Mitsubishi Electric CR800 Series Instruction Manual
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Mitsubishi Electric CR800 Series Instruction Manual

Mitsubishi Electric CR800 Series Instruction Manual

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CR800 Series Controller
Instruction Manual
Troubleshooting
CR800-D
CR800-R
CR800-Q

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Summary of Contents for Mitsubishi Electric CR800 Series

  • Page 1 CR800 Series Controller Instruction Manual Troubleshooting CR800-D CR800-R CR800-Q...

  • Page 3: Safety Precautions

    SAFETY PRECAUTIONS Always read the following precautions and the separate "Collaborative Robot Safety Manual" before starting use of the robot to learn the required measures to be taken. Precaution indicating cases where there is a risk of operator fatality or serious injury if handling is mistaken.
  • Page 4 The points of the precautions given in the separate "Collaborative Robot Safety Manual" are given below. Refer to the actual "Collaborative Robot Safety Manual" for details. ● When automatic operation of the robot is performed using multiple control devices (GOT, programmable controller, push-button switch), the interlocking of operation rights of the devices, etc.
  • Page 5 ● Use the robot within the environment given in the specifications. Failure to do so could lead to a drop or reliability or faults. (Temperature, humidity, atmosphere, noise environment, etc.) ● Transport the robot with the designated transportation posture. Transporting the robot in a non- designated posture could lead to personal injuries or faults from dropping.
  • Page 6 (VPNs), and antivirus solutions. Mitsubishi Electric shall have no responsibility or liability for any problems involving robot trouble and system trouble by unauthorized access, DoS attacks, computer viruses, and other cyberattacks.

  • Page 7: Introduction

    INTRODUCTION Thank you for purchasing the Mitsubishi industrial robot. This instruction manual describes the causes and measures for errors that may occur while using the robot. If an error should occur, refer to this manual and take appropriate measures. This manual is applicable to both the iQ Platform-compatible CR800-R/Q series and the standalone CR800-D series. Note that the errors that occur for each series are described as "CR800-R only", "CR800-D only", "CR860-R only", and "CR860-D only".

  • Page 8: Table Of Contents

    CONTENTS SAFETY PRECAUTIONS ..............1 INTRODUCTION .
  • Page 9 H0070 ................. 28 H0071 .
  • Page 10 H0248 * ................35 H0249 * .
  • Page 11 H0750 * ................41 H0760 * .
  • Page 12 C127n ................. 49 C128n .
  • Page 13 C1710 ................. 56 C1720 .
  • Page 14 H220m ................. 62 H221n .
  • Page 15 C273n ................. 76 C2740 .
  • Page 16 L3258................. . 84 L3260.
  • Page 17 L3940................. . 90 L3950.
  • Page 18 L4811 * ................98 L4820.
  • Page 19 H6100 ................104 H6101 .
  • Page 20 L6620................. 110 L6630.
  • Page 21 H7602 * ................116 H7603 * .
  • Page 22 H8442 ................123 H8450 .
  • Page 23 L8700................. 129 L8710.

  • Page 24: Chapter 1 Error List

    Error list Error No. When an error occurs, ERROR LED at the front of the controller will turn on or blink. ERROR LED status Details Low-level error, or warning occurred. Flashing High-level error occurred. Normal operation. The four-digit error number (number except the one character of the head.) is displayed on LCD of T/B. Example: In the case of C0010, display the display and the error message for "0010."...

  • Page 25: H0003

    H0003 Error message The system is abnormal. Cause The problem of the system is the cause. Measures If it comes back, contact to your service provider. H0004 * Error message CPU Watch dog error Cause CPU was not normally treatable Measures It is necessary to change some parts when not improvement.

  • Page 26: C0011

    C0011 Error message Illeagal Version (system data) Cause The version is inconsistent. Measures The file has been automatically initialized. Turn the power OFF and ON once. C0012 Error message Initialize (error log) Cause The error log has been initialized because of version mismatch or the error log file is abnormal. Measures Reset the alarm, and continue the operation.

  • Page 27: H0022

    H0022 * Error message System Error (Backup data is no area.) Cause The region is too small. Measures Please consult your service provider. C0023 Error message Variables save failure (Program) Cause Power was shutdown before saving program external variables. Measures It is necessary to change some parts when not improvement.

  • Page 28: H0039

    H0039 Error message Door Switch Signal line is faulty. Cause The one point of contact in 2 points of contact of the door switch has broken. Or wiring is not the double lines. Measures Confirm whether there is any problem in wiring of the switch. And, please confirm whether it is wiring of the double line. The door switch is wired for redundancy so check that both contacts are functioning in the same manner.

  • Page 29: H0049

    H0049 Error message Faulty Line ([T/B ENABLE] switch) Cause The state of doubled line is not matching ([T/B ENABLE] switch) Measures If it comes back, contact your service provider. H0050 Error message EMG signal is input. (external) Cause The external emergency stop is being input. If the emergency stop of T/B or O/P turns on with CR860-D/R/Q controller, this error may occur simultaneously.
  • Page 30 H0070 Error message EMG signal is input. (T.Box) Cause EMG signal is input. (T.Box) Or when using the UL specification, the brake release switch is turning ON. Measures Cancel the T/B emergency stop. Check the emergency stop switch of teaching pendant.. Or when using the UL specification, turn OFF the brake release switch.
  • Page 31 H0090 One of the errors below is detected. Please take measures corresponding to an error message. Error message Fuse is blown (brake) Cause A brake failure or a ground fault of brake cable may have caused the error. Measures Investigate and correct the ground fault or short circuit portion in the wiring made by the customer. If no improvement is made after carrying out the above measures, the brake fuse or the circuit board will need to be replaced.
  • Page 32 H0100 * Error message Temperature in RC is too high Cause The cooling fan is not operating, or the air filter is clogged. Measures Check the operation of the intake fan, or clean or replace the fan filter if necessary. Confirms that the environmental temperature is the specification range.
  • Page 33 For the RV-5AS, refer to the section "Input the serial number" in "CR800-05VD Controller Instruction Manual Controller Setup and Maintenance". For robots other than the RV-5AS, refer to the section "Input the serial number" in "CR800 Series Controller Instruction Manual Controller setup, basic operation, and maintenance".
  • Page 34 H017m m=1 to 2 Error message Parallel I/O interface H/W error. Cause The parallel-input/output card broke or the external power source for the parallel input/outputs was cut off. Measures If it comes back, exchange the Parallel I/O interface card. H018m m=1 to 2 Error message Fuse is blown.(PIO) (Slot m-Fn)
  • Page 35 H0214 * One of the errors below is detected. Please take measures corresponding to an error message. Error message Set the power supply to 100V Cause The parameter is different from detected voltage Measures The detected power supply voltage is 100V, but the power supply voltage set in the parameter is 200V. Set the voltage to 100V, then cycle the power.
  • Page 36 H0230 * Error message Safety parameter error (***) Cause Detect errors in safety parameter value Measures The safety parameter setting is not correct. Check the parameter setting shown in the "(***)" part of the error message, and set an appropriate value. For further information refer to the separate "Robot Safety Option Instruction Manual"...
  • Page 37 C0245 Error message Setting mismatch of Safety Comm. Cause Safety comm. logic is set, but safety comm. function is disabled. Measures Delete the safety communication logic settings or enable safety communication. For further information refer to the separate "Safety Communication Function Instruction Manual". H0246 * Error message Safety comm.
  • Page 38 H0253 * Error message N/W module ver. error Cause The network module specified in the communication settings of the safety communication function (CC-Link IE TSN) does not support this function. Measures Check the network module version. Use the RJ71GN11-T2 with the supported version or later as a network module. For further information refer to the separate "Safety Communication Function Instruction Manual".
  • Page 39 Hand conditions have not been changed from initial values. Measures Set the parameter HNDDATn (n = 0 to 8) or HNDCHK. Refer to "Functions set with parameters" in the CR800 Series Controller Instruction Manual: Detailed explanations of functions and operations. C043n n indicates the axis number (1 to 8).
  • Page 40 H050n * n indicates the axis number (1 to 8). Error message Servo axis setting error Cause The setting of the axis number selection switch is illegal Measures Confirm the setting of the axis selection switch H0510 * Error message The converter setting is illegal Cause The external emergency-stop input power was detected except external emergency-stop mode.
  • Page 41 H058n * n indicates the axis number (1 to 8). Error message Encoder error (LED) Cause The LED of the serial pulse encoder has been deteriorated. Measures Turn the power OFF and ON once. If it comes back, contact your service provider. H059n * n indicates the axis number (1 to 8).
  • Page 42 H065n * n indicates the axis number (1 to 8). Error message Absolute position error Cause An error was detected in the absolute position detection circuit within the absolute position linear scale. Measures Turn the power OFF and ON once. Also, carefully check whether there is no deviation in the operating position of the robot. If it is deviated, set the origin position (OP) again.
  • Page 43 H0712 * Error message Converter fuse fusing Cause Fuse of a converter fused for a ground fault or short circuit Measures Investigate and correct the ground fault or short circuit portion in the wiring made by the customer. If no improvement is made after carrying out the above measures, the converter fuse or the circuit board will need to be replaced. Contact the manufacturer.
  • Page 44 H0760 * Error message Power supply error Cause An error was detected in the data comm. with the power supply Measures Turn the power OFF and ON once H0770 * Error message Power supply process error Cause An error occurred in the process cycle of power supply Measures Turn the power OFF and ON once.
  • Page 45 H0820 *, H082n * n indicates the axis number (1 to 8). Error message Motor ground fault Cause A motor ground fault was detected. A connection or conductance error may have occurred in the motor cable. Measures Turn the power OFF and ON once. Check connection and continuity of motor cable. H083n * n indicates the axis number (1 to 8).
  • Page 46 H090n * n indicates the axis number (1 to 8). Error message Absolute position overspeed Cause It moved 45 mm/sec or faster with the absolute position linear scale during initialization. Measures Turn the power OFF and ON once. If it comes back, contact your service provider. H091n * n indicates the axis number (1 to 8).
  • Page 47 H096n n indicates the axis number (1 to 8). Error message Excessive error 1 Cause The position error exceeded at servo ON. Moreover, this error may occur during the emergency-stop deceleration. Measures • Check the factors such as the load weight and the push force. Check the connection of motor power line (such as the machine cable and the locomotion-axis cable).
  • Page 48 H1030 * Error message Power supply over-regeneration Cause The converter's regenerative performance limit was exceeded. Measures Wait at least 15 minutes in the power ON state, and then turn the power OFF and ON. If it comes back, contact your service provider. Regeneration resistance may be disconnected. H104n * n indicates the axis number (1 to 8).
  • Page 49 H110n * Error message Servo com. receive error Cause Abnormality occurred in data reception from a servo amplifier Measures Check the communication cable connection and conductivity H1110 * Error message Servo communication timeout Cause Data from a servo amplifier is not received Measures Check the communication cable connection and conductivity H111n...
  • Page 50 H115n * n indicates the axis number (1 to 8). Error message Large command position Cause The command position from the RC is abnormally large. Measures command is executed, execute Mov P_Fbc before Cmp Off. Or cycle the power. If the same error recurs, contact the manufacturer. H116n * n indicates the axis number (1 to 8).
  • Page 51 H123n * n indicates the axis number (1 to 8). Error message SRV-AMP Comm. data error (SubID) Cause A Sub ID error was detected in the communication data from the servo amplifier. Measures Turns off the power supply once and turns on again. If it comes back, contact your service provider. H1240 * Error message SRV-AMP Comm.
  • Page 52 C130n n indicates the axis number (1 to 8). Error message Servo AMP MP scale F/B error Cause Excessive displacement was detected in the feedback amounts between the detector and the MP scale. Measures Turn the power OFF and ON once. If it comes back, contact your service provider. C131n n indicates the axis number (1 to 8).
  • Page 53 H136n * n indicates the axis number (1 to 8). Error message Absolute position counter error Cause The counter of absolute position is illegal. Measures Confirm whether the connection of encoder cable and the battery voltage of arm is falling. C137n n indicates the axis number (1 to 8).
  • Page 54 H144n * n indicates the axis number (1 to 8). Error message System error (servo 2) Cause Trouble occurred in the current processing processor. Measures Turn the power OFF and ON once. If it comes back, contact your service provider. H1450 * Error message Instantaneous power interruption...
  • Page 55 H1494 * Error message Discharge resistance overheat Cause Overheating of the discharge resistance was detected Measures Turn the power OFF, wait a while, and then turn ON again H1495 * Error message motor power line error Cause The motor power line conductivity is illegal Measures Check the connection of the power line.
  • Page 56 H157n n indicates the axis number (1 to 8). Error message Non-registered servo error. (This error may be caused by the error on the amplifier for additional axis.) Cause A non-registered servo alarm occurred. Measures Confirms the code by LED of servo additional axis amplifier, and refer to the instruction manual of servo amplifier. If the alarm cannot be reset, turn the power OFF and ON.
  • Page 57 C1650 Error message Cannot servo ON (brake OFF) Cause The servo cannot be turned ON when there is an axis with the brakes released. Measures Lock the brakes for all axes before turning the servo ON. C1660 Error message Cannot servo ON (SRVON process) Cause The servo cannot be turned ON during the servo ON process.
  • Page 58 C1700 Error message Cannot brake operation (EMG) Cause The brakes cannot be released while the emergency stop is input. Measures Release the emergency stop state before operating. C1710 Error message Cannot brake operation (SRVON) Cause The brakes cannot be operated during servo ON. Measures Turn the servo OFF before operating.
  • Page 59 C1780 Error message Cannot set origin (illegal axis) Cause The origin was not set simultaneously for the interference axis. Measures Set the origin simultaneously for the interference axis. For example, the J3 axis and the J4 axis of the RH type robot. Please refer to the section of origin setting of separate manual: "Robot Arm Setup and Maintenance"...
  • Page 60 C1850 Error message Instantaneous power failure Cause There was the momentary power failure. Measures Check the power supply connection and power supply state. L1860 Error message Illegal parameter (TLC) Cause The setting of the TLC parameter that sets the approach direction was incorrect. Measures Correct the TLC parameter.
  • Page 61 C196n Error message Additional axis AMP Warning *** Cause Warning of the addition axis servo amplifier was detected. Measures Refer to the instruction manuals of addition axis servo amplifier for the details of warning. "***" of the error message corresponds to the warning number of addition axis servo amplifier (MR-J4-B). C1970 Error message Agitating fan stopped (robot)
  • Page 62 H2040 Error message Teaching position is not correct. Cause Change the teaching position. Measures The work coordinates were not able to be calculated from the teaching position. The cause is the following content. 1. Two points are the same position. 2.
  • Page 63 H213n n indicates the axis number (1 to 8). Error message Jn Speed is excessive (command) Cause The speed instruction value of n axis exceeded the permissible value. When moving by the linear interpolation (or circle interpolation), needs to rotate the motor at the big speed depending on the pose. If the specified speed is large, the speed instruction value to the motor may exceed the permissible value.
  • Page 64 H2191 Error message X(-) data exceeds the limit Cause X(-) data exceeds the limit Measures Adjust the position. H2192 Error message Y(-) data exceeds the limit Cause Y(-) data exceeds the limit Measures Adjust the position. H2193 Error message Z(-) data exceeds the limit Cause Z(-) data exceeds the limit Measures...
  • Page 65 H221n n indicates the axis number (1 to 8). Error message STR (ROBOT torque error) Cause Safety Torque Range monitoring detected over the torque limit Measures The STR function has detected feedback torque that exceeds the fixed, permissible torque range. Remove the cause of the collision. Then check that it is safe to restart the operation before doing so.
  • Page 66 For further information refer to the separate "Robot Safety Option Instruction Manual". If none of these solutions rectify the problem, the Safety extension unit may be faulty. Contact Mitsubishi Electric. H2261 * Error message Extended safety unit's No.
  • Page 67 H2282 One of the errors below is detected. Please take measures corresponding to an error message. Error message SOS (Position error) Cause Detect the change of position FB on SOS Measures An error that the position FB has changed on SOS due to external force was detected. Eliminate the cause of the external force or perform the risk assessment.
  • Page 68 H231n n indicates the direction in which an error is detected, 1: Composite speed, 2: X+, 3: X-, 4: Y+, 5: Y-, 6: Z+, 7: Z- Error message SLS (XYZ Speed Error) Cause Speed monitor detected the speed over. Measures A speed feedback exceeding the limit speed is detected by the speed monitoring function.
  • Page 69 L240n n: Robot CPU No. Error message The "*" the interference avoidance function detected interference with. Note) "(*)": shows the detected model.Examples of when the interference avoidance function detects interference are as follows: "A1" indicates interference with arm No.1 "H2" indicates interference with hand No.2 "W3"...
  • Page 70 L2530 Error message There is no area where data is written. Cause There is no area where data is written. Measures Please read the data by using TrRd L2540 Error message There is no read data. Cause There is no read data. Measures Please use TrRd after executing TrWrt.
  • Page 71 L2610 One of the errors below is detected. Please take measures corresponding to an error message. Error message Spline interpolation error (Spline file) Cause An error related to the spline file occurred. Measures Refer to the error details No. and check the details of the occurring error. Then take actions for those error details. Error message Can't open spline file Cause...
  • Page 72 L2611 One of the errors below is detected. Please take measures corresponding to an error message. The four digits displayed after the error message indicate the path point number at error occurrence. Error message Spline interpolation error (path point) Cause An error related to the path point registered in the spline file has occurred.
  • Page 73 L2612 One of the errors below is detected. Please take measures corresponding to an error message. Error message Spline interpolation error (Execution error) Cause An error related to the spline interpolation execution conditions occurred. Measures Refer to the error details No. and check the details of the occurring error. Then take actions for those error details. Error message This robot does not support spline interpolation.
  • Page 74 L2613 One of the errors below is detected. Please take measures corresponding to an error message. Error message Spline interpolation error (interpolation process) Cause An error occurred during the spline interpolation process. Measures Refer to the error details No. and check the details of the occurring error. Then take actions for those error details. Error message Not enough path points Cause...
  • Page 75 L2614 One of the errors below is detected. Please take measures corresponding to an error message. Error message Spline interpolation error (other functions) Cause A function that cannot be used with the spline interpolation was executed. Measures Refer to the error details No. and check the details of the occurring error. Then take actions for those error details. Error message Tracking function is enabled Cause...
  • Page 76 L2622 Error message Singular point passage function is enabled. Cause The singular point passage function and Ex-T control function cannot be enabled simultaneously. Measures When using the Ex-T control function, disable the singular point passage function. H264n n indicates the axis number (1 to 8) Error message Add axis FLS signal is input Cause...
  • Page 77 L2661 One of the errors below is detected. Please take measures corresponding to an error message. Error message Error concerning axis coop (combi.) Cause The function cannot be used at the same time with the axis coop Measures Please confirm the content by a detailed number of the error Error message Cannot be used (axis trk) Cause...
  • Page 78 H2720 Error message Cmp error (joint angle) Cause Cmp Command exceeds the limit of a joint angle. Measures Adjust the position data or reduce the displacement. C272n n indicates the axis number (1 to 8). Error message Cmp error (Jn joint angle) Cause Cmp Command exceeds the limit of joint angle of joint "n"...
  • Page 79 The operation path will change when switching to operating the robot with the Mov command. Ensure that the robot does not interfere with peripherals. For further information on structure flags, refer to "Configuration flag" in the CR800 Series Controller Instruction Manual: Detailed explanations of functions and operations.
  • Page 80 H2830 Error message System error (ipol posture type) Cause The Type argument of the Mov instruction was set to -1 or a similar value. Measures Change the Type argument of the Mov instruction to a correct value (0, 1, etc). H2840 Error message System error (ipol parameters)
  • Page 81 L2922 Error message Can’t operate in this posture Cause Can’t operate in singular point Measures If the robot is taught directly in Translational motion or Rotational motion mode, the arm cannot avoid passing a singularity (where the rotational axes of J4 and J6 align). To continue direct teaching, start the direct teaching function, and operate the robot in Joint free mode. Prevent the arm from passing a singularity using Joint jog operation.
  • Page 82 L3100 One of the errors below is detected. Please take measures corresponding to an error message. Error message Processor Call Stack over Cause Too many function calls or local variables. Measures Correct the program and re-execute. Error message System ERROR (Call Stack) Cause Processor Call Stack defect Measures...
  • Page 83 L3140 Error message Can't open COM file Cause The file cannot be opened. Measures Check the file No. and re-execute. L3141 Error message The NVOpen command is not executed. Cause No NVOpen command was executed before execution of a command communicating with the vision sensor. Measures Revise the robot program so that the NVOpen command executes before the controller starts to communicate with the vision sensor.
  • Page 84 L3230 Error message For Next statements unmatch Cause The No. of For and Next statements do not match. Measures Correct the program and re-execute. L3240 Error message Nesting over (For, While) Cause Nesting over (For, While) Measures Correct the program and re-execute. L3250 Error message While WEnd statements unmatch...
  • Page 85 L3256 One of the errors below is detected. Please take measures corresponding to an error message. Error message Function definition error Cause The error concerning the function definition occurred. Measures Please confirm the content by a detailed number of the error. Error message Function definitions exceeds max.
  • Page 86 L3258 One of the errors below is detected. Please take measures corresponding to an error message. Error message Preprocessor error Cause The error concerning the preprocessor occurred. Measures Please confirm the content by a detailed number of the error. Error message Preprocessor run line exceeds max.
  • Page 87 L3287 Error message Cannot execute (ERROR ALWAYS) Cause This command cannot be used when the start conditions are ERROR and ALWAYS. Measures Correct the program. L3288 Error message Cannot execute while editing Cause That program cannot be executed because it is being edited. Measures Finish editing the program first, and then start it.
  • Page 88 L3360 Error message Cannnot execute XLoad (not PSA) Cause XLoad cannot be executed when the program cannot be selected. Measures Execute XRst, and do it. L3361 Error message Can not load the program (SLT*) Cause A non-existing program was specified in the slot parameter (SLTn). Measures A non-existing program was specified in the slot parameter (SLTn).
  • Page 89 L3600 Error message Jump destination does not exist Cause No jump destination was found for the Def Act, On Com and On GoTo commands. Measures Check the jump destination. L3601 Error message Jump destination is incorrect Cause Jumping into program control block is prohibited. Measures Correct the program and re-execute.
  • Page 90 L3780 * One of the errors below is detected. Please take measures corresponding to an error message. Error message Cannot use the MELFA Smart Plus. Cause The MELFA Smart Plus card or MELFA Smart Plus card pack is not installed in the controller. When the MELFA Smart Plus card is installed, the setting of the parameter SMART+1 may be set incorrectly.
  • Page 91 L3860 Error message Illegal position data defined Cause There is an error in the position data. Measures Check the position data definition. L3870 One of the errors below is detected. Please take measures corresponding to an error message. Error message Illegal mecha No.
  • Page 92 L3900 Error message JRC Command is disable Cause The JRCEXE parameter is disabled, so it cannot be used. Measures Change the JRCEXE parameter, and then execute. L3910 Error message Cannnot execute (JRC 0) Cause JRC 0 can not execute for robot arm axis. Measures Correctly set.
  • Page 93 L3980 Error message Load mode cannot be specified. Cause Prec command is executed Measures Repeal high accuracy mode (execute Prec Off) L3982 Error message Cannot be used (singular point) Cause 1 This robot does not correspond to the singular point function Measures 1 Check the argument of Type specification Cause 2...
  • Page 94 L3986 One of the errors below is detected. Please take measures corresponding to an error message. Error message Unable to enable force sense control. (Sensor) Cause Unable to execute because the force sensor is not connected. Measures Connect the force sensor, or delete the command that cause the error. Error message Unable to enable force sense control.
  • Page 95 L3987 One of the errors below is detected. Please take measures corresponding to an error message. Error message Force sense control is disabled. Cause Force sense control is disabled, and so unable to execute the command. Measures Enable the force sense control function. Error message Force sense control is enabled.
  • Page 96 H3988 Error message Unable to create a position command. Cause It is not possible to convert linear position data to joint angle after offsetting with force control. The position after offsetting lies outside the movement range or is a singular point. Measures Review the movement and, settings so that adjacents outside the movement range and singular point adjacents are avoided.
  • Page 97 L4140 Error message The program was not found Cause The designated program was not found. Measures Designate a different program, or create the designated program. L4150 Error message Program is faulty Cause Power shutdown may have occurred during the write operation. Measures The file may have been damaged.
  • Page 98 L4230 Error message The line No. does not exist Cause There is no specified line number. Measures Check the contents, and reinput the correct line No. L4240 Error message The statement is write protected Cause The command statement is write protected. Measures Cancel the write protection.
  • Page 99 L4341 Error message The user external variable is not defined. Cause The user external variable has not been defined Measures Define the user external variable L4350 Error message Duplicate definition (Val.) Cause Variables already defined cannot be redefined with the Dim or Def statements. Measures 1.
  • Page 100 L4440 Error message Duplicate definition (label) Cause A label already defined cannot be redefined. Measures 1. Change the label name. 2. Delete the defined label line. L4460 Error message Argument value range over Cause Argument value range over. Measures Confirm the argument range, and correct the value. L4470 Error message Line No can't be used...
  • Page 101 L4920 Error message There is no backup data in ROM Cause There is no backup data in ROM. Measures Please operate after backup. L4922 Error message Unsupported program version Cause This program was created with the new version. Measures This program cannot be opened with this robot. L4930 One of the errors below is detected.
  • Page 102 L4937 * Error message A user free area size is lack Cause The size of a user free area is smaller than that of 2K Measures Please set 2K or more to the size of a user free area. (The value of the parameter QMLTCPUn (n=1 to 4)) If the lower bits of parameter IQMEM are 10001, the user free area must be set to a total of 2.0K (user area 0.5K + expansion area 0.5K + interference area 1.0K) because the CPU buffer memory expansion function and the interference avoidance function are enabled.
  • Page 103 L5100 Error message No program is selected Cause A program is not selected for the designated slot. Measures Select a program for the designated slot. L5110 Error message Continuous RUN is not possible Cause A different program name has been designated. Measures Designate the correct program name.
  • Page 104 L5410 Error message Non-existent mode Cause It has been changed to a mode other than Auto/Teach. Measures Contact the maker. L5420 Error message Illegal slot No. Cause A task slot number other than 1 through TASKMAX (parameter) is specified. Measures Designate the correct task slot.
  • Page 105 C5670 Error message Cannot execute during wait Cause Cannot execute during wait Measures Execute Program Reset L5990 Error message System error (Illegal command) Cause Not exist command was executed. Measures Execute the correct command. L6010 Error message Illegal command Cause This may have occurred because data was sent before the communication line was opened via a data link, or an unregistered communication command was sent due to the mismatch between the versions of the controller and support software.
  • Page 106 C6070 Error message The time cannot be set Cause The time setting can only be executed when the program is stopped and the servo is OFF. Measures Stop the program and turn the servo OFF, and then set the time. C6080 Error message Com mesg is too long...
  • Page 107 L6130 Error message Network communication error n. (n is a number between 1 and 2.) Cause The network base card cable is not connected, a line error has occurred, or parameters are set incorrectly. If communication is lost after connection has been established, the error will occur under the following conditions: 1) When the robot program has started 2) When the program is executed directly from RT ToolBox3 3) When an error causes the program to be executed...
  • Page 108 H6206 * Error message Takeover file is abnormal Cause Takeover file is saved in SD card abnormally. Measures Remove the file for takeover (HISTORY.ser) in the iQ Care MELFA Support SD card. Then, perform the takeover operation again. H6207 * Error message Identification is failed Cause...
  • Page 109 C6216 Error message MELFA Support is deactivated (MELFA Support SD card not found) Cause MELFA Support SD card communication error. Measures Check that the iQ Care MELFA Support SD card is connected and restart the robot controller. C6219 Error message Cannot execute during RUN Cause Cannot execute during operation...
  • Page 110 C6229 Error message MELFA Support is deactivated (ID is unmatched) Cause MELFA Support is deactivated (ID is unmatched). Measures Start with the correct combination of the robot, robot controller, and iQ Care MELFA Support SD card registered for the iQ Care MELFA Support service.
  • Page 111 C6241 Error message Maximum data size is exceeded Cause Maximum data size of inspection data is exceeded. Measures The size of the inspection data file to be saved exceeds the upper limit of the storage memory. Reduce the data size of the inspection data.
  • Page 112 H6530 * Error message COMDEV parameter is illegal Cause Illegal parameter (COMDEV). Measures Correct COMDEV parameter. L6600 Error message Signal number is out of range. Cause The designated signal No. has not been defined. Measures Change the signal No. to the correct No. L6610 Error message Cannot output (hand input)
  • Page 113 L6643 Error message Illegal parameter (special Sig.) Cause The parameter setting is illegal. Measures Make the ending number larger than the starting number. L6650 * Error message Duplicate setting (special OUT) Cause The parameter setting is illegal. Measures Correct the parameters. When using the robot safety option, the DSI and DSO signals use the dedicated I/O signals 128 to 191.
  • Page 114 C7020 Error message Rename target file was not found Cause The rename target file was not found. Measures Input the correct file name. H7030 * Error message System error (param size over) Cause The change capacity is too large. Measures Contact the maker.
  • Page 115 C7081 One of the errors below is detected. Please take measures corresponding to an error message. Error message Can not write parameter Cause Non-existent parameter or illegal password. Measures 1. Input the correct parameter name. 2. Input the correct password Error message Illegal CRC during parameter writing Cause...
  • Page 116 L7332 Error message Can't change to RAM mode in CTN mode Cause Can't change to RAM mode in continue mode. Measures Please change to RAM mode and perform again. L7340 Error message Contine function cannot be used in DRAM mode Cause Contine function cannot be used in DRAM mode Measures...
  • Page 117 L7372 Error message The password is unmatch Cause The password is unmatch Measures Please input the password again L7373 Error message Password lock to the programs Cause Password lock to the programs Measures Please release password L7374 Error message Password lock to the parameter Cause Password lock to the parameter Measures...
  • Page 118 C7510 Error message Battery voltage low (robot) Cause The battery will be spent soon. Measures Replace the battery. For more information about the replacement procedure, refer to the separate volumes, "Instruction Manual/Robot Arm Setup to Maintenance". C753n n indicates the axis number (1 to 6). Error message Replenishment time of grease Cause...
  • Page 119 H7606 * Error message Gear ratio numerator of additional axis is illegal. Cause The value of AXGRTN (total speed ratio numerator) parameter is illegal. Measures Change the values of all elements of this parameter to positive integers. H7607 * Error message Gear ratio denominator of additional axis is illegal.
  • Page 120 H766n n indicates the sensor axis. Error message The force sensor data exceeded the tolerance value. Cause The force acting on the force sensor exceeded the set tolerance value. Measures The permissible force sense value set in parameter FSLMTMX has been exceeded. Check that the value set in parameter FSLMTMX is suitable for the operation.
  • Page 121 H7810 One of the errors below is detected. Please take measures corresponding to an error message. Error message Ethernet *** parameter ERR Note) "***" is substituted with the "parameter name". Cause Illegal parameter (***). Measures Correct parameter ***. Error message NETPORT/MONPORT parameter error Cause The element of NETPORT(1) and MONPORT(1/2) overlap.
  • Page 122 H7861 One of the errors below is detected. Please take measures corresponding to an error message. Error message SLMP parameter error Cause Illegal parameter. Measures Correct parameter. Error message SLMP SLMPPORT parameter error Cause Overlap with server port number of NETPORT. Measures Please set not to overlap to another port number.
  • Page 123 H8253 Error message Safety comm. timeout Cause A timeout error (unacceptable delay) has occurred in the safety communication function (CC-Link IE TSN). Measures • Check that the parameter "safety refresh monitoring time" set on the master station is an appropriate value. •...
  • Page 124 L8300 Error message There are a lot of GETPOS define Cause GETPOS function are up to 8. Measures Please use the same Act No. or reset an unnecessary program. L8310 Error message GETPOS undefined Cause GETPOS undefined. Measures Please define GETPOS. H8320 Error message System Error (GETPOS)
  • Page 125 H8441 Error message DEVICENET Network power failure Cause Network power is turned off. Measures Please turn on network power. H8442 Error message DEVICENET Other units not found Cause Other units are not connected on the network. Measures Please confirm the other units. H8450 Error message DEVICENET Install more than one...
  • Page 126 C8490 Error message DEVICENET Communication test mode Cause It is communication test mode. Measures Please change the [T/B ENABLE] switchto 3-5 after the test ends. H8491 * Error message DEVICENET Comm-test unit number Cause Unit numbers overlap is detected by communication test. Measures Please confirm the other units number.
  • Page 127 H8504 Error message Either of the following messages is displayed: (1) PROFIBUS self-check error n (n = 1~7). (2) PROFIBUS cannot self-check. Cause An error was detected in the hardware. The hardware may be at fault. Measures Replace the 2D-TZ577 Card. When replacing the card, contact its manufacturer for advice.
  • Page 128 H8550 Error message PROFIBUS master bureau's parameter is illegal Cause Any one of the following causes may be responsible: (1) Parameters established at the Master Station are incorrect. (2) Set value for communication WDT is too long. (3) Value specified for minimum response time Min_Tsdr is outside the prescribed range. Measures Check the slave parameter settings on the Master Station.
  • Page 129 L8603 Error message Parameter is abnormal Cause The parameter of the user-name or the password is abnormal Measures Please set the parameter correctly L8610 Error message The communication is abnormal Cause The communication was cut Measures Please check the communications cable L8620 Error message The vision number is abnormal...
  • Page 130 L8633 Error message The vision is a time-out (NVTRG) Cause There is no response from the vision (NVTRG) Measures Please decrease the load of the network L8634 Error message There is a comma within the range of the cell Cause There is a comma within the range of the cell Measures Please check the range of the cell...
  • Page 131 L8650 Error message Please make the vision online Cause The vision sensor is off-line Measures Please make vision sensor online L8660 Error message There is no authority Cause The authority of the user-name is not a full access Measures Please check user name L8670 Error message Can not restart...
  • Page 132 H8740 Error message Controller init communication error Cause Initial communication with the controller was not possible Measures Check the communication cable connection H8741 Error message CPU unit init communication error Cause Initial communication with the CPU unit was not possible Measures Check the communication cable connection H8751...
  • Page 133 H878n n: Refer to "Cause" Error message CPU unit communication error Cause Communication error was detected from the CPU unit When n is any of 1 to 8: Axis number When n is 9: Force sensor When n is 0: Other than the above Measures Check the communication cable connection H8790...
  • Page 134 H8800 * One of the errors below is detected. Please take measures corresponding to an error message. Error message ASIC communication error Cause A failure was detected in the communication within the controller. The internal temperature of the controller may be high. For the CR800-R/Q series, the following conditions may also be the cause.
  • Page 135 H8810 One of the errors below is detected. Please take measures corresponding to an error message. Error message Communication error Cause Error occurred by the data transmission to the servo Measures Check the communication cable connection. Check that there is not a source of noise. Error message Illegal ID Cause...
  • Page 136 L8910 Error message Function uncorrespondence Cause This robot cannot use this function. Measures Do not use this function. H8920 Error message Sensor I/F unit error (**) Note) "**" is substituted with the "sensor I/F unit error No." (2 hexadecimal digits) Cause An error occurred at the force sensor interface unit.

  • Page 137: Place Where Fuse Replacement Is Required

    APPENDIX Appendix 1 Place where fuse replacement is required Place where hand fuse replacement is required Replace the fuse (LM16) of HAND FUSE at the front of the controller. APPX Appendix 1 Place where fuse replacement is required...

  • Page 138: Appendix 2 Troubles And Measures

    Measures • Check the load conditions and parameter settings. If needed, change the acceleration/deceleration time (command: Accel), speed (command: Ovrd), or teaching positions. For further information, refer to CR800 Series Controller Instruction Manual: Detailed explanations of functions and operations. • Check the condition of the unit’s installation (including external vibrations).
  • Page 139 Category Description Issue The position becomes offset during automatic drive. The position becomes offset after moving the equipment. Cause • Program error (arithmetic processing, etc.). • Teaching operation error. • Peripheral equipment is offset. • There is a setting error in the origin position data. •...
  • Page 140 Category Description Issue The hand does not move properly The hand operation screen is not displayed on the TB (Electric operated hand) Cause • Wire breakage on the hand signal line. • The electronic hand controller (manufactured by TAIYO Ltd.) has failed. •...

  • Page 141: Appendix 3 Errors Involving Change In Specification

    Appendix 3 Errors involving change in specification The specification of the following errors changes when the safety monitoring function used in the robot safety option is enabled. For the RV-5AS, safety monitoring functions are enabled. To reset the following errors while the safety monitoring function is enabled, reset the power supply. Error Error message H0039...

  • Page 142: Force Sense Interface Unit Errors

    Appendix 4 Force sense interface unit errors The errors of the force sense interface unit used in the force sense function option. Error No. (Name) Cause Remedy Detected sensor 1F-FS001- SINTOKOGIO Canon Inc. W200 , LTD. 1F-FS001- W1000 12 (memory error) Force sense interface unit internal part Replace the unit.
  • Page 143 Within 30cm Ferrite core c) Earth clamp for the serial cable between unit and sensor Strip the insulation from the cable near the base of the robot and ground the metal shield via an earth clamp (supplied by the customer) using the earth (ground) terminal.
  • Page 144 REVISIONS *The manual number is given on the bottom left of the back cover. Revision date *Manual number Description May 2017 BFP-A3480 • First print June 2017 BFP-A3480-A • Errors were added. H0315, H0316, H0317, L2660, L2661, L2662, H2663, L6011, H7860, H8740, H8741, H8751, H8752, H8760, H8761, H8770, H8780, H8790 •...
  • Page 145 This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.
  • Page 146 TRADEMARKS No part of this manual may be reproduced by any means or in any form, without prior consent from Mitsubishi. The contents of this manual are subject to change without notice. An effort has been made to make full descriptions in this manual. However, if any discrepancies or unclear points are found, please contact your service provider.
  • Page 148 BFP-A3480-AA(2503)MEE HEAD OFFICE: TOKYO BLDG., 2-7-3, MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN NAGOYA WORKS: 1-14, YADA-MINAMI 5-CHOME, HIGASHI-KU, NAGOYA 461-8670, JAPAN Specifications subject to change without notice.

This manual is also suitable for:

Cr800-dCr800-rCr800-q

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