Mitsubishi Electric CR800-D Series, User Manual

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Startup and initial settings 38
(2) Encoder data/communication abnormality
Encoder data abnormality error or communication abnormality error occurs when miscount of the
certain number of times or communication failure occurs, respectively, and the robot will stop by the
error.
This function uses 100 as the error occurrence condition and outputs miscount and communication
failure, which did not reach an error, as the score, and notifies that an abnormality has occurred
before the robot stops due to the error.
The maximum encoder data score and encoder communication score are retained.
(After replacing the motor, if you reset the score of the replaced axis, its score becomes 0.)
Since miscount and communication failure sometimes occur due to noise and others, set the
detection level of the encoder data/communication score with some margin.
100
Detection level set
by you
Example display of encoder communication abnormality log data
Example display 1
Example display 2
100
1
0
0
Communication
failure occurred
The current value (maximum value) of the score is
retained until the next communication abnormality is
detected.
When the score exceeds the detection level, the
warning (C719n) occurs.
The occurrence condition of the encoder communication
abnormality error (H107n) is assumed to be score 100.
Detection level set
by you
Communication
failure occurred