Mitsubishi Electric MELFA CR800 Series Instruction Manual page 104

6 TROUBLESHOOTING
Error number
Error message
Cause
H222m *
(The letter "m" is
a DSI number.
Solution
[1 to 8])
Error message
Cause
H2230 *
Solution
Error message
Cause
H2231 *
Solution
Error message
Cause
H2240 *
Solution
Error message
Cause
C2250
Solution
Error message
Cause
H2260 *
Solution
Error message
H2261 * Cause
Solution
Error message
H2270 Cause
Solution
Error message
Cause
H2280 *
Solution
Error message
Cause
H2281 *
Solution
Error message
Cause
Solution
Error message
Cause
H2282
Solution
Error message
Cause
Solution
Error message
Cause
Solution
Error message
H230n Cause
(The letter "n" is
an axis number.
Solution
[1 to 8])
6-94 Error List for the Safety Monitoring Functions
Error causes and solutions
Mismatch of Dual Safety Input
State of the redundant wiring do not match (Dual Safty Input)
The duplex DSI signal ON/OFF states are not consistent. Check the following for
the DSI.
• DSI wiring
• Duplex signal ON/OFF states
• Timing of switching of ON/OFF states
(The error occurs when the ON/OFF states of the duplex signals remain
inconsistent for about 0.1 seconds.)
Mismatch of Dual Safety Output
The duplex DSO states are not consistent.
Turn the power OFF and ON once.
If the error recurs after that, contact the manufacturer.
Mismatch of Dual Safety Output Feedback
State of Dual Safty Output and the feedback do not match.
Turn the power OFF and ON once.
If the error recurs after that, contact the manufacturer.
Origin data change
The origin data is changed during execution of the position monitoring function.
The origin is set while position monitoring is being executed. This error occurs if the
origin position data is changed while position monitoring is being executed. Cycle
the power of the robot controller, then reset the error.
Safety function execution disabled (No origin setting)
The safety function cannot be executed because the origin is not set.
If the origin is not set, the safety monitoring functions will not work. Configure the
origin settings.
Safety Unit communication error
Extended Safety Unit communication failed
In order to use the safety monitoring functions, the Safety extension unit must be
connected to the robot controller. Connect the Safety extension unit to the robot
controller.
If the error occurs even when the Safety extension unit is connected, check that the
Safety extension unit is powered on. Or check whether pseudo-input mode has
been enabled. If none of these solutions rectify the problem, the Safety extension
unit may be faulty. Contact Mitsubishi Electric.
Extended safety unit's No. error
The extended safety unit's station No. is illegal.
Set the extended safety unit's station No. to 2.
Cannot servo ON (SS1/STO active)
The servo cannot be turned ON while SS1/STO is active.
Disable SS1 before turning the servo ON.
SS1 deceleration time exceeded
The robot didn't stop within deceleration time from SS1 enabled.
Check operation instructions, terminal load, and stop speed (SFSPZERO)
parameter of the robot.
SS2 deceleration time exceeded
The robot didn't stop within deceleration time from SS2 enabled.
Check operation instructions, terminal load, and stop speed (SFSPZERO)
parameter of the robot.
SOS (Position error)
Detect the change of position FB on SOS.
During the SOS monitoring, change in the position FB due to external force was
detected. Remove the external force factor or assess risks and adjust parameter
SOSTLRNC to extend the allowable range of the SOS monitoring.
SOS (Speed error)
Detect FB speed over on SOS.
Please check external force or related parameter settings.
SOS (Position command error)
Detect the change of position CMD on SOS.
Please confirm the robot movement or related parameter setting.
SOS (Speed command error)
Detect CMD speed over on SOS.
Please confirm the robot movement or related parameter setting.
SLS (Joint Speed Error)
Speed monitor detected the speed over.
The speed monitoring function detected a speed exceeding the predetermined
speed.
Check the robot movement or the monitoring speed setting.
Also, check that the deceleration delay (parameter SLSDLY) is not too short.