E-Con: includes E-Con, ROBO Cylinder RCP2, RCP, RCS, ERC, ERC2, SCON, PCON, ACON Controllers.
| Code | Code Name | Cause |
|---|---|---|
| 0A1 | Parameter data error | Cause: 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. |
| 0A2 | Position Data Error | Cause : 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. |
| 0A3 | Position 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. |
| 0A4 | Command 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). |
| 0A5 | Electromagnetic brake unreleased error | Cause : The brake cannot be released. Treatment : Supplied the 24V power unit for the electromagnetic brake. |
| 0A6 | Cold start | Cause: 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 |
| 0A7 | Command 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. |
| 0A8 | Motor/encoder type not supported | Cause: 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. |
| 0A9 | Loadcell data error | Cause: 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. |
| 0AB | Command speed error | Cause: A command from PLC exceeds the maximum velocity of an actuator in the motion network. Countermeasure: Revise the parameters and programs in PLC. |
| 0B0 | Bank 30 Error (Parameter) | Execute a common parameter edit or initialize the controller. |
| 0B1 | Bank 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. |
| 0B3 | Linear spurious absolute error | Cause: 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. |
| 0B4 | Electrical 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. |
| 0B5 | Z phase position error | Cause : 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. |
| 0B6 | Z-phase detection timeout | Cause: 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. |
| 0B7 | Magnetic pole uncertain | Cause: 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. |
| 0B8 | Excitation detection error | Cause: 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. |
| 0B9 | Communication 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. |
| 0BA | Home 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. |
| 0BE | Home return timeout | Cause: 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. |
| 0BF | Creep 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. |
| 0C0 | Excessive actual speed | Cause: 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. |
| 0C1 | Servo Error | Cause: 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. |
| 0C2 | Overrun sensor detected | Cause: 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. |
| 0C4 | Exceeded 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. |
| 0C5 | Unauthorized 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. |
| 0C6 | Torque current Mismatching force feed back | Cause: 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. |
| 0C8 | Overcurrent | Cause: 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. |
| 0C9 | Overvoltage | Cause: The power regenerative circuit voltage reached the judgment value or higher. Countermeasure: There may be an RCON system failure. |
| 0CA | Overheating | Cause: 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. |
| 0CB | Current 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. |
| 0CC | Control 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. |
| 0CD | Emergency-stop relay | Cause: A melt-down of the emergency stop relay inside the controller Countermeasure: The relay or controller must be replaced. Please contact IAI. |
| 0CE | Drop in control supply voltage | Cause: 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. |
| 0CF | I/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. |
| 0DA | Feedback pulse error | Cause : Feedback pulse data cannot be output within the cycle. Treatment : Take proper measures against noise. |
| 0DD | Drive mode error | Cause: 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 |
| 0D2 | Excessive 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. |
| 0D3 | Motor power-supply voltage low | Cause: 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. |
| 0D4 | Drive Source Error | Cause: 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. |
| 0D5 | Deviation 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. |
| 0D6 | FAN error detection | Cause: 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. |
| 0D7 | Belt 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. |
| 0D8 | Deviation Overflow | Cause: 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. |
| 0D9 | Software stroke limit over error | Cause: The present position of the actuator exceeds the software stroke limit Countermeasure: Return to the software stroke limit range. |
| 0DC | Push-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. |
| 0DF | Collision detection | Cause: 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)] |
| 0E0 | Overload | Cause: 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. |
| 0E1 | Loadcell calibration error | Cause : 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. |
| 0E2 | Loadcell communication error | Cause: 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. |
| 0E3 | Loadcell error | Cause: 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 |
| 0E4 | Encoder Send Error | Cause: 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. |
| 0E5 | Encoder Reception Error | Cause: 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). |
| 0E6 | Encoder Counter Error | Cause: 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. |
| 0E7 | A-, B- and Z-phase wire breaking | Cause: 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. |
| 0EB | Battery-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. |
| 0EC | PS-phase disconnection | Cause: 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. |
| 0ED | Absolute encoder error detection 1 | Cause: The present position changed while reading or saving absolute data. Countermeasures: Do not apply vibration to the actuator. |
| 0EE | Absolute 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)] |
| 0E8 | A-, 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". |
| 0EF | Absolute 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)] |
| 0F0 | Driver logic error | Cause: 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. |
| 0F1 | Field bus link error | Cause : 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. |
| 0F2 | Field bus module error | Cause : Error detected in field network circuit board. Treatment : Check the parameter settings. |
| 0F3 | Field 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. |
| 0F5 | Non-volatile memory write verify error | Cause: 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. |
| 0F6 | Non-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. |
| 0F8 | Non-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. |
| 0F9 | Abnormal PLD | 1) 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. |
| 0FA | CPU error | Cause: 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. |
| 0FB | FPGA 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. |
| 0FC | Logic 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. |
| 02C | Monitoring 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. |
| 02D | Monitoring 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). |
| 02E | RTC related command in RTC invalid status | Cause : 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). |
| 04A | Estimated 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. |
| 04C | Drop 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. |
| 04D | Excess 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. |
| 04E | Exceeded movement count threshold | Cause : The total number of the operation times exceeded the value set in Parameter No.147 “Total Movement Count Threshold”. |
| 04F | Exceeded operated distance threshold | Cause : The total number of the operation distance exceeded the value set in Parameter No.148 “Total Operated Distance Threshold”. |
| 05A | Transmission Error | Abnormal Communication, Check for noise. Inspect all serial ports and cables involved. |
| 05B | Transmission Framing Error | Abnormal Communication, Check for noise. Inspect all serial ports and cables involved. |
| 05C | Transmission Time Out Error | Abnormal Communication, Check for noise. Inspect all serial ports and cables involved. |
| 068 | SRAM access error | Cause : 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. |
| 069 | Detection of realtime clock oscillation stop | Cause : 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. |
| 05D | Start Text Error | Abnormal Communication, Check for noise. Inspect all serial ports and cables involved. |
| 05E | End Text Error | Abnormal Communication, Check for noise. Inspect all serial ports and cables involved. |
| 06A | Realtime clock access error | Cause : 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. |
| 06B | Maintenance information data error | Cause : The maintenance information (total movement count, total operated distance) is lost. Treatment : Please contact IAI. |
| 07F | BCC Error | Abnormal Communication, Check for noise. Inspect all serial ports and cables involved. |
| 080 | Travel 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 |
| 082 | Position 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. |
| 083 | Numerical command in incomplete home return | Cause : 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. |
| 084 | Absolute 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. |
| 085 | Position 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. |
| 086 | Move command while pulse train input is effective | Cause : 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. |
| 087 | Moving 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. |
| 090 | Software 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. |
| 091 | Position 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. |
| 092 | PWRT 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. |
| 093 | PWRT 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. |
| 095 | DCLR 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. |
| 096 | Home-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. |
| 09B | Internal 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 |
| 09F | Cyclic 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. |
| 10A | Motorola Sum Error | Abnormal update program file (during update). |
| 10B | Motorola S Record Error | Abnormal update program file (during update). |
| 10C | Motorola S Address Error | Abnormal update program file (during update). |
| 10D | Motorola S File Name Error | Abnormal update program file (during update). |
| 10E | Timing Limit (W) (S) | Please check TEACHInG PENDANT-CPU Base Flash ROM address setting DIP-SW (during update). |
| 10F | Timing Limit (E) (S) | Please check TEACHInG PENDANT-CPU Base Flash ROM address setting DIP-SW (during update). |
| 11A | Flash Verify Error: S | Please check Teaching Pendant-CPU Base Flash ROM address setting DIP-SW. |
| 11B | Flash ACK Time Out: S | Please check Teaching Pendant-CPU Base Flash ROM address setting DIP-SW. |
| 11C | Flash Verify Error: M | Please check Teaching Pendant-CPU Base Flash ROM address setting DIP-SW. |
| 11D | Flash ACK Time Out: M | Please check Teaching Pendant-CPU Base Flash ROM address setting DIP-SW. |
| 11E | Pair Data Mismatch Error | Please input data with relationships. |
| 11F | Absolute Value Under Error | The absolute data for input is too low. Please input within the allowable data range. |
| 20A | Servo OFF during movement | Servo was turned OFF during movement. |
| 20C | Servo was turned OFF during movement. | Start was turned ON during movement. (Hold) |
| 20D | During movement, STP-OFF | Supply Voltage to the Hold Input before trying to move actuator. |
| 20E | Soft Limit Over | Soft Limit Over is detected during movement using the Teaching Pendant |
| 30A | Packet R-QUE OV | Receiving external excessive data. |
| 30B | Packet S-QUE OV | Packet transmission QUE over flow. |
| 30C | No connection error | Please check the competition for cable controller ? SIO main station subordinate stations. |
| 040 | Emergency Stop | Emergency stop status. |
| 047 | Deviation 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. |
| 048 | Driver Overload alarm | Cause : 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. |
| 049 | Collision warning | Cause: 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)] |
| 061 | FNCCHR, W Address Error | Serial string needs to be formatted correctly. |
| 062 | 1 Operand Error | Incorrect Data Command (possibly an operation not allowed with the controller type). |
| 063 | 2 Operand Error | Incorrect 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). |
| 064 | 3 Operand Error | Incorrect Data Command (possibly an operation not allowed with the controller type). |
| 070 | RUN-OFF, Transfer Command | Execution Requirement Incompatible Command Rejection (possibly due to External POP command). |
| 071 | No Homing, PTP | Execution Requirement Incompatible Command Rejection (possibly due to External POP command). |
| 073 | Servo ON, Error Reset | Execution Requirement Incompatible Command Rejection (possibly due to External POP command). |
| 074 | Communication Error | Execution Requirement Incompatible Command Rejection (possibly due to External POP command). |
| 075 | During homing, movement command | Execution Requirement Incompatible Command Rejection (possibly due to External POP command). |
| 080 | Travel 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). |
| 100~1FF | Alarm on teaching tool | Refer to the [Instruction Manual of teaching tool.] |
| 101 | Over 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. |
| 102 | Framing 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. |
| 104 | SCI S-QUE OV (S) | Receiving external excessive data (during update). |
| 105 | SCI 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. |
| 106 | Termi R-BF OV (S) | Receiving external excessive data (during update). |
| 111 | Timing Limit (P) (S) | Please check TEACHInG PENDANT-CPU Base Flash ROM address setting DIP-SW (during update). |
| 112 | Input Data Error | Input value is irregular. Please input allowable data. |
| 113 | Input Under Error | Value input is too low. Please input within the allowable data range. |
| 114 | Input Over Error | Value input is too high. Please input within the allowable data range. |
| 115 | Homing Incomplete | Prohibited operation is being executed during homing status. First execute homing. Then execute operation. |
| 116 | Test Position Data Exist | During position addition, first delete or clear the final position data. |
| 117 | No Movement Data | When movement must be done through the software or teaching pendant, position data is not available. |
| 118 | Non-connect Axis Selection | Non-connect axis has been selected (there is no error). |
| 119 | Teaching pendant Parameter Excess Rotating Number | Teaching Pendant internal area parameter allowable rotating number after update has exceeded. |
| 120 | Initial Factor Error | The factor input data during controller initialization is abnormal. Please input allowable data. |
| 121 | Push Search End Over | Excess stroke in the push search end location. Please modify the positioning width. |
| 122 | During distribution, multiple axes connection | Axis No. distribution must always be executed with a single axis being connected. |
| 180 | Axis No. changes is OK | (No Error) |
| 181 | Controller initialization is OK | (No Error). |
| 182 | Home change all clear | (No Error). |
| 200~2FF | Teaching tool alarm | Refer to [Teaching tool instruction manual |
| 201 | Emergency Stop | (No Error). |
| 300~3FF | Teaching tool alarm | Refer to the [instruction manual of each teaching tool]. |
| 301 | Over Run Error (M) | Please check the number of linked controllers and their sequence. |
| 302 | Framing Error (M) | Please check the SIO link cable(s) of the primary controller to the sub-linked controllers. |
| 304 | SCI R-QUE OV (M) | Receiving excessive data. |
| 305 | SCI S-QUE OV (M) | SCI transmission QUE over flow (during main station mode). |
| 306 | Termi R-BF OV (M) | Receiving excessive data. |
| 307 | Memory Command Breakage | Command from the controller is broken now. Due to unknown cause, please record all error list before Teaching Pendant power OFF. |
| 308 | Response Time Out | Please check the completion for cable controller power ? SIO main station ? subordinate stations. |
| 309 | Termi Right Address Error | Termi right address unestablished error. |
