Mitsubishi CR800 Series Instruction Manual page 57

Error No.
L3987 One of the errors below is detected. Please take measures corresponding to an error message.
Error message Force sense control is disabled.
Cause
Measures
Error message Force sense control is enabled.
Cause
Measures
Error message Unable to execute the FsGChg command.
Cause
Measures
Error message Unable to output log file.
Cause
Measures
Error message The specified log file does not exist.
Cause
Measures
Error message Unable to change the force sense status variable.
Cause
Measures
Error message Force sense log commands executed simultaneously.
Cause
Measures
Error message Unable to create log file.
Cause
Measures
Error message Unable to execute the Fsc ON command.
Cause
Measures
Error message Unable to perform log data related processing.
Cause
Measures
Error message Force sense control is enabled.
Cause
Measures
Error message Unable to enable the Mo trigger.
Cause
Measures
Error message Mo trigger timeout
Cause
Measures
Error message Unable to execute the FsCTrg command.
Cause
Measures
Error message Unable to specify the control characteristics change.
Cause
Measures
Force sense control is disabled, and so unable to execute the command.
Enable the force sense control function.
It is not possible to enable force sense control again while already enabled.
First disable the force sense control function, and then enable again.
It is not possible to execute the FsGChg command when force control gain change is not complete.
Review the program so that the FsGChg command is executed after force control gain change is complete.
FTP processing was not properly performed.
Check the FTP related parameter setting.
Check the Ethernet cable connection.
Check the FTP server settings at the computer.
The log file for the No. specified with the FsOutLog command does not exist.
Check whether the log file No. is incorrect.
The status variable setting is currently being used by the force sense control function and so cannot be
changed.
If changing the setting, disable the force sense control function.
It is not possible to create/output another file while creating (FsLog Off command) or outputting
(FsOutLog command) a force sense log file.
Process after force sense log file creation/output is complete.
Unable to create a force sense log file.
Check the amount of available record space in the robot controller.
It is not possible to execute the Fsc On command while changing the force control gain.
Execute the Fsc On command after force control gain change is complete.
It is not possible to execute FsLog On command file while recording force sense control log data.
Execute the FsLog On command after log data recording is complete.
The parameter setting is currently being used by the force sense control function and so cannot be
changed.
If changing the parameter, disable the force sense control function once.
The Mo trigger for the FsCtrg command executed first is enabled.
Execute after changing the control characteristics.
The Mo trigger did not turn ON within the specified time.
Review the Mo trigger conditions and robot program.
The control characteristics is currently being changed.
The Mo trigger for the FsCTrg command executed first is enabled.
Execute after changing the control characteristics.
The control characteristics change has been set with another command.
Change the program so that the command is not executed at the same time as another command.
Error cause and measures
1Error list
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Error no. L3987