Mitsubishi Electric Q Series, Руководство по программированию

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APP - 55
APPENDICES
Table 1.17 Output Module Error List (6000 to 6990) (Continued)
Output module
Error
class
Error
code Roller
Ball
screw
Rotary
table
Cam
Error cause Processing Corrective action
6160
• Current value was changed for the
axis that had not been started. Or, the
current value within 1 cam shaft
revolution was changed for the servo
OFF axis.
• The current value within 1 cam shaft
revolution was changed during
cam/ball screw switching processing.
Do not change
the current value
within 1 cam
shaft revolution.
• Use the following device as
interlock not to change the
current value within 1 cam shaft
revolution for applicable axis.
(Servo READY signal
(M2415+20) ON)
• Do not change the current value
within 1 cam shaft revolution
during cam/ball screw switching
or cam/ball screw switching
command ON.
6170
• Slippage in-position range setting
device value is outside the range (0 to
2147483647).
Control with the
setting value "0".
• Set the device value within the
range of 0 to 2147483647.
6180
• One of the devices set in the speed-
torque control operation data is
outside the range.
• Correct the speed-torque
control operation data device.
6190
• The control mode switching was
executed with an invalid value
specified in the control mode setting
device.
• Correct the value of the control
mode setting device.
• When switching the mode from
the continuous operation to
torque control mode to another,
return the mode to the previous
one.
6200
• The control mode switching request
was executed during the zero speed
was OFF.
Operation
continues
without switching
the control
mode.
• Switch the control mode while
the output axis is stopped and
the zero speed is turned on.
• Make "Invalid selection during
zero speed at control mode
switching" valid when not
waiting for the stop of the servo
motor.
6210
• At the control mode switching, a value
set to the torque limit value at speed-
torque control is outside the range.
Control with the
default value
"300[%]". • Set the torque limit value to 0.1
to 1000.0[%].
6220
• During torque control or continuous
operation to torque control, the
absolute value of the command torque
is outside the range of 0 to the torque
limit value at speed-torque control.
Control with the
torque limit value
at speed-torque
control.
• Set the torque after torque
change within the range of 0 to
the torque limit value at speed-
torque control.
Minor
error
6240
• The control mode switching request of
speed-torque control was executed to
the cam axis.
The control
mode is not
switched. • Do not execute the speed-
torque control mode switching
request to the cam axis.