sense control. (Tracking being performed)
Cause
Measures
H2760 Error message The force sense control offset limit was reached.
Cause
Measures
H2770 Error message Outside offset position movement range (**)
Cause
Measures
H2780 Error message Offset position speed over (**)
Cause
Measures
L2800 Error message Illegal position data
Cause
Measures
L2801 Error message Illegal position data (start)
Cause
Measures
L2802 Error message Illegal position data (dstn)
Cause
Measures
L2803 Error message Illegal assisting position data (intmed)
Cause
Measures
L2804 Error message SPDOPT can't be operated
Cause
Measures
L2810 Error message Posture flag is disagree
Cause
Measures
H2820 Error message Illegal Accel ratio
Cause
Measures
An error was detected in the coordinates conversion of Cmp command.
Adjust the position data.
Cannot execute while tracking
Execute Trk Off and then execute
Force control cannot be invalidated while executing tracking
Please invalidate the tracking function
Unable to disable force sense control while tracking function being executed.
Try again after disabling the tracking function.
The robot attempted to move beyond the force sense control offset limit.
Check whether there is a problem with robot movement while force sense control is enabled.
(The offset limit is the value set in parameter FSCORMX.)
Note) "**" is substituted with "±Jn" (n is axis No.)
The position after force sense control offset lies outside the range.
The robot may have been moved near the movement range limit.
Review the movement position or force sense control settings, and ensure that the offset position does not
exceed the movement range.
Note) "**" is substituted with "Jn" (n is axis No.)
The speed of movement to the position after offsetting with force sense control exceeded the speed limit.
The movement speed may be too fast, or the robot may have been moved at the singular point adjacent.
Review the movement speed and movement position, or the force sense control settings.
This may occur for a position to which the robot cannot reach.
Adjust the position.
This may occur for a starting position to which the robot cannot reach.
Adjust the position.
This may occur for a ending position to which the robot cannot reach.
Adjust the position.
The intermediate path at the straight line interpolation and the route at circle interpolation are the position
which the robot cannot move.
Confirm the error occurrence line and confirm that there is no position which the robot cannot move. And
please correct the data of starting position, midway position, or ending position .
A singular point area exists on the locus.
Change a interpolation type or destination position.
The structure flag of the start point and end point don't match.
Adjust the position data.
This occurs when the acceleration/deceleration ratio is too small.
Adjust the acceleration/deceleration ratio to a larger value.
Error cause and measures
1Error list
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Error no. C2740