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E-Con: includes E-Con, ROBO Cylinder RCP2, RCP, RCS, ERC, ERC2, SCON, PCON, ACON Controllers.

CodeCode NameCause
0A1Parameter data errorCause:
Data input range of parameter domain is not appropriate.
(Example 1) This error occurs when the magnitude correlation
is obviously inappropriate, such as when 300 mm
was incorrectly input as the value of the software
limit negative side while the value of the software
limit positive side was 200.3 mm.
(Example 2) It occurs when the initial positioning band value is
smaller than the minimum positioning band width when
an actuator in RCP2, RCP3, RCP4 or RCP5 Series is
connected. Set the initial positioning band value to the
minimum positioning band width (lead length ÷ number
of encoder pulse: 800) × 3 or more. Refer to [Operation
Section Chapter7 Parameter]
Countermeasure:
Change to an appropriate value.
0A2Position Data ErrorCause : 1. A movement command was attempted to an empty
position.
2. The value of the target value in the “Position” field
exceeded the Parameter No.3 and 4 “Soft limit set
value”.
3. A target position was specified in the “Position” field by
relative coordinate in the solenoid valve mode 2 of PIO
pattern 5.
4. Pressing operation was specified while the vibration
suppress control function remained effective.
Treatment : 1. Set the position data.
2. Change the target position value to the one within the
soft limit set value.
3. The target position cannot be set by relative coordinate
(incremental feed).
4. The vibration suppress control function and pressing
operation cannot be used concurrently. Provide setting
so that either of the functions is effective.
0A3Position command
information data error
Cause:
1) The command value at direct numerical command exceeds
the set maximum value.
2) Push-motion operation was specified while the damping
control function was enabled.

Countermeasure:
1) The code of the command item exceeding the
detailed address is displayed. Refer to these
values and enter the appropriate values.

Detailed address
(Command item code) Command item
0F00 Target position
0F02 Command speed
0F04 Acceleration
0F06 Deceleration
0F08 Positioning width
0F0C Pushing current limit value
0F0D Control signal

2) The damping control function and push-motion
operation cannot be used at the same time. Set
so that only one of the functions is enabled.
0A4Command counter
overflow
Cause :
The calculated number of the command pulse input has
exceeded +/-134217728 (H’F8000000 to H’08000000) in
Pulse Train Control Mode.
Treatment :
Attempt to make the value of the electrical gear ratio
smaller (make the movement against the unit bigger).
0A5Electromagnetic brake
unreleased error
Cause : The brake cannot be released.
Treatment : Supplied the 24V power unit for the electromagnetic
brake.
0A6Cold startCause:
The dynamic brake cannot be released when the servo is ON due to noise and electrostatic , etc.
Treatment:
Implement measures to eliminate noise or electrostatic. There is a concern of circuit breakdown. Please contact IAI
0A7Command deceleration
error
Cause :
Because there is not enough deceleration distance when
the deceleration is changed to a lower setting during the
operation, the actuator exceeded the soft limit when
deceleration was made from the current position with the
deceleration after the change.

Treatment :
Because the timing of the next travel command when
changing the speed during travel is delayed, it is
necessary to set the travel command timing for
deceleration change faster.
0A8Motor/encoder type not supportedCause:
The types of the motor and the encoder set to the parameter is
not defined.
Countermeasure:
Contact IAI if this alarm is generated with an actuator
being controlled, or in case it reoccurs even after reboot.
0A9Loadcell data errorCause:
The data acquired from loadcell at power-on or software reset is incorrect.
Treatment:
1) Effect of noise is suspected. Check if there is a device radiating the noise and have a treatment to prevent receiving the noise.
2) The loadcell may be faulty. If the error keeps occurring even with the power reboot for several times, it is considered the loadcell is malfunctioned. Please contact IAI.
0ABCommand speed errorCause: A command from PLC exceeds the maximum velocity of an
actuator in the motion network.
Countermeasure: Revise the parameters and programs in PLC.
0B0Bank 30 Error (Parameter)Execute a common parameter edit or initialize the controller.
0B1Bank 31 Error (Point)When release is not possible with the controller power supplied, you will need to either execute a common parameter edit or initialize the controller. Also, this error occurs when you try to execute a point through I/O that does not exist.
0B3Linear spurious absolute errorCause:
Home-return operation was not performed properly.
1) Work is interfering with peripheral equipment in the middle
of home return.
2) Encoder Error
Countermeasure:
1) Remove the interference.
2) It is necessary to replace the motor.
0B4Electrical angle mismatch
(inconsistency)
Cause:
An error was detected during the electromagnetic phase
detection operation when the servo was turned on after the
power was supplied.

Position deviation counter has overflown before Z-axis was detected.
1) Operation unable due to external force
2) Sliding resistance on actuator itself is high

Z-phase was detected two times before the motor makes one turn.
3) Malfunction of encoder
Countermeasure:
1) Check if there is any failure in actuator installation.
2) If the payload is in normal condition, shut off the
power and move the slider manually with hand to
see the sliding resistance.
3) The motor requires to be replaced. Contact IAI.
0B5Z phase position errorCause : The position where the Z-phase is detected before the
home return operation, is out of the specified range.
Treatment : There is a concern of an encoder error.
Please contact IAI.
0B6Z-phase detection timeoutCause:
With simple absolute specification, Z-phase could not be detected
at the first servo ON or home return after turning the power on.
1) Contact failure or disconnection of the connector part of the
actuator connecting cable.
2) For models with brake, the brake cannot be released.
3) External force is applied and the motor cannot perform detection.
4) The sliding resistance of the actuator itself is excessive.

Countermeasure:
1) Check the wiring status of the actuator connecting cable.
2) Check the wiring condition of the brake cable and
whether the brake part makes "clicking" sounds
when toggling the brake release switch. If not,
confirm that power is supplied to the brake.
3) Confirm that there are no assembly errors.
4) If the loading weight is normal, turn OFF the power and
then move by hand to check the sliding resistance.
0B7Magnetic pole uncertainCause:
When magnetic pole phase detection (carried out even with
simple absolute specification) was performed in the first servo
ON process after power ON, magnetic pole phase could not be
detected after a given period of time.
1) Contact failure or disconnection of the connector part of the
actuator connecting cable.
2) For models with brake, the brake cannot be released.
3) External force is applied and the motor cannot perform detection.
4) The sliding resistance of the actuator itself is excessive.

Countermeasure:
1) Check the wiring status of the actuator connecting cable.
2) Check the wiring condition of the brake cable and
whether the brake part makes "clicking" sounds
when toggling the brake release switch. If not,
confirm that power is supplied to the brake.
3) Confirm that there are no assembly errors.
4) If the loading weight is normal, turn OFF the
power and then move by hand to check the
sliding resistance.
0B8Excitation detection errorCause:
When excitation detection was performed in the first servo ON
process after power ON, excitation detection operation did not
complete after a given period of time.
1) Connection failure or disconnection of the actuator
connecting cable.
2) The brake cannot be released (for models with brake).
3) The load on the motor is large due to external force.
4) The power was turned ON while in contact with the
mechanical end.
5) The sliding resistance of the actuator is excessive.

Countermeasure:
1) Check the wiring status of the actuator connecting cable.
2) If there is no problem with the 24 VDC power
supplied to the control power connector of the
gateway unit, the RCON system may be faulty.
3) Confirm that there are no assembly errors in
machine components.
4) Move the slider or the rod tip to a point where it will
not hit the mechanical end and reboot the power.
5) If the load weight is within the specifications, turn
OFF the power supply and manually check the
sliding resistance.
0B9Communication Error 2.Check Make sure that the payload is within specification. Make sure that the external power source works well. Check the motor encoder cable.
0BAHome sensor not
detected
Cause:
Indicates that the home return motion of an actuator with home
sensor has not completed normally.
1) The workpiece interferes with the surroundings during home return.
2) The sliding resistance of the actuator is excessive.
3) Poor mounting, malfunction, or disconnection of the home sensor.
Countermeasure:
1) Remove the interfering workpiece.
2) If the workpiece does not interfere with the
surroundings, 2) and 3) should be considered.
Contact IAI.
0BEHome return timeoutCause:
1) Home return motion has not completed within a given period
of time from the start.
2) The home sensor is always detecting due to malfunction of
the home sensor.

Detailed code | Target operation
01 | Home return motion timeout
02 | LS retreat operation timeout

Countermeasure:

This does not occur in normal operation. The
combination of driver unit and actuator may be
incorrect. Contact IAI.
0BFCreep Sensor not detected Cause:

This indicates the actuator detected the creep sensor (option)
before detecting the origin sensor (option except for rotary
actuator), or the actuator reached the mechanical end, or the
actuator cannot move anymore because the load is too large.
1) The position to apply the creep sensor is not appropriate.
2) The creep sensor is faulty.
3) The cable is disconnected or the connector is not plugged in
properly.
4) The actuator cannot move due to heavy load caused by
interference.

Countermeasure:

1) Read just the sensor installation position.
2) Replace the creep sensor.
3) Perform continuity check to see if the connector is
plugged in properly.
4) Check the interference and the transportable weight and make sure there is no external force applied.
0C0Excessive actual speedCause:
Motor rotation speed exceeded the allowable rotation speed.
1) The sliding resistance of the actuator is locally excessive.
2) External force is applied momentarily.
A sudden speed increase may have occurred before
detecting the servo error.

Countermeasure:
This does not occur in normal operation, so confirm
that there are no assembly errors. Also, confirm
whether external force is applied in the direction of
travel.
0C1Servo ErrorCause:
2 or more seconds have passed without being able to move after receiving the travel command.
1) Connection failure or disconnection of the actuator connecting cable.
2) The brake cannot be released (for models with brake).
3) The load on the motor is large due to external force.
4) The sliding resistance of the actuator is excessive.

Countermeasure:

1) Check the wiring status of the actuator connecting cable.
2) If there is no problem with the 24 VDC power
supplied to the control power connector of the
gateway unit, the RCON system may be faulty.
3) Confirm that there are no assembly errors in
machine components.
4) If the load weight is within the specifications, turn
OFF the power supply and manually check the
sliding resistance.
0C2Overrun sensor detectedCause: This indicates that a signal from the OT sensor (option)
installed at the mechanical end is detected.
1) The actuator was moved by hand or received external force
while the servo was OFF (normal detection).
2) A jog operation was made under a condition that the home
coordinates are not established and the soft stroke limit
would not work properly.
3) The home position achieved by home return is not correct,
or in the case of an absolute type controller the coordinates
have shifted due to an inappropriate absolute reset position.
4) There is a mismatch between the sensor characteristics and
the setting in Parameter No.19 “Overrun sensor input
polarity”, or the wiring layout is wrong.
5) There is a mistake in the combination of the controller and
actuators, or the setting in Parameter No. 3 and 4 "Soft
Limit" or Parameter No. 77 "Ball Screw Lead Length" is
inappropriate.
Countermeasure: If 1) or 2) is suspected, move the actuator in the
opposite direction by hand.
If this error occurred inside the effective stroke
range, 3), 4), or 5) is a likely cause.
If 3) is suspected, check the home position.
Conduct the absolute reset again if it is the absolute
type.
If 4) or 5) is suspected, please contact IAI.
0C4Exceeded allowable time
of exceeding torque
allowing continuous
pressing
Cause:
The time of continuous pressing with the pressing setting
above 70% has exceeded the time set in Parameter No. 89
"Continuous Pressing Applicable Torque Exceeding Allowable
Time".
Countermeasure:
Check the sequence again and set the pressing time
to be within the setting time.
0C5Unauthorized control
system transition
Cause:
1) Operation was switched to normal position control operation
during "damping control" operation.
2) Operation was switched to "damping control" operation
during normal position control operation.
3) The anti-vibration number has been switched over during
operation in "Anti-Vibration Control".
Countermeasure:
For each, change the sequence so that the next
operation is performed after confirming that
positioning complete signal PEND is ON.
0C6Torque current Mismatching force feed backCause:
The feedback from the loadcell has continuously been larger than the rating motor output for 256 ms or longer.
Treatment:
1) Check that there is no external force applied in the direction to push back from the load side.
2) Review wiring of actuator and loadcell cables.
3) The actuator, controller or loadcell may be faulty. Please contact IAI.
0C8OvercurrentCause:
The output current of the power supply circuit was abnormally high.
Countermeasure: This does not normally occur. There may be
insulation deterioration of the motor coil, RCON system failure, etc.


Caution:
Before resuming operation, make sure to remove the cause of the
error. Turning the power on and off repeatedly without removing the
cause could burnout of the motor coil.
0C9OvervoltageCause:
The power regenerative circuit voltage reached the judgment
value or higher.
Countermeasure:
There may be an RCON system failure.
0CAOverheatingCause:
The temperature of the controller internal parts has exceeded
the temperature defined for each actuator.
1) Operating with load
conditions exceeding
the specified range.
2) The ambient
temperature is high.
3) The load on the
motor is large due to
external force.
4) Defective parts inside
the RCON system.
(When detail code is 0008H or 0009H in the alarm list in the
teaching tool, it is an error of the 200V power supply unit)

Countermeasure:
1) Revise the operation conditions, such as
decreasing the acceleration/deceleration speed.
2) Lower the ambient temperature of the RCON system.
3) Confirm that there are no assembly errors in
machine components.
Note: This error does not normally occur. If it occurs,
confirm that it is not 1) to 3) above. If the same
problem reoccurs, there may be an RCON
system failure.
0CBCurrent sensor offset
adjustment error
Cause:
During the current detection sensor status check conducted in
the startup initialization process, a sensor error was found.
1) Failure of the current detection sensor and peripheral components.

Countermeasure:
In case this occurs again even after the power supply is rebooted, replace the driver unit.
0CCControl power supply
voltage error
Cause:
Driver unit control power supply voltage has increased to or
above 28.8V (120% of 24V DC).
1) Control power supply voltage rise
2) Malfunction of parts inside the RCON system
Countermeasure:
1) Confirm that voltage of 24V DC ±10% is being
applied to the gateway unit control power
connector. If the voltage is low, the 24V DC power
supply may have failed.
2) Contact IAI.
0CDEmergency-stop relayCause: A melt-down of the emergency stop relay inside the controller
Countermeasure: The relay or controller must be replaced. Please contact IAI.
0CEDrop in control supply voltageCause:
1) The AC power supply voltage is low.
2) Faulty part inside the controller
Treatment:
Check the voltage of the input power supply. In the case that the voltage is normal, please contact IAI.
0CFI/O 24V power supply
error
Cause :
24V power supply for PIO is not connected. The voltage is
extremely low.
Treatment :
Check the connection and voltage.
0DAFeedback pulse errorCause : Feedback pulse data cannot be output within the cycle.
Treatment : Take proper measures against noise.
0DDDrive mode errorCause:
1) Linear ABS actuator was used in Pulse Train Control Mode.
2) The actuator of fieldbus specification is started after it is set to the pulse-train control mode.
Set the pulse-train mode change switch on the front panel to OFF
0D2Excessive motor power
supply voltage
Cause:
There is a possibility of component failure inside the RCON system.
Countermeasure:
If it occurs frequently, the probability of RCON
system failure is high.
0D3Motor power-supply voltage lowCause:
1) If the power source is shut off in the controller external
circuit, servo-on command was made during the power is
shut.
2) Overcurrent occurred on the 200V motor power supply line.
3) There is a concern of a malfunction of the controller internal
components.
Countermeasure:
1) Check the controller external circuit.
2) Check the wiring between actuators and the
driver unit.
3) If this error occurs often, there is a concern of a
controller malfunction.
0D4Drive Source ErrorCause:
1) 24V Motor power input voltage (input to MPI terminal) is
excessive. During acceleration/deceleration or servo ON,
etc, consumption current rises momentarily. When remote
sensing function is used with power of barely sufficient
capacity, overvoltage may occur in response to the current
change.
2) Overcurrent generated in 24V motor power line.
Countermeasure:
1) Check power supply voltage being input to MPI
terminal. Consider using a power supply with
sufficient capacity, or avoid using the remote
sensing function.
2) Check the wiring between the actuator and the
driver unit.
0D5Deviation counter
overflow in homing
incomplete status
Cause:
The position deviation counter overflowed.
1) Impact of external force, etc. or collision with mechanical
end during JOG operation, or overload during travel caused
the unit to decelerate or stop.
2) The excitation detection operation after power ON is
unstable.
Countermeasure:
1) This occurs when the actuator cannot operate
according to commands. Check the load
condition, such as whether the workpiece is
interfering with surrounding objects, whether the
brake is released, etc., and resolve the cause.
2) There may be an overload, so review the
payload.
0D6FAN error detectionCause:

1) The number of revolution of the fan in the fan unit mounted
on the driver unit has dropped by 50%.
2) The number of revolution of the fan unit mounted on the
200V system power supply unit has dropped by 50%.
(When detail code is 0001H in the alarm list in the teaching
tool)
* The detail code should represent 0002H when the revolution
of the driver unit and the fan unit on the 200V power supply
unit dropped by 50% at the same time.

Countermeasure:

1) 2) Replace the fan unit.
Refer to [Maintenance Section Chapter 1, 1.4.1
Fan unit replacement (page D1-6)] for how to make
replacement.
0D7Belt breaking sensor
detected
Cause:
The belt at the motor reversed part has broken on the
actuators below.
RCS2-RA13R, RCS3-RA15R, RCS3-RA20R
Countermeasure:
Belt must be replaced.
0D8Deviation OverflowCause:

The position deviation counter overflowed.
1) The unit decelerated or stopped due to the influence of
external force or overload during travel.
2) The excitation detection operation after power ON is
unstable.
3) The power supply voltage has dropped.
4) The servo gain number is too low.

Countermeasure:

This occurs when the actuator cannot operate
according to commands.
1) Check the load condition, such as whether the
workpiece is interfering with surrounding objects,
whether the brake is released, etc., and resolve
the cause.
2) Revise the payload as overloading is concerned,
and reboot the power supply.
3) Check power supply voltage.
4) Adjust the servo gain number.
0D9Software stroke limit over
error
Cause:
The present position of the actuator exceeds the software
stroke limit
Countermeasure:
Return to the software stroke limit range.
0DCPush-motion operation
range exceeded error
Cause:
1) The push-back force was too strong after pushing was
completed, pushing back to the push-motion start setting
position.
Countermeasures:
1) Re-set and reduce the push-back force.
0DFCollision detectionCause:
Collision of the actuator was detected.
Countermeasure:
Remove the cause of the collision.
For an unexpected detection, readjust the collision
detection function. Refer to [Operation Section
Chapter 5, 5.2 Collision Detection Function (page
C5-8)]
0E0OverloadCause:
1) The workpiece weight exceeds the rated weight, or an
external force is applied and the load increased.
2) The brake is not released. (With brake)
3) The sliding resistance of the actuator is locally excessive.
Countermeasure:
1) Review the workpiece and its surroundings and
remove the cause.
2) If there is no problem with the 24 VDC power
supplied to the control power connector of the
gateway unit, the RCON system may be faulty. If
not released, there may be brake failure, cable
disconnection, or RCON system failure. Contact
IAI.
3) Move the workpiece by hand if possible and
check for any location with excessive sliding
resistance.
Check for any distortions on the mounting
surface. If this error occurs even with a single
actuator, contact IAI.
Caution:
Make sure to resolve the cause before resuming operation.
If you cannot judge whether the cause has been fully resolved, wait
at least 30 minutes before switching the power ON to prevent motor
coil burnout.
0E1Loadcell calibration errorCause : 1) Calibration command is issued during actuator
operation, temporary stop or pressing operation.
2. A calibration error occurs when calibration command is
issued.
3. The calibration command signal “CLBR” is set to OFF
before the completion of calibration.
4. Pressing command is issued without calibration.
Treatment : 1. Conduct the calibration in the actuator stop condition.
2. Check whether a large load is applied to the loadcell
due to biting. Effect of noise is suspected. Check the
presence of noise source around the loadcell.
3. 4. Check the sequence in either case. Also, there is a
concern of a malfunction of the loadcell.
Replace the loadcell. Refer to "Loadcell-equipped
Actuator Instruction Manual" for how to replace a
loadcell.
0E2Loadcell communication errorCause:

There was a communication error during the communication with the loadcell.

Treatment:
1) Review wiring of loadcell cables and others
2) Effect of noise is suspected. Check the presence of noise source around the loadcell.
3) Replace the loadcell if it may be faulty.
4) Replace the controller if it may be faulty. In cases 3) and 4), please contact IAI.
0E3Loadcell errorCause: Loadcell power error, hardware error such as board overheat or EEPROM error occurs.
Treatment: 1) The effect of noise may be possible. Check the presence of noise source around the loadcell.
2) Replace the loadcell if it may be faulty. Please contact IAI
0E4Encoder Send ErrorCause:
The data sending and receiving between the driver unit in the controller and
encoder are conducted by serial communication. This error
indicates that the data sent from the driver unit was not
received properly at the encoder side.
1) Encoder cable is partially disconnected, or connector is not
connected properly.
2) Influence from noise.
3) Failure of communication IC mounted on the encoder circuit
board.
4) Failure of communication IC mounted on the driver unit
circuit board.
Countermeasure:
1) Confirm that there is no failure in the cable and
connector coupler.
2) Try turning OFF power to all peripheral devices
and moving only the driver unit and actuator. If no
error is generated, the culprit may be noise. Take
measures against noise.
If 3) or 4) is the case, replace the encoder or driver
unit. If the cause cannot be specified, please contact IAI.
0E5Encoder Reception ErrorCause:
Data from the encoder was not normally received by the driver
unit.
1) Encoder cable line breakage or connector connection failure
* When P/A driver: Detail code 0002H
When S driver: Detail code 0001H
2) Influence from noise
* When P/A driver: Detail code 0002H
When S driver: Detail code 0001H
3) Actuator internal part malfunction (communication part).
4) Driver unit internal part malfunction (communication part).
[Only for P Driver]
5) Initialization of battery-less absolute encoder incomplete
(Detail code 000AH)
6) Communication error occurred to battery-less absolute
encoder
(Detail code 000CH)
7) [For P/A Driver Only]
When the simple absolute unit is used, communication with
the driver unit is not appropriately established.
Countermeasure:
1) Check for any wire breakage on a connector and
inspect the condition of the wire connections.
2) Try turning OFF power to all peripheral devices
and moving only the driver unit and actuator. If no
error is generated, the culprit may be noise. Take
measures against noise.
In case of 3), 4) or 5), replace the actuator (motor
part) and/or the driver unit.
6) Check the encoder cable line breakage and
connection at connectors. For the high-resolution
battery-less absolute encoder, check the capacity
of the 24V DC power source and connection at
the power supply cables.
Contact IAI if the cause cannot be determined.
7) Check the condition of connection between the
driver unit and the simple absolute unit (if there is
any mistake in cable insertion and so on).
0E6Encoder Counter ErrorCause:
The encoder cannot detect location information properly.
1) Disconnection of the encoder relay cable or actuator side
attached cable, or connector connection failure.
2) Failure of the encoder itself.
3) Influence from noise.
Countermeasure:
1) Check for any wire breakage on a connector and
inspect the condition of the wire connections.
If there is no cable malfunction, encoder failure may
be possible. Contact IAI.
0E7A-, B- and Z-phase wire breakingCause:
Encoder signals cannot be detected correctly.
1) The encoder relay cable or supplied actuator cable is
disconnected or its connector is not plugged in correctly.
2) The encoder itself is faulty.
Countermeasure:
1) Check if any wire breakage on a connector and
the condition of wire connections.
If the cables are normal, faulty encoder is
suspected. Please contact IAI.
0EBBattery-less Absolute
Encoder error detected
Cause:
Battery-less absolute encoder cannot detect location
information normally.

Countermeasure:
Check for any wire breakage on a connector and
inspect the condition of the wire connections.
If there is no cable malfunction, encoder failure may
be possible. Contact IAI.
0ECPS-phase disconnectionCause:
There is a concern of looseness or line breakage at the
connectors of the actuator connection cables.
Countermeasure: Check the conditions of connectivity on the actuator
connection cables and have a conductivity check on
them. Consult with IAI if they are in the normal
conditions.
0EDAbsolute encoder error
detection 1
Cause:
The present position changed while reading or saving absolute
data.
Countermeasures:
Do not apply vibration to the actuator.
0EEAbsolute encoder error
detected 2
Cause:
The encoder cannot detect position information normally with
battery-less absolute specification or simple absolute
specification.
1) The first time power is turned ON after replacing the motor
with battery-less absolute specification, or with simplified
absolute specification. (Before executing absolute reset)
2) Absolute battery voltage drop. (Simple absolute
specification) (When the detail code in the teaching tool
alarm list is 0001H)
3) Disconnection of the actuator connection cable, actuator
side attached cable, connector connection failure, or cable
insertion/removal. (Detail code 0002H)
4) Driver unit parameters have been changed.
Countermeasure:
2) After supplying power for 72 hours or more,
charge the battery, then perform absolute reset.
If it seems to occur frequently even when
sufficiently charged, the battery life may be the
problem. Replace the battery.
Refer to [Maintenance Section Chapter 1, 1.4.2
Absolute battery replacement (page D1-9)] for
how to make replacement.
For 1), 3), and 4), perform absolute reset.
Refer to [Maintenance Section Chapter 1, 1.5
Absolute Reset Procedure (page D1-12)]
0E8A-, B-phase
disconnection
Cause:

The encoder signal cannot be detected normally.
1) Disconnection of the actuator connection cable, actuator
side attached cable, or connector connection failure.
2) Failure of the encoder itself.
3) Disconnected axis parameter No. 158 "Enabled/Disabled
Axis Select" is 0: Enabled.

Countermeasure:

1) Check for any wire breakage on a connector and
inspect the condition of the wire connections.
2) If there is no cable malfunction, encoder failure
may be possible.
3) Parameter No. 158 "Enabled/Disabled Axis
Select" 1: Disabled.
* When the actuator is not connected, this alarm is
generated just by setting the reserved axis in the
gateway parameter configuration tool or setting
the driver unit to "Not set".
0EFAbsolute encoder error
detection 3
Cause:
The encoder cannot detect position information normally with
simple absolute specification. (Encoder overspeed error)
The present position changed at a speed higher than the
rotation speed setting due to an external factor at power cutoff.
Countermeasure:
Set the rotation speed setting so that it supports
higher rotation speeds than the current rotation
speed setting. If it occurs again, absolute reset is
required.
Refer to [Maintenance Section Chapter 1, 1.5
Absolute Reset Procedure (page D1-12)]
0F0Driver logic errorCause:
CPU is not working properly.
1) Malfunction of CPU
2) Operation error due to noise
Countermeasure: Consult with IAI if the same phenomenon occurs
even after reboot of the power.
0F1Field bus link errorCause :
The link to the field network was disconnected on the field
network type controller.
Treatment :
1. Revise parameter settings related to the field network.
2. Check the settings in the host device (master unit).
3. Check the connection for the network cable.
4. There may be a concern of noise impact. Check if there
is a noise source around the equipment, and have a
counteraction.
0F2Field bus module errorCause : Error detected in field network circuit board.
Treatment : Check the parameter settings.
0F3Field bus module not
detected
Cause : Field network circuit board could not be detected.

Treatment : Reboot the power. Replace the controller incase the
phenomenon would not be solved.
0F4
PCB mismatch


RCON-AC>
The simple absolute unit was connected when the encoder
type set in the parameter was at a value that the simple
absolute unit is not available.
Countermeasure: Contact IAI if this error occurs.


0F5Non-volatile memory write verify errorCause:

When data is written to the non-volatile memory, comparison
(verification) is performed to confirm whether the data in the
memory matches the write data. At this time, a mismatch was
detected. (Failure of non-volatile memory)

Countermeasure:

If this reoccurs even after turning ON the power
again, replace the driver unit.
0F6Non-volatile memory write
timeout
Cause:
There is no response within the specified time during the data
writing to the non-volatile memory. (Failure of non-volatile
memory)

Countermeasure:
Contact IAI if this reoccurs even after turning ON the
power again.
0F8Non-volatile memory data
destruction
Cause:
Abnormal data was detected by non-volatile memory check at
startup. (Failure of non-volatile memory)

Countermeasure:
Contact IAI if this reoccurs even after turning ON the
power again.
0F9Abnormal PLD1) Contact IAI Tech Support to walk-thru initialization procedure of controller. Save parameters and point table first if communication is still active.
2) Check for sources of electrical noise.
3) Controller is damaged inside. May need to replace with new unit.
0FACPU errorCause:
CPU is not operating normally.
1) CPU malfunction.
2) Malfunction caused by noise.

Countermeasure:
Contact IAI if this reoccurs even after turning ON the
power again.
0FBFPGA error (Faulty component)The FPGA is not operating properly.

Cause: 1) Malfunction due to the effect of noise, etc.
2) Faulty FPGA
3) Faulty circuit component around the FPGA
4) Inappropriate board installation in the controller.
Treatment :
Turn the power off and reboot.
If the error occurs again, check for presence of noise.
If a spare controller is available , replace the problem controller with the spare controller. A recurring error with the spare controller suggests presence of noise. If the cause cannot be identified, please contact IAI.
0FCLogic error
(Controller part error)
Cause:
RCON system interior is not working properly.
1) CPU malfunction.
2) Malfunction caused by noise.
Countermeasure: Reboot the power.
If the error occurs again, check for presence of
noise.
If a spare driver unit is available, replace it and try
again. A recurring error with the spare controller
suggests presence of noise.
Contact IAI if the cause cannot be determined.
02CMonitoring data type
change command during
monitoring
Cause : Changing data type was directed during
monitoring by the monitoring function of PC
software.
Treatment : Stop the monitoring before changing data type.
02DMonitoring related
command in monitoring
function invalid status
Cause : An attempt was made to perform monitoring in
the state where the monitoring function is set to
be ineffective.
Treatment : Set parameter No.112 (Selection of monitoring
mode) to 1 to 3 (“0”: no use).
02ERTC related command in RTC invalid statusCause :
An attempt was made to use the calendar in the state
where the RTC (calendar) function was made ineffective.
Treatment :
Set parameter No.111 (Selection of use of calendar
function) to “1” (“0”: no use).
04AEstimated life exceeded
warning
Cause: The capacitance of the motor power supply capacitor for the
driver unit has exceeded its calculated life.
Countermeasure: Replace the driver unit as soon as possible.
04CDrop in Number of Fan
Revolution
Cause :
The number of the FAN revolution has dropped to the
warning level.
Treatment :
Degradation of the fan can be considered. Replace the
FAN.
04DExcess Fan Total Operational
Duration
Cause : The total operation duration of the FAN has exceeded the
reference timing for replacement.
This alarm is not purposed to indicate an error.
Treatment : Utilize this alarm as a reference for the timing to replace
the FAN.
04EExceeded movement count
threshold
Cause : The total number of the operation times exceeded the
value set in Parameter No.147 “Total Movement Count
Threshold”.
04FExceeded operated distance
threshold
Cause : The total number of the operation distance exceeded the
value set in Parameter No.148 “Total Operated Distance
Threshold”.
05ATransmission ErrorAbnormal Communication, Check for noise. Inspect all serial ports and cables involved.
05BTransmission Framing ErrorAbnormal Communication, Check for noise. Inspect all serial ports and cables involved.
05CTransmission Time Out ErrorAbnormal Communication, Check for noise. Inspect all serial ports and cables involved.
068SRAM access errorCause :
Servo monitor is not operated in the normal condition
because of noise or malfunction of consisting parts.

Treatment :
1. Take proper measures against noise.
2. When the servo monitoring function is not used, set
parameter No.112 “Monitoring mode” to “0”.
3. If the operation is not improved in use of the servo
monitoring function in spite of measures against noise,
Please contact IAI.
069Detection of realtime clock oscillation stopCause :
The calendar function is stopped and the current time
data is lost.
Treatment :
Set the time again.
Refer to the [Instruction Manual of RC PC software.]
(Note) This error is not registered in the alarm list.
05DStart Text ErrorAbnormal Communication, Check for noise. Inspect all serial ports and cables involved.
05EEnd Text ErrorAbnormal Communication, Check for noise. Inspect all serial ports and cables involved.
06ARealtime clock access errorCause :
The calendar function is not working properly because of
noise or malfunction of consisting parts.
Treatment :
1. Take proper measures against noise.
2. When the calendar function is not used, set parameter
No.111 “Calendar function” to “0”.
3. If the operation is not improved in use of the calendar
function in spite of measures against noise, Please
contact IAI.
06BMaintenance information
data error
Cause :
The maintenance information (total movement count, total
operated distance) is lost.
Treatment :
Please contact IAI.
07FBCC ErrorAbnormal Communication, Check for noise. Inspect all serial ports and cables involved.
080Travel command during
servo OFF
Cause :
Travel command was issued in servo OFF status.
Treatment :
Execute travel commands after confirming servo ON
status (servo ON signal SV
082Position command in incomplete home return
Cause :
A position move command was issued before home return
was completed.
Treatment :
Execute travel commands after confirming the home
return complete signal HEND is ON.
083Numerical command in incomplete home returnCause :
An absolute position command was issued by numerical specification before home return was completed (direct command from Field Network).

Treatment :
Perform home return motion, confirm the home return
complete signal HEND, and then perform direct numerical
command.
084Absolute position move
command when home
return is not yet completed
Cause :
A move command was issued when home return was still in progress.
Treatment :
Perform home return motion, confirm the home return complete signal HEND, and then perform travel command.
085Position No. error during
movement
Cause :
A non-existing (invalid) position number was specified in the positioner mode.
Treatment :
Check the position table again and indicate an effective
position number.
086Move command while pulse train input is effectiveCause :
An actuator operation command was issued from the
serial communication while the pulse train input enabled or
the motion command is enabled.
Treatment :
Do not attempt to issue any actuator operation command
from the serial communication in the pulse train control
mode and the motion mode.
087Moving command during
loadcell calibration
Cause : A move command was issued during loadcell calibration.
Treatment : After confirming the loadcell calibration is completed with
the calibration complete (CEND) signal, and confirming
CLBR Signal is turned OFF, perform the movement
command.
090Software reset command
in servo ON status
Cause :
A software reset command was issued in servo ON status.
Treatment :
Check that servo is in OFF status (SV signal is OFF
status) and issue a software reset command.
091Position No. error in
teaching
Cause :
The position number out of the available range was
selected in the teaching.
Treatment :
Select the position number from 63 or smaller.
092PWRT signal detection
during movement
Cause :
The current position write signal (PWRT) was input in the
teaching mode of PIO pattern 1 while the actuator was
jogging.

Treatment :
Confirm the status of stop (the movement in process
signal MOVE is off) before inputting.
093PWRT signal detection in
incomplete home return
Cause :
The current position write signal (PWRT) was input in the teaching mode of PIO pattern 1 when home return was not yet completed.

Treatment :
Input the home-return signal HOME first, confirm the
status of the home-return complete (HEND Signal is on)
before inputting.
095DCLR signal detection
with datum position
movement command
Cause :
1. Datum position movement command (RSTR) signal
was turned on while deviation counter clear (DCLR)
signal was ON.
2. DCLR signal was turned ON during datum position
movement
Treatment :
Turn ON DCLR signal in the right timing.
096Home-Return Operation
Error
Cause: 1) The home-return operation was attempted while the
actuator was not stopped.
2) The actuator was moved by an external force during the
home-return operation.
Countermeasure: Have the home-return operation conducted while
the actuator is stopped.
09BInternal communication
error
Cause:

There was an internal communication error occurred between
the gateway unit and driver unit.
1) Installation error or contact error on the link connector
between gateway unit and driver unit.
2) Influence of noise generated by a peripheral device
3) Malfunction of gateway unit or driver unit

Countermeasure:

1) Disconnect and then connect the link between the gateway
unit and driver unit to see if the alarm gets generated. If it
does, check 2) and 3).
2) Shut down the power on peripheral devices and operate
only with the controller and actuators to see if this alarm
gets generated again. If the alarm does not get generated,
there is a concern of influence of noise from a peripheral
device. Revise the noise prevention on peripheral devices
such as grounding and electrostatic shielding.
3) Replace the gateway unit or driver unit. The driver unit
number to be replaced can be checked in the table below
based on the detail address displayed in the alarm list.

Detail address | driver unit number
0001 |0
0101 |1
0201 |2
0301 |3
0401 |4
0501 |5
0601 |6
0701 |7
0801 |8
0901 |9
0A01 |10
0B01 |11
0C01 |12
0D01 |13
0E01 |14
0F01 |15
09FCyclic synchronization
error
Cause: Communication error generated in total frame communication.
1) Connector or SCON cable connector is not correctly
connected.
2) Interior signal line or SCON connection cable is
disconnected.
3) Terminal unit or terminal connector (for SCON) has not been
mounted.
4) Communication error due to noise
Countermeasure: 1) 2) Confirm that units are firmly connected
together. Disconnect the units and then connect
them again.
3) Mount the terminal unit or terminal connector.
4) Take measures against noise.
10AMotorola Sum ErrorAbnormal update program file (during update).
10BMotorola S Record ErrorAbnormal update program file (during update).
10CMotorola S Address ErrorAbnormal update program file (during update).
10DMotorola S File Name ErrorAbnormal update program file (during update).
10ETiming Limit (W) (S)Please check TEACHInG PENDANT-CPU Base Flash ROM address setting DIP-SW (during update).
10FTiming Limit (E) (S)Please check TEACHInG PENDANT-CPU Base Flash ROM address setting DIP-SW (during update).
11AFlash Verify Error: SPlease check Teaching Pendant-CPU Base Flash ROM address setting DIP-SW.
11BFlash ACK Time Out: SPlease check Teaching Pendant-CPU Base Flash ROM address setting DIP-SW.
11CFlash Verify Error: MPlease check Teaching Pendant-CPU Base Flash ROM address setting DIP-SW.
11DFlash ACK Time Out: MPlease check Teaching Pendant-CPU Base Flash ROM address setting DIP-SW.
11EPair Data Mismatch ErrorPlease input data with relationships.
11FAbsolute Value Under ErrorThe absolute data for input is too low. Please input within the allowable data range.
20AServo OFF during movementServo was turned OFF during movement.
20CServo was turned OFF during movement.Start was turned ON during movement. (Hold)
20DDuring movement, STP-OFFSupply Voltage to the Hold Input before trying to move actuator.
20ESoft Limit OverSoft Limit Over is detected during movement using the Teaching Pendant
30APacket R-QUE OVReceiving external excessive data.
30BPacket S-QUE OVPacket transmission QUE over flow.
30CNo connection errorPlease check the competition for cable controller ? SIO main station subordinate stations.
040Emergency StopEmergency stop status.
047Deviation exceeded
warning
Cause: Present operating conditions or high actuator sliding resistance
may be causing excess deviation.
Countermeasure: Lower the acceleration/deceleration setting.
Perform maintenance such as greasing, etc.
048Driver Overload alarmCause : The load current exceeded the value set in
Parameter No.143 “Overload Level Ratio”.
This alarm is kept alarm condition until reset is
made. This alarm turns ON when the load current
exceeds the setting from a value below the setting.
Treatment : Lower the setting of acceleration/deceleration.
Also, increase the frequency of pause.
049Collision warningCause: The current value of the motor reached the detection current
value set by the collision detection function.
Countermeasure: Remove the cause of the collision.
For an unexpected detection, readjust the collision
detection function. Refer to [Operation Section
Chapter 5, 5.2 Collision Detection Function (page
C5-8)]
061FNCCHR, W Address ErrorSerial string needs to be formatted correctly.
0621 Operand ErrorIncorrect Data Command (possibly an operation not allowed with the controller type).
0632 Operand ErrorIncorrect Data Command (possibly an operation not allowed with the controller type). In case of another linked controller, there could be parameter data which exceeds 2000 rpm set by SW7 - ON, and SW8 - OFF located on against the controller. Incorrect Data Command Rejection (could be an operation not allowed with that controller type).
0643 Operand ErrorIncorrect Data Command (possibly an operation not allowed with the controller type).
070RUN-OFF, Transfer CommandExecution Requirement Incompatible Command Rejection (possibly due to External POP command).
071No Homing, PTPExecution Requirement Incompatible Command Rejection (possibly due to External POP command).
073Servo ON, Error ResetExecution Requirement Incompatible Command Rejection (possibly due to External POP command).
074Communication ErrorExecution Requirement Incompatible Command Rejection (possibly due to External POP command).
075During homing, movement commandExecution Requirement Incompatible Command Rejection (possibly due to External POP command).
080Travel command during
servo OFF
Cause: Travel command was issued in servo OFF status.
Countermeasure: Execute travel commands after confirming servo ON
status (servo ON signal SV or positioning complete
signal PEND is ON).
100~1FFAlarm on teaching tool Refer to the [Instruction Manual of teaching tool.]
101Over Run Error (S)Make sure the dip switches for the controllers that are linked all different settings. And also, they must be connected in consecutive sequence. A maximum of 15 controllers plus the main controller can be linked to them.
102Framing Error (S)Make sure the dip switches for the controllers that are linked all different settings. And also, they must be connected in consecutive sequence. A maximum of 15 controllers plus the main controller can be linked to them.
104SCI S-QUE OV (S)Receiving external excessive data (during update).
105SCI S-QUE OV (S)SCI transmission QUE over flow (during update). Also seen when trying to copy a position table with velocity or stroke, etc. values greater than that allowed by the current actuator configuration.
106Termi R-BF OV (S)Receiving external excessive data (during update).
111Timing Limit (P) (S)Please check TEACHInG PENDANT-CPU Base Flash ROM address setting DIP-SW (during update).
112Input Data ErrorInput value is irregular. Please input allowable data.
113Input Under ErrorValue input is too low. Please input within the allowable data range.
114Input Over ErrorValue input is too high. Please input within the allowable data range.
115Homing IncompleteProhibited operation is being executed during homing status. First execute homing. Then execute operation.
116Test Position Data ExistDuring position addition, first delete or clear the final position data.
117No Movement DataWhen movement must be done through the software or teaching pendant, position data is not available.
118Non-connect Axis SelectionNon-connect axis has been selected (there is no error).
119Teaching pendant Parameter Excess Rotating NumberTeaching Pendant internal area parameter allowable rotating number after update has exceeded.
120Initial Factor ErrorThe factor input data during controller initialization is abnormal. Please input allowable data.
121Push Search End OverExcess stroke in the push search end location. Please modify the positioning width.
122During distribution, multiple axes connectionAxis No. distribution must always be executed with a single axis being connected.
180Axis No. changes is OK(No Error)
181Controller initialization is OK(No Error).
182Home change all clear(No Error).
200~2FFTeaching tool alarmRefer to [Teaching tool instruction manual
201Emergency Stop(No Error).
300~3FFTeaching tool alarmRefer to the [instruction manual of each teaching tool].
301Over Run Error (M)Please check the number of linked controllers and their sequence.
302Framing Error (M)Please check the SIO link cable(s) of the primary controller to the sub-linked controllers.
304SCI R-QUE OV (M)Receiving excessive data.
305SCI S-QUE OV (M)SCI transmission QUE over flow (during main station mode).
306Termi R-BF OV (M)Receiving excessive data.
307Memory Command BreakageCommand from the controller is broken now. Due to unknown cause, please record all error list before Teaching Pendant power OFF.
308Response Time OutPlease check the completion for cable controller power ? SIO main station ? subordinate stations.
309Termi Right Address ErrorTermi right address unestablished error.


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