Mitsubishi Electric RD77MS2 User Manual page 588

Warning code Warning name
(Hexadecimal)
09E5H Torque initial value
selection invalid
09E6H Control mode
switching during
BUSY
09E7H Control mode
switching during zero
speed OFF
09E8H Outside control
mode range
09E9H Control mode
switching
09EAH Illegal control mode
switching
09EBH Control mode
switching not
possible
09F0H No operation
termination setting
09F1H FOR to NEXT nest
construction
14 TROUBLESHOOTING
586
14.4 List of Warning Codes
Error details and causes
At switching the control mode, the servo parameter
"Function selection C-B POL reflection selection at
torque control (PC29)" is "0: Enabled" on the axis that
set feedback torque into the torque initial value
selection.
[Operation status at warning occurrence]
The initial value selection is controlled as the command
torque.
Control mode switching was executed from the position
control mode to the speed control mode/torque control
mode while BUSY was turned ON.
[Operation status at warning occurrence]
The control mode is not switched. (Positioning during
operation continues.)
Control mode was changed when "Zero speed"
([Md.119] Servo status2) was turned OFF.
[Operation status at warning occurrence]
The control mode is not switched. (Current operation
continues.)
Control mode switching request was performed by
specifying a value outside the range for "[Cd.139]
Control mode setting".
[Operation status at warning occurrence]
The control mode is not switched. (Current operation
continues.)
Control mode switching request was performed during
the control mode switching.
[Operation status at warning occurrence]
Control mode switching request is not accepted.
• Switching to the speed/torque control mode is
requested to the axis which does not support the
control mode switching.
• Switching to the continuous operation to torque
control mode is requested to the axis which does not
support the control mode switching.
[Operation status at warning occurrence]
Control mode switching request is not accepted.
• Control mode switching was performed from the
position control mode to the continuous operation to
torque control mode and then from the continuous
operation to torque control mode to the speed control
mode.
• Control mode switching was performed from the
speed control mode to the continuous operation to
torque control mode and then from the continuous
operation to torque control mode to the position
control mode.
• Control mode switching was performed between the
torque control mode and continuous operation to
torque control mode.
[Operation status at warning occurrence]
The control mode is not switched. (Current operation
continues.)
In the positioning by block starting, the 50th point of the
positioning start data is set to CONTINUE.
[Operation status at warning occurrence]
The operation is terminated.
FOR to NEXT is nested.
[Operation status at warning occurrence]
The operation is continued.
Remedy
• Use a servo amplifier which supports the servo
parameter "Function selection C-B POL reflection
selection at torque control (PC29)" and set (PC29) to
"1: Disabled".
• At switching the control mode, set the torque initial
value selection to command torque.
Switch the control mode after turning BUSY OFF.
Switch the control mode after turning "Zero speed"
([Md.119] Servo status2) ON.
Switch the control mode after setting a value within the
range for "[Cd.139] Control mode setting".
Carry out the control mode switching request after
completing the control mode switching.
• Do not use the speed/torque control to the axis
which does not support the control mode switching.
• Do not use the continuous operation to torque
control to the axis which does not support the control
mode switching.
Review so that control mode switching is performed
between the position control mode and continuous
operation to torque control mode or between the speed
control mode and continuous operation to torque
control mode.
Set the operation termination to the 50th point.
Make 1 nest construction for FOR to NEXT.