Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 384

Error Error name
code
0A55H Speed-torque control
operation data incorrect
setting
0A56H Speed limit value outside
range during speed-torque
control
0A57H Torque limit value outside
range during speed-torque
control
0A58H Fixed position stop
acceleration/deceleration
time incorrect
0A59H Command speed outside
range during continuous
path control
0A5AH Positioning speed error
during continuous path
control
0A5BH Torque limit change value
outside range
0A5CH The torque limit value
change error to the axis
not yet started
0A5DH Under bias speed at start
when changing speed
0A5EH Torque limit change value
incorrect during speed-
torque control
Command speed absolute
0A5FH
value outside range during
speed-torque control
0BD0H Input axis phase
compensation over
0BD1H Input axis rotation
direction restriction
amount over
0BD2H Input axis speed display
over
0BD3H Serial ABS synchronous
encoder battery warning
0BD4H Synchronous encoder axis
control method outside
range error
0BD5H Synchronous encoder axis
control method
specification error
APPENDICES
382
Appendix 1 Error Codes
Error details and cause
• Any of the devices set in the speed-torque control
operation data is outside the range.
• In the axes which the torque initial value selection is
feedback torque when switching the control mode, the
servo parameter "POL reflect setting during the PC29
torque control" is "0: Valid".
The value set in speed limit value in speed-torque control
is outside the range when switching the control mode.
The value set in torque limit value in speed-torque control
is outside the range when switching the control mode.
During the fixed position stop speed control, the fixed
position acceleration/deceleration time is outside the
range of 1 to 8388608[ms] at the fixed positioning
acceleration/deceleration time input.
During continuous path control, the command speed at a
passing point is less than 0.
During continuous path control, the positioning speed at a
passing point does not reach the bias speed at start.
When the torque limit value change (D(P).CHGT,
M(P).CHGT, CHGT) is requesting, the positive direction
torque limit value or the negative direction torque limit
value was set outside the range of 1 to 10000 [0.1%].
The torque limit value change request (D(P).CHGT,
M(P).CHGT, CHGT) was made to the axis not yet started.
• The speed after change does not reach the bias speed
at start when changing the speed.
• The speed from "command speed of program 
override ratio" does not reach the bias speed at start.
• The speed from "speed change request  override ratio"
does not reach the bias speed at start.
The change value according to torque limit value change
request (D(P).CHGT, M(P).CHGT, CHGT) during speed-
torque control exceeded the torque limit value during
speed-torque control.
The absolute value of command speed is outside the
range of 0 to Speed limit value in speed-torque control
during the speed-torque control.
The phase compensation of input axis was below the
minimum value (-2147483648) or above the maximum
value.
The rotation direction restriction amount of input axis was
below the minimum value (-2147483648) or above the
maximum value (2147483647).
The monitor speed display of input axis was below the
minimum value (-2147483648) or above the maximum
value (2147483647).
The battery voltage dropped in the servo amplifier which
connected the synchronous encoder.
A value outside the range of 0 to 2 was set in "[Cd.321]
Synchronous encoder axis control method" at
synchronous encoder axis control request.
The control cycle of the high-speed input request signal
specified in "[Cd.320] Synchronous encoder axis control
start condition" is not set as the operation cycle at
synchronous encoder axis control request.
Corrective action
• Correct the speed-torque control operation data device.
• Use the servo amplifier corresponding to the POL
reflect setting during the torque control and set the POL
reflect setting as "1: Invalid" at the torque control. Or set
the command torque in the torque initial value selection
when switching the control mode.
Set the speed limit value within the range.
The torque limit value is set to 1 to 10000 [0.1%].
Set the setting of fixed position stop acceleration/
deceleration time within the range of 1 to 838868[ms].
Set the speed command value within the range of 1 to
Speed limit value.
• Set the command speed within the range of bias speed
at start or more and speed limit value or less.
• Set the command speed within the range of Bias speed
at start to Speed limit value.
When the torque limit value change is requesting, execute
the changing request to set the positive direction torque
limit value or the negative direction torque limit value
within the range of 1 to 10000[0.1%].
Make the torque limit value change request to the axis not
yet started.
• Set the command speed within the range of Bias speed
at start to Speed limit value.
• Set "command speed of program  override ratio" and
"speed of speed change request  override ratio" within
the range of Bias speed at start to Speed limit value.
Specify the change request within the torque limit value
during the speed-torque control.
Set the speed within the range of 0 to Speed limit value in
speed-torque control after change.
• Shorten the phase compensation advance time.
• Decrease the input axis speed.
• Check the enabled direction in the rotation direction
restriction setting. (The setting may be opposite.)
• Check if there is an execution that the input axis moves
by a wide margin oppositely to the enabled direction.
• If the number of decimal places is set in the input axis
setting, reduce the setting value.
• If the speed time unit is set in the input axis setting, Set
min  sec.
• Slow down the input axis.
Replace the battery.
Set within the range of 0 to 2.
Specify the high-speed input request signal in which the
control cycle is set as the operation cycle.