Mitsubishi Electric A173UHCPU Programming Manual page 328

APPENDICES
Control Mode
Error
Code
! ! ! ! ! !
100
! ! ! ! ! !
101
! ! ! ! ! !
103
! ! ! ! ! !
104
! ! !
105
! ! ! !
106*
! !
107
! !
108*
! !
109
! !
110*
!
111
115
(2) Positioning control start-up errors (100 to 199)
The errors shown in this section are those detected when positioning control is
started.
Error codes, causes, processing, and corrective actions are shown in Table 2.6
below.
(Note-1) : When interpolation control is being executed, the error codes are
stored in the error code storage areas of all the axes involved in the
interpolation.
Table 2.4 Positioning Control Start-Up Error List (100 to 199)
• The PLC ready flag (M2000) or PCPU ready
! ! ! ! !
flag (M9074) is OFF.
• The start accept flag (M2001 to M2032) of
the relevant axis has been turned ON.
! ! ! ! !
• The stop command (M3200+20n) of the
! ! ! ! !
relevant axis has been turned ON.
• The rapid stop command (M3201+20n) of
! ! ! ! !
the relevant axis has been turned ON.
• On starting, the feed current value is outside
the stroke limit range.
!
• Positioning outside the stroke limit has been
! !
designated.
• An address that does not generate an arc
was designated in circular interpolation for
which an auxiliary point is designated.
Error in relationship between the start
point, auxiliary point, and end point
• An address that does not make an arc was
designated in circular interpolation for which
a radius is designated.
Error in relationship between the start
point, auxiliary point, and end point
• An address that does not generate an arc
was designated in circular interpolation for
which a center point is designated.
Error in relationship between the start
point, auxiliary point, and end point
• In circular interpolation, the difference
between the end point address and the ideal
end point exceeded the allowable error
range for circular interpolation.
• An attempt was been made to restart
speed/position switching control although it
had not stopped.
• The zeroing completed signal (M2410+20n)
has been turned ON during a proximity dog
type zeroing operation.
!
Error Cause
Processing
Positioning
control does
not start.
APP − 11
Error
Corrective Action
• Set the servo system CPU to RUN.
• Turn the PLC ready flag (M2000) ON.
• Provide an interlock in the program to
prevent the axis from being started while in
motion (use the turning OFF of the start
accept signal for the axis as the interlock
condition).
• Turn the stop command (M3200+20n) OFF
and start positioning.
• Turn the rapid stop command (M3201+20n)
OFF and start positioning.
• Move back inside the stroke range using
JOG operation.
• Enter inside the stroke range by executing
a zeroing or current value change.
• Positioning end point must be within the
specified stroke limit.
• Designate correct addresses in the servo
program.
• Do not attempt restart when speed/position
switching control has not stopped.
• Resumptive starts are not possible for
zeroing return operations.
Use JOG operation or positioning
operation to return the axis to a point
before the proximity dog signal was output,
then retry the zeroing operation.