Denford CIM-Mitsubishi RV-2AJ Robot Problem

Help and info about Denfords CIM* and Virtual Reality CIM systems Robots and ASRS**
*(Computer Integrated Manufacturing) **(Automated Storage and Retrieval System)

Moderators: Martin, bradders, Steve, Mr Magoo

Post Reply
Posts: 4
Joined: Wed 27 Apr , 2011 10:09 am

Denford CIM-Mitsubishi RV-2AJ Robot Problem

Post by ar89 » Tue 14 Jun , 2011 19:56 pm


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.

User avatar
CNC Guru
CNC Guru
Posts: 1251
Joined: Mon 13 Feb , 2006 12:35 pm
Location: Brighouse, England

Re: Denford CIM-Mitsubishi RV-2AJ Robot Problem

Post by bradders » Thu 16 Jun , 2011 15:46 pm

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
RV-2AJ CIM set up notes November 2006.pdf
(148.8 KiB) Downloaded 2006 times

Post Reply