Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 390

Error Error name
code
19E2H Command speed
acceleration/deceleration
time outside range
19E3H Command torque time
constant outside range
19E6H Target position change
request prohibited
acceleration/deceleration
method
19E7H Unsupported stopper
control
19E8H Stroke limit invalid axis
circular/helical
interpolation execution
error
19E9H Speed-position control
restart error
19EAH Fixed position stop speed
control start error
19EBH Speed control ()
execution impossible
19ECH External input signal
setting error
19EDH Other axes software
stroke limit outside range
error detection
19EEH Setting movement amount
software stroke limit
outside range
19EFH Interpolation command
incorrect after skip during
continuous path control
19F9H Start axis control operation
cycle unmatched error
19FAH No specified servo
program
19FBH Axis No. unmatch error
APPENDICES
388
Appendix 1 Error Codes
Error details and cause
• The command speed acceleration time of the speed-
torque control data is outside the range 0 to
8388608 [ms].
• The command speed deceleration time of the speed-
torque control data is outside the range 0 to
8388608 [ms].
• The command torque time constant (positive direction)
of the speed-torque control data is outside the range of
0 to 8388608 [ms].
• The command torque time constant (negative direction)
of the speed-torque control data is outside the range of
0 to 8388608 [ms].
The target position change request (CHGP) is executed to
the program where the following acceleration/deceleration
system is set.
• FIN acceleration/deceleration
• Advanced S-curve acceleration/deceleration
Switching to the stopper control was requested to the
servo amplifier which unsupported to the stopper control.
The circular interpolation or helical interpolation was
started in the invalid axis of stroke limit.
The speed-position switching control restart (VPSTART)
was performed, although it was not after the stop during
operation of the speed-position switching control.
Servo axis:
• The speed control with fixed position stop was executed
for the axis which the unit has been set other than
[degree].
• The speed control with fixed position stop was executed
for the axis which the stroke limit has been set other
than [degree].
Command generation axis:
• The speed control with fixed position stop was executed
for the axis which the "[Pr.346] Command generation
axis 1 cyclic length" is 0.
The operation disable instruction (VVF/VVR) was started
in an axis that does not support VVF/VVR instructions.
The positioning control which uses the external input
signal was executed for the axis which has not set the
external input signal in the system settings.
The feed current value of another axis exceeded the
stroke limit value during the circular/helical interpolation or
simultaneous manual pulse generator operation. (For
detection of other axis errors).
The preset movement amount exceeded the stroke limit
range when speed-position switching signal (CHANGE) is
input.
• The next interpolation is ABS arc or ABS helical
interpolation upon skip execution under continuous path
control.
• ABS arc or ABS helical interpolation is executed with
passing through only the incremental positioning point
after skip is executed under continuous path control.
The control operation cycle of the axis No. set in servo
program is unmatched.
The servo program set in servo program start does not
exist.
The axis No. set in servo program start does not match to
axis No. set in servo program.
Corrective action
• Set the command speed acceleration time of the
speed-torque control data within the range 0 to
8388608 [ms].
• Set the command speed deceleration time of the
speed-torque control data within the range 0 to
8388608 [ms].
• Set the command torque time constant (positive
direction) of the speed-torque control data within the
range of 0 to 8388608 [ms].
• Set the command torque time constant (negative
direction) of the speed-torque control data within the
range of 0 to 8388608 [ms].
• Do not execute the target position change to the
program where the FIN acceleration/deceleration or the
advanced S-curve acceleration/deceleration is set.
• Set the acceleration/deceleration system of the
parameter block or the servo program to the trapezoid/
S-curve acceleration/deceleration.
Use the available stopper control for servo amplifier.
Make the stroke limit valid for the control unit degree axis
starts the circular interpolation or helical interpolation.
Do not restart except for the stop during speed-position
switching control.
Servo axis:
• Set the unit [degree] for the axis for which fixed position
stop speed control is started.
• Set the stroke limit to invalid "(lower stroke limit value) =
(upper stroke limit value)" for the axis for which fixed
position stop speed control is started.
Command generation axis:
• Set the length per cycle other than 0 for fixed position
stop speed control starting axis in command axis.
The VVF/VVR instruction cannot be started in an axis that
does not support VVF/VVR instructions.
Set the external input signal in the system setting.
Correct the setting movement amount or the stroke limit
range so that the positioning control is within the range of
stroke limit.
Correct the setting movement amount or the stroke limit
range so that the positioning control is within the range of
stroke limit.
If ABS arc or ABS helical interpolation is designated at a
point after the skip designation point, set an ABS linear
interpolation point in the interval.
Set the axis No. whose control operation cycle can match.
Set the correct servo program No.
Set the correct axis No.