Mitsubishi Electric MELFA CR800 Series Instruction Manual page 105

Error number
Error message
Cause
H231n
(n shows the
direction where a
problem is
detected.)
1: Synthesized
Solution
speed
2: X+, 3: X-
4: Y+, 5: Y-
6: Z+, 7: Z-
Error message
Cause
H2320
Solution
Error message
Cause
Solution
H2370 *
Error message
Cause
Solution
Error causes and solutions
SLS (XYZ Speed Error)
Speed monitor detected the speed over.
The speed monitoring function detected a speed exceeding the predetermined
speed.
Check the following.
1) Robot movement and monitoring speed setting
2) Deceleration monitoring period (if it is too short)
(A deceleration monitoring period is the waiting time from when the SLS
command is enabled until when monitoring starts.)
3) Execution line (if it is the Tool command or M_Tool variable) of the program in
the error state
For further information on 1) and 2), refer to "4.5.5
(SLS)
".
Since 3) occurs when the Tool command or M_Tool variable is executed before the
robot's movement is completed (the feedback speed becomes zero), take one of
the following countermeasures. For further information, refer to the "Instruction
Manual/Detailed explanations of functions and operations".
• Create position data including tool conversion data using relative operations
without using the Tool command or M_Tool variable.
Program examples
Before
Mov P1
Tool Ptool1
Mov P2
• Add the Dly command before the Tool command or M_Tool variable.
Alternatively, specify a positioning completion condition for the immediately
preceding operation command using a Fine command so that the Tool command
or M_Tool variable will be executed after the robot's movement is completed (the
feedback speed becomes zero).
• Decrease the movement speed so that the Tool command or M_Tool variable will
be executed after the robot's movement is completed (the feedback speed
becomes zero).
SF robot control error
The robot motion command and the feedback are inconsistent.
The robot's position command and feedback position do not match. Check the
movement of the robot, the load on the hand, and whether the robot is interfering
with any peripheral devices.
SF (Process error)
The Safety Function is not normally executed.
Reset the error by power-cycling the robot. If the same error recurs, contact the
manufacturer.
SF (Process Counter error)
The Safety Function of servo CPU is not normally executed.
Reset the error by power-cycling the robot. If the same error recurs, contact the
manufacturer.
Safely-limited speed function
After
Mov P1
Mov P2 * Inv(Ptool1) * P_tool
Error List for the Safety Monitoring Functions 6-95
6 TROUBLESHOOTING