Mitsubishi CR800 Series Instruction Manual page 56

1Error list
Error No.
L3986 One of the errors below is detected. Please take measures corresponding to an error message.
Error message Unable to enable force sense control. (Sensor)
Cause
Measures
Error message Unable to enable force sense control. (Cmp command)
Cause
Measures
Error message Unable to execute the Cmp command. (Force sense control)
Cause
Measures
Error message Unable to enable the collision detection function. (Force sense control)
Cause
Measures
Error message Unable to enable force sense control. (Initialization)
Cause
Measures
Error message This is the singular point adjacent area. (Force sense control)
Cause
Measures
Error message The force sense control status is different.
Cause
Measures
Error message This function cannot be used.
Cause
Measures
Error message Unable to change tool conversion data. (Force sense control)
Cause
Measures
Error message Unable to change base conversion data. (Force sense control)
Cause
Measures
Error message Unable to execute the Jrc command. (Force sense control)
Cause
Measures
Error message Disable force sense control.
Cause
Measures
Error message Unable to perform offset cancel. (Force sense control)
Cause
Measures
1-47
Error no. L3986
Unable to execute because the force sensor is not connected.
Connect the force sensor, or delete the command that cause the error.
It is not possible to enable force sense control function while the compliance control function is enabled.
The force sense control function and compliance control function cannot be enabled simultaneously. If
using the force sense control function, disable the compliance control function.
It is not possible to enable the compliance control function while the force sense control function is
enabled.
The force sense control function and compliance control function cannot be enabled simultaneously. If
using the compliance control function, disable the force sense control function.
It is not possible to enable the collision detection function while force sense control function is enabled.
The force sense control function and collision detection function cannot be enabled simultaneously. If using
the collision detection function, disable the force sense control function.
It is not possible to perform initialization when starting force sense control.
Check the parameter settings.
It is not possible to move the singular point adjacent area while the force sense control function is enabled.
If moving the singular point adjacent area, disable the force sense control function.
The force sense control enabled/disabled status when resuming program operation differs from that during
program operation.
Set the force sense control enabled/disabled status to the correct status. (This occurs only once when
resuming program operation.)
This model is not compatible with the executed force sense control function.
Do not use this force sense control function.
Contact the maker for details on the latest compatibility status.
It is not possible to change tool conversion data while the force sense control function is enabled.
If changing tool conversion data, disable the force sense control function.
It is not possible to change base conversion data while the force sense control function is enabled.
If changing base conversion data, disable the force sense control function.
It is not possible to execute the Jrc command while the force sense control function is enabled.
To execute the Jrc command, disable the force sense control function.
JOG operation cannot be performed on your model while the force sense control function is enabled.
Disable the force sense control function.
It is not possible to perform offset cancel while the force sense control function is enabled.
If performing offset cancel, disable the force sense control function.
Error cause and measures