Mitsubishi CR800 Series Manuale utente

Mitsubishi Electric Industrial Robot

CR800 Series Controller

Instruction Manual

Troubleshooting

BFP-A3480-J

This instruction manual apply to both the CR800-R/CR800-Q controller corresponding to

iQ Platform, and the CR800-D controller of standalone type.

All teaching work must be carried out by an operator who has received special

training. (This also applies to maintenance work with the power source turned

ON.)

Enforcement of safety training

For teaching work, prepare a work plan related to the methods and procedures

of operating the robot, and to the measures to be taken when an error occurs

or when restarting. Carry out work following this plan. (This also applies to

maintenance work with the power source turned ON.)

Preparation of work plan

Prepare a device that allows operation to be stopped immediately during

teaching work. (This also applies to maintenance work with the power source

turned ON.)

Setting of emergency stop switch

During teaching work, place a sign indicating that teaching work is in progress

on the start switch, etc. (This also applies to maintenance work with the power

source turned ON.)

Indication of teaching work in progress

Provide a fence or enclosure during operation to prevent contact of the

operator and robot.

Installation of safety fence

Establish a set signaling method to the related operators for starting work, and

follow this method.

Signaling of operation start

As a principle turn the power OFF during maintenance work. Place a sign

indicating that maintenance work is in progress on the start switch, etc.

Indication of maintenance work in progress

Before starting work, inspect the robot, emergency stop switch and other

related devices, etc., and confirm that there are no errors.

Inspection before starting work

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.

Safety Precautions

CAUTION

WARNING

CAUTION

DANGER

CAUTION

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. must be designed by the customer.

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.

Always use the robot installed on a secure table. Use in an instable posture

could lead to positional deviation and vibration.

Wire the cable as far away from noise sources as possible. If placed near a noise

source, positional deviation or malfunction could occur.

Do not apply excessive force on the connector or excessively bend the cable.

Failure to observe this could lead to contact defects or wire breakage.

Make sure that the workpiece weight, including the hand, does not exceed the

rated load or tolerable torque. Exceeding these values could lead to alarms or

faults.

Securely install the hand and tool, and securely grasp the workpiece. Failure to

observe this could lead to personal injuries or damage if the object comes off or

flies off during operation.

Securely ground the robot and controller. Failure to observe this could lead to

malfunctioning by noise or to electric shock accidents.

Indicate the operation state during robot operation. Failure to indicate the state

could lead to operators approaching the robot or to incorrect operation.

When carrying out teaching work in the robot's movement range, always secure

the priority right for the robot control. Failure to observe this could lead to

personal injuries or damage if the robot is started with external commands.

Keep the jog speed as low as possible, and always watch the robot. Failure to do

so could lead to interference with the workpiece or peripheral devices.

After editing the program, always confirm the operation with step operation

before starting automatic operation. Failure to do so could lead to interference

with peripheral devices because of programming mistakes, etc.

Make sure that if the safety fence entrance door is opened during automatic

operation, the door is locked or that the robot will automatically stop. Failure to

do so could lead to personal injuries.

DANGER

CAUTION

WARNING

CAUTION

WARNING

CAUTION

Never carry out modifications based on personal judgments, or use non-

designated maintenance parts.

Failure to observe this could lead to faults or failures.

When the robot arm has to be moved by hand from an external area, do not

place hands or fingers in the openings. Failure to observe this could lead to

hands or fingers catching depending on the posture.

Do not stop the robot or apply emergency stop by turning the robot controller's

main power OFF. If the robot controller main power is turned OFF during

automatic operation, the robot accuracy could be adversely affected. Moreover,

it may interfere with the peripheral device by drop or move by inertia of the arm.

Do not turn off the main power to the robot controller while rewriting the

internal information of the robot controller such as the program or parameters.

If the main power to the robot controller is turned off while in automatic

operation or rewriting the program or parameters, the internal information of the

robot controller may be damaged.

Do not connect the Handy GOT when using the GOT direct connection function

of this product. Failure to observe this may result in property damage or bodily

injury because the Handy GOT can automatically operate the robot regardless

of whether the operation rights are enabled or not.

Do not connect the Handy GOT to a programmable controller when using an iQ

Platform compatible product with the CR800-R/CR800-Q controller. Failure to

observe this may result in property damage or bodily injury because the Handy

GOT can automatically operate the robot regardless of whether the operation

rights are enabled or not.

Do not remove the SSCNET III cable while power is supplied to the multiple

CPU system or the servo amplifier. Do not look directly at light emitted from

the tip of SSCNET III connectors or SSCNET III cables of the Motion CPU or

the servo amplifier. Eye discomfort may be felt if exposed to the light.

(Reference: SSCNET III employs a Class 1 or equivalent light source as

specified in JIS C 6802 and IEC60825-1 (domestic standards in Japan).)

Do not remove the SSCNET III cable while power is supplied to the controller.

Do not look directly at light emitted from the tip of SSCNET III connectors or

SSCNET III cables. Eye discomfort may be felt if exposed to the light.

(Reference: SSCNET III employs a Class 1 or equivalent light source as

specified in JIS C 6802 and IEC60825-1 (domestic standards in Japan).)

Attach the cap to the SSCNET III connector after disconnecting the SSCNET

III cable. If the cap is not attached, dirt or dust may adhere to the connector

pins, resulting in deterioration connector properties, and leading to malfunction.

Make sure there are no mistakes in the wiring. Connecting differently to the way

specified in the manual can result in errors, such as the emergency stop not

being released. In order to prevent errors occurring, please be sure to check

that all functions (such as the teaching box emergency stop, customer emer-

gency stop, and door switch) are working properly after the wiring setup is com-

pleted.

CAUTION

WARNING

CAUTION

DANGER

CAUTION

Use the network equipments (personal computer, USB hub, LAN hub, etc)

confirmed by manufacturer. The thing unsuitable for the FA environment

(related with conformity, temperature or noise) exists in the equipments

connected to USB. When using network equipment, measures against the noise,

such as measures against EMI and the addition of the ferrite core, may be

necessary. Please fully confirm the operation by customer. Guarantee and

maintenance of the equipment on the market (usual office automation

equipment) cannot be performed.

To maintain the safety of the robot system against unauthorized access from

external devices via the network, take appropriate measures.

To maintain the safety against unauthorized access via the Internet, take

measures such as installing a firewall.

CAUTION

Revision history

Date of print Specifications No. Details of revisions

2017-05-25 BFP-A3480 • First print

2017-06-27 BFP-A3480-A • Errors were added.

H0315, H0316, H0317, L2660, L2661, L2662, H2663, L6011, H7860, H8740, H8741,

H8751, H8752, H8760, H8761, H8770, H8780, H8790

• Measures of error H887n were changed.

2017-09-25 BFP-A3480-B • Supplementary explanation were added to measures of error C0152 and H0083.

2018-02-01 BFP-A3480-C • Descriptions about the CR800-Q controller were added.

2018-09-01 BFP-A3480-D • Supplementary explanation were added to measures of error C0152.

2018-10-15 BFP-A3480-E • Supplementary explanation were added to measures of error L2611.

2018-12-25 BFP-A3480-F • Added further explanation of the ACIN cable.

2019-04-19 BFP-A3480-G • Errors were added.

L2804, H6100, H6101, H6110, H6111, H6120, H6130, H6140, H6190, H8410, H8420,

H8421, H8430, H8440, H8441, H8442, H8450, H8451, L8460, H8470, H8471, H8472,

H8473, C8490, H8491, H8492, H8493, H8494, H8500, H8501, H8502, H8503, H8504,

H8505, H8506, H8507, H8510, H8520, H8530, H8540, H8550, H8560, H8570, H8580,

L8637

• Corrected error No.

L873n, L877n, L878n

• Measures of error L8622 were changed.

2020-01-24 BFP-A3480-H • Errors were added.

C0023, C0024, L3510, C7091, L8910

2020-04-10 BFP-A3480-J • Added information for the RV-5AS.

• Deleted the cautions for the basic system structure.

• Errors were added.

H0035, H0214, C0215, H0216, C0217, L2920, L2921, L2922, C2923, L2924, H2925,

H7100

• Revised "No.3" in section "2.3 Troubles and measures".

■ 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.

Apply to both the CR800-R/CR800-Q series controller corresponding to iQ Platform, and the CR800-D

series controller of standalone.

・ 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.

・ The information contained in this document has been written to be accurate as much as possible.

Please interpret that items not described in this document "cannot be performed." or "alarm

may occur".

Please contact your service provider if you find any doubtful, wrong or skipped point.

・ This is the original document.

・ The ETHERNET is a registered trademark of the Xerox Corp.

・ All other company names and production names in this document are the trademarks or registered

trademarks of their respective owners.

Notice

*ONLY QUALIFIED SERVICE PERSONNEL MAY INSTALL OR SERVICE THE ROBOT SYSTEM.

*ANY PERSON WHO PROGRAM, TEACHES, OPERATE, MAINTENANCE OR REPAIRS THE ROBOT

SYSTEM IS TRAINED AND DEMONSTRATES COMPETENCE TO SAFELY PERFORM THE

ASSIGNED TASK.

*ENSURE COMPLIANCE WITH ALL LOCAL AND NATIONAL SAFETY AND ELECTRICAL CODES

FOR THE INSTALLATION AND OPERATION OF THE ROBOT SYSTEM.

Contents

Page

1 Error list .............................................................................................................................................................................................. 1-1

(1) Error No. .......................................................................................................................................................................... 1-1

(2) Cause and measures against the error .............................................................................................................. 1-1

2 Appendix .......................................................................................................................................................................... Appendix-71

2.1 Place where fuse replacement is required ................................................................................................ Appendix-71

2.1.1 Place where a brake fuse replacement is required. ....................................................................... Appendix-71

2.1.2 Place where hand fuse replacement is required ............................................................................. Appendix-72

2.1.3 Place where fuse replacement is required. ........................................................................................ Appendix-73

2.1.4 Place where a converter fuse replacement is required ............................................................... Appendix-74

2.2 Fan installation place of robot controller. .................................................................................................. Appendix-75

2.3 Troubles and measures ...................................................................................................................................... Appendix-76

2.4 Errors involving change in specification ..................................................................................................... Appendix-79

2.5 Force sense interface unit errors ................................................................................................................. Appendix-80

1-1

Error no. H0001

1Error list

1 Error list

(1) Error No.

When an error occurs, ERROR LED at the front of the controller will turn on or blink.

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."

In addition, the alarm rings at 0.5-second intervals while an error is occurring. When resetting the power supply, if

the interval between turn-on and turn-off of a controller is too short, the alarm rings at 0.1-second intervals.

The message, cause and measures to be taken are displayed in Table 1-1 for the error Nos. that may appear.

Also, a detailed message will be displayed on the Error History screen of the T/B, depending on the error No. of

the error occurred. Check by displaying the Error History screen after resetting the error.

If the error recurs even after the measures in the table are taken, contact your service provider.

(2) Cause and measures against the error

The details, cause and measures of the error number occurrence are shown in Table 1-1.

Note) The contents of the error caused with option products are written in the instruction manual of the option.

Refer to each instruction manual.

Table 1-1 ： Error list

ERROR LED status Details

On Low-level error, or warning occurred.

Flashing High-level error occurred.

Off Normal operation.

Error No. Error cause and measures

H0001 Error message Fail safe error (SRVOFF)

Cause The system may be abnormal.

Measures Turn the power OFF and ON once. If it comes back, contact to your service provider.

H0002 Error message Fail safe error (STOP)

Cause The system may be abnormal.

Measures Turn the power OFF and ON once. If it comes back, contact to your service provider.

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. If it comes back, contact to your service

provider.

* The "CPU" part in each message varies according to the CPU in which an error is detected.

RCPU_main, CCPU_main, RCPU_sub, CCPU_sub, CPU_main, CPU_sub, FPGA, RCPU_PLD, CCPU_PLD

[Note] ・ The meaning of the error Nos. in Table 1-1 are shown below.

□ 0000 ＊

・An error marked with a * reset by turning the power OFF and ON.

Take the measures given.

・ The error type is indicated with a 4-digit number.

・ Three types of error classes are indicated.

H: High level error.................The servo turns OFF.

L: Low level error ..................The operation will stop.

C: Warning ................................The operation will continue.

・ The axis No. may be indicated at the last digit of the error No.

Example) H0931 No. 1 axis motor overcurrent.

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