Servo Program Setting Errors (Stored In D9190) - Mitsubishi Electric A173UHCPU Programming Manual

APPENDICES

Servo Program Setting Errors (Stored in D9190)

2.1
Error Code
Stored in Error Name
D9190
Parameter
1 Block number
Setting error
Address/travel value
setting error
(Excluding speed
n03*
control and
speed/position
switching control)
Commanded speed
4
error
5 Dwell time setting error
6 M-code setting error
Torque limit value
7
setting error
Auxiliary point setting
error
(when executing circular
n08*
interpolation by
designating an auxiliary
point)
Radius setting error
(when executing circular
n09*
interpolation by
designating a radius)
The error codes, error contents, and corrective actions for servo program setting
errors are shown in Table 2.2. The "
indicates the axis number (1 to 32).
Table 2.2 Servo Program Setting Error List
Error Contents
The designated parameter block number is
outside the range 1 to 64.
(1) An address outside the designated range is
set when executing absolute positioning
control.
Unite Address Setting Range
×
−5
degree 1 to 35999999 10 degree
(2) The travel value is set to −2147483648
(H80000000) when executing incremental
positioning control.
(1) The commanded speed is set outside the
range of 1 to the speed limit value.
(2) The designation for the commanded speed is
outside the applicable range.
Unite Address Setting Range
×
− 2
mm 1 to 600000000 10 mm/min
×
− 3
inch 1 to 600000000 10 inch/min
×
− 3
degree 1 to 600000000 10 degree/min
PULSE 1 to 1000000 PLS/s
The dwell time is set outside the range 0 to
5000.
The M-code is set outside the range 0 to 255.
The torque limit value is set outside the range 1
to 500.
(1) An address outside the designated range is
set when executing absolute positioning
control.
Unite Address Setting Range
×
−5
degree 1 to 35999999 10 degree
(2) The auxiliary point address is set to
−2147483648 (H80000000) when executing
incremental positioning control.
(1) An address outside the applicable range is
set when executing absolute positioning
control.
Unite Address Setting Range
×
−5
degree 1 to 35999999 10 degree
(2) The radius is set to −2147483648
(H80000000) when executing incremental
positioning control.
(3) The start point is also the end point.
(4) The distance between the start and end
points is greater than the radius.
* " in error codes marked with an asterisk
Error Processing
The servo program is executed with the
parameter block number set to the default
value of "1".
(1) Axis motion does not start.
(When executing interpolation control, none
of the interpolation control axis start.)
(2) If the error is detected during speed
switching control or constant-speed control,
a deceleration stop is executed.
(3) When multiple servo programs are to be
executed simultaneously, if an error occurs
in one servo program none of the programs
are executed.
(1) The axis does not start if the commanded
speed is set at "0" or less.
(2) If the set commanded speed exceeds the
speed limit value, control is executed at the
speed limit value.
Control is executed using the default value of
"0".
Control is executed using the default value of
"0".
Control is executed using the torque limit value
set in the designated parameter block.
Positioning control does not start.
Positioning control does not start.
APP − 7
Corrective Action
Designate the parameter block
number in the range 1 to 64.
(1) If the control unit is degrees,
set the address in the range 0
to 35999999.
(2) Set the travel value in the
range 0 to ±(2 31 −1).
(1) Set the commanded speed in
the range from 1 to the speed
limit value.
Set the dwell time in the range
from 0 to 5000.
Set the M-code in the range from 0
to 255.
Set the torque limit value in the
range from 1 to 500.
(1) If the control unit is degrees,
set the address in the range 0
to 35999999.
(2) Set the travel value in the
range 0 to ±2147483647.
(1) If the control unit is degrees,
set the address in the range 0
to 35999999.
(2) Set the travel value in the
range 0 to ±2147483647.
(3) Set the start and end points so
that they are not equal to each
another.
(4)Change the relationship
between the start-to-end point
distance (L) and the radius (R)
so that it conforms with the
following equation:
L
≤ 1
2R