Mitsubishi CR750-Q Series User Manual

20 Troubleshooting
20. Troubleshooting
This section explains causes of error occurrence and actions to be taken.
20.1. Occurrence of Error Numbers in the Range from 9000 to 9999
This section describes causes of errors that may occur while starting a program and how to handle them.
Table 20
−1 List of Errors in Sample Programs
Error
number
Error description Causes and actions
9100
Communication
error
[Causes]
The network vision sensor and the robot cannot be connected by the
“C1” program or the robot cannot log on the vision sensor.
[Actions]
1) Check the Ethernet cable which connects the robot with the network
vision sensor.
9101
Encoder number out
of range
[Causes]
The encoder number specified in “A1” program to “C1” program is ”0”
or ”9” or larger.
[Actions]
1) Check the X coordinate of the position variable ”PE” in the programs.
9102
Model number out of
range
[Causes]
The model number specified in “C1” program is ”0” or ”10” or larger.
[Actions]
1) Check the X coordinate of the position variable “PRM1” in “C1”
program.
2) If there are more than 11 models, change “MWKMAX=10” line in
“C1” program.
9110
Position accuracy
out of range
[Causes]
The workpiece position calculated by operations in “A1” program to “C1”
program is very different from the theoretical value.
The example is shown in (*1).
[Actions]
1) Check the X and Y coordinates of the position variable ”PVTR” in
“CM1” program. These values represent the difference from the
theoretical value.
2) If the difference stored in “PVTR” is large, run “A1” program to “C1”
program again.
3) Please add the value of positional variable “PCHK" in the 'CM1'
program when the hand offsets from time when the calibration was
executed and add the amount of the offset.
4) Check that the X and Y coordinates of the position variable ”PCHK”
in “CM1” program are not ”0.” If they are ”0,” change the difference
from the theoretical value to an allowable value.
9199
Program error
[Causes]
A return value cannot be created by the *S50WKPOS function of “1”
program.
[Actions]
1) Check the reason why “MY50STS” of the *S50WKPOS function in “1”
program does not change from”0”.
20-98 Occurrence of Error Numbers in the Range from 9000 to 9999

Mitsubishi CR750-Q Series Specifications

General

Brand	Mitsubishi
Model	CR750-Q Series
Category	Robotics
Language	English