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Mitsubishi Electric RD77MS2 User Manual Page 600

Melsec iq-r simple motion module.
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Error code
Error name
(Hexadecimal)
19A4H
Illegal setting of ABS
direction in unit of
degree
19A5H
Illegal setting of ABS
direction in unit of
degree
19A6H
Start at home
position return
incomplete
19E4H
Outside control
mode auto-shift
switching parameter
range
19E7H
Continuous
operation to torque
control not supported
19F0H
Illegal condition data
No.
19F1H
Error before
simultaneous start
19F2H
Special start
instruction error
14 TROUBLESHOOTING
14.5 List of Error Codes
Error details and causes
The setting value of the "[Cd.40] ABS direction in
degrees" is outside the setting range when the software
stroke limit is invalid.
[Operation status at error occurrence]
At start: The system does not operate.
During operation: The system decelerates to a stop.
(Note that, in the continuous positioning control and
continuous path control, the system continues operating
with the setting set at the time of start even if the setting
is changed during the operation.)
The setting value of the "[Cd.40] ABS direction in
degrees" is set other than "0" when the software stroke
limit is valid.
[Operation status at error occurrence]
At start: The system does not operate.
During operation: The system decelerates to a stop.
(Note that, in the continuous positioning control and
continuous path control, the system continues operating
with the setting set at the time of start even if the setting
is changed during the operation.)
• When executing operation setting at home position
return incomplete, positioning was started at home
position return request ON.
• When executing operation setting at home position
return incomplete, control mode switching was
executed at home position return request ON.
[Operation status at error occurrence]
At start: The system does not operate.
At control mode switching: The mode is not changed.
When setting the control mode auto-shift switching
selection, the control mode auto-shift switching
parameter is outside the range.
[Operation status at error occurrence]
During positioning control: The system stops with the
setting of the detailed parameter 2 sudden stop
selection (stop group 3).
During speed control mode: The mode is switched to
position control mode, and the system stops
immediately.
Switching to the continuous operation to torque control
mode is requested to a servo amplifier which does not
support the continuous operation to torque control.
[Operation status at error occurrence]
During positioning control: The system stops with the
setting of the detailed parameter 2 sudden stop
selection (stop group 3).
During speed control mode: The mode is switched to
position control mode, and the system stops
immediately.
The condition data No. is outside the setting range
when a block using the condition data is started by a
special starting (conditional start, wait start,
simultaneous start, FOR (condition)).
(1  Condition data No.  10)
[Operation status at error occurrence]
The operation is terminated.
<When blocks are started simultaneously>
The partner axis for simultaneous start is BUSY.
[Operation status at error occurrence]
At start: The system does not operate.
During operation: The operation is terminated.
No applicable special start instruction is present.
[Operation status at error occurrence]
The operation is terminated.
Remedy
Correct the "[Cd.40] ABS direction in degrees".
• Set "0" when the software stroke limits are valid.
• Invalidate the software stroke limit. (To invalidate, set
the software stroke limit upper limit value to the
software stroke limit lower limit value.)
• Start after the home position return is executed.
• Switch the control mode after the home position
return is executed.
• For systems which can operate the positioning
control and speed-torque control though the home
position return request is ON, set "1" to the setting
value of the operation setting at home position return
incomplete.
Set the control mode auto-shift switching parameter
within the range and switch to the continuous operation
to torque control mode.
Use a servo amplifier which supports the continuous
operation to torque control.
Review the condition data No.
Normalize the simultaneous start axis.
Correct the instruction code of the special start.

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