Operations At Error Occurrence; Cancelling Errors; Error Codes Stored Using The Motion Cpu - Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual

Operations at error occurrence

There are two types of errors, stop errors and continue errors. Refer to operations at error detection for details of stop errors
and continue errors. (Page 368 Operations at error detection)

Cancelling errors

Continue errors (minor errors, or continue mode moderate errors) and warnings can be cancelled. Refer to cancelling errors
for details of cancelling errors. (Page 369 Cancelling errors)

Error codes stored using the Motion CPU

Errors detected at the Motion CPU are divided into warnings and errors. The categories and error code range of errors
detected at the Motion CPU are shown below.
Category
Warning
Error Minor
Minor (SFC)
Moderate
Major
• The error detection signal of the error axis turns on at the error occurrence, and the error codes are stored in the error code
storage register shown below.
Error class
Servo axis Warning
Error
Servo Error
Command Warning
generation axis
Error
Synchronous Warning
encoder axis
Error
Machine Warning
Error
G-code control Warning
Error
• If another error occurs after an error code has been stored, the existing error code is overwritten, deleting it. However, the
error history can be checked using MT Developer2.
• Error detection signals and error codes are held until the "[Rq.1147] Error reset command (R: M34487+32n/Q:
M3207+20n)", "[Rq.1148] Servo error reset command (R: M34488+32n/Q: M3208+20n)", "[Rq.346] Command generation
axis error reset command (R: M40167+32n/Q: M10967+20n)", "[Rq.323] Synchronous encoder axis error reset (R:
M42240+8n/Q: M11600+4n)", "[Rq.2240] Machine error reset command (M43616+32m)", or "[Rq.3380] Reset command
(D54226.4+2s)" turns ON.
• When a servo error or servo warning occurs, a minor error (error code: 1C80H) or warning (error code: 0C80H) is stored in
"[Md.1005] Servo error code (R: D32008+48n/Q: D8+20n)", and servo amplifier error codes or warning codes are not
stored. Error codes or warning codes read from the servo amplifier are stored in "[Md.1019] Servo amplifier display servo
error code (R: D32028+48n/Q: #8008+20n)".
Common
Unique
Unique
Common
Unique
Common
Unique
Error code storage register
R: D32006+48n/Q: D6+20n([Md.1003])
R: D32007+48n/Q: D7+20n([Md.1004])
R: D32008+48n/Q: D8+20n([Md.1005])
R: D36482+32n/Q: D12602+20n([Md.341])
R: D36483+32n/Q: D12603+20n([Md.342])
R: D36570+32n/Q: D13250+20n([Md.327])
R: D36571+32n/Q: D13251+20n([Md.326])
D53171+128m([Md.2023])
D53170+128m([Md.2022])

D54504+128s([Md.3019])
D54505+128s([Md.3020])
D54506+128s([Md.3021])
Error code range
0800H to 0FFFH
1000H to 17FFH
1800H to 1FFFH
3100H to 3BFFH
2000H to 2FFFH
3000H to 30FFH
3C00H to 3DFFH
3E00H to 3FFFH
Error detection signals
R: M32407+32n/Q: M2407+20n
([St.1067])
R: M32408+32n/Q: M2408+20n
([St.1068])
R: M36567+32n/Q: M9807+20n
([St.344])
R: M38644+16n/Q: M10444+10n
([St.324])
M43904+32m([St.2120])
D54440.1+4s([St.3209])
Error reset command
R: M34487+32n/Q: M3207+20n
([Rq.1147])
R: M34488+32n/Q: M3208+20n
([Rq.1148])
R: M40167+32n/Q: M10967+20n
([Rq.346])
R: M42240+8n/Q: M11600+4n
([Rq.323])
M43616+32m([Rq.2240])
D54226.4+2s([Rq.3380])
APPENDICES
377
Appendix 1 Error Codes
A