Mitsubishi Electric MELFA BFP-A3614, Manual

Page: 207 / 212

-196-
Error No.
Error Cause and Remedy
First 4
Digits
Last 5
Digits
L.3987 41n00
n= Mech.
No.
Err. message Input data error(F.Ctrl Calib)
Cause
Input data for the force sensor calibration is illegal
Remedy Please confirm data for the force sensor calibration
L.3987 42n00
n= Mech.
No.
Err. message Calculation error(F.Ctrl Calib)
Cause
Calculation result of the force sensor calibration is illegal
Remedy Increase the rotation angle of the calibration operation then
get data for the force sensor calibration again.
H.3988 00n00
n= Mech.
No.
Err. message Unable to create a position command.
Cause
It is not possible to convert linear position data to joint angle after
offsetting with force control.
The position after offsetting lies outside the movement range or is
a singular point.
Remedy Review the movement and, settings so that adjacents outside the
movement range and singular point adjacents are avoided.
H.7650 00n00
n= Mech.
No.
Err. message The force sensor quantity setting is incorrect.
Cause
Only 1 force sensor can be used for a single robot.
Remedy Check the parameter (AXJNO, AXMENO) settings to see
whether multiple force sensors have been set.
H.7651* 00n00
n= Mech.
No.
Err. message Force sense I/F unit initialization error
Cause
The force sense I/F unit was not recognized, and therefore it was
not possible to successfully complete initialization.
Remedy Check the force sense I/F unit wiring and whether the power
supply is ON.
H.7652* 00n00
n= Mech.
No.
Err. message Force sense I/F unit revision illegal
Cause
This force sense I/F unit revision is not supported.
Remedy Contact the maker.
H.766x 02n00
n= Mech.
No.
x=Sensor
axis
Err. message The force sensor data exceeded the tolerance value.
Cause
The force acting on the force sensor exceeded the set tolerance
value.
Remedy Check whether too large a force is acting on the force sensor.
Check whether an appropriate value has been set for parameter
FSLMTMX. *
For details on the error recovery method, refer to " Chapter4 4.4
(4) Tolerance value (FSLMTMX) ".
H8920 00n00
n= Mech.
No.
Err. message Sensor I/F unit error (**)
*) "**" is substituted with the "sensor I/F unit error No." (2
hexadecimal digits)
Cause An error occurred at the force sensor interface unit.
Remedy Refer to this table "Force Sense Function Related Error Details"
with the error No. in the Err. Message.