Denford Software & Machines

Hi,

I am using Denford CIM. Whenever i try to run a cell of the CIM, including lathe machine and mitsubishi robot; the robot after executing the program does not release interlock.

I think there is a command for releasing robot interlock i.e. OB+4 (at program start) and OB-4 (at program end). But whenever i run the program having these commands the robot gives an error "L.0091".
Please help me to get rid of this problem.

Error Message :- L0091

From the Mitsubishi Error list manual

Error Message :- This signal is already assigned to the dedicated output
Cause :- This signal cannot be used in duplicate
Measures :- Change the output No or change the dedicated output parameter

Below are some Notes I made about the RV-2AJ Robot, they may be of help to you