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

ErrorCauseDescription
0A1Parameter data errorCAUSE: The input range of parameter range data is not appropriate.
(Example) This error occurs when the magnitude relationship of a pair of range parameters is inappropriate, such as when the value of soft limit- is mistakenly set to 300 mm, when the value of soft limit+ is 200.3 mm.
ACTION: Change the parameters to appropriate values.
0A2Position Data ErrorCAUSE: [1] Move command input when no target position data was set in the "Position" field.
ACTION: [1] Set a target position first.
C: [2] The target position in the "Position" field exceeds a soft limit setting.
A: [2] Change the target position to a value inside the soft limit setting.
C: [3] An incremental target position was specified in the "Position" field in the 3-point type controller.
A: [3] Specify an absolute target position (expand the position table view to see this column).
C: [4] Pressing operation was specified while the vibration suppress control function remained effective.
A: [4] The vibration suppress control function and pressing operation cannot be used concurrently. Provide setting so that either of the functions is effective.
0A3Serial command errorCAUSE: Incorrect data being sent via serial or fieldbus.
ACTION: Check the values sent make sure it is within range.
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.
0B4Mismatching electric angleCAUSE: The position deviation counter overflowed.
ACTION: Check if loads interfere with peripheral objects, the brake is released, and other load conditions. Deviation overflow may occur before fixing of the electric angle (at Z-phase non-detection). In this case, the motor/encoder cables may have output errors: check the connection of the cables.
0B7Magnetic Pole Non-ConfirmationWhen the servo is turned on for the first time after the power has been input, this controller performs magnetic-pole phase detection. This error indicates that the magnetic-pole phase cannot be detected after the specified time has elapsed.
CAUSE: [1] The connector of the motor relay cable is loose or disconnected.
ACTION: [1] Check the wiring condition of the motor relay cable.
C: [2] The brake cannot be released on a controller equipped with brake.
A: [2] Check the wiring condition of the brake cable, and also turn on/off the brake release switch to see if the brake makes “click” sounds.
C: [3] The motor is receiving a high load due to application of an external force.
A: [3] Check for abnormality in the assembly condition of mechanical parts.
C: [4] Large slide resistance of the actuator itself.
A: [4] If the load is normal, cut off the power and move the actuator by hand to check the slide resistance. If the actuator is suspected to be the cause, please contact IAI.
C: [5] Power supply is insufficiently sized for the voltage/current required by the system.
C: [6] Old Firmware. Check serial number.
0B8Pole Sense ErrorThis controller performs excited-phase detection when the servo is turned on for the first time after the power on. This error indicates that the specified encoder signal level could not be detected after excitation for the time set by parameter No. 29 (Excited-phase signal detection time).
CAUSE: [1] Loose or disconnected motor-relay cable connector.
ACTION: [1] Check the wiring condition of the motor relay cable.
C: [2] Brake cannot be released on a controller equipped with brake.
A: [2] Check the wiring condition of the brake cable, and also turn on/off the brake release switch to see if the brake makes "click" sounds.
C: [3] Large motor load due to application of external force.
A: [3] Check for abnormality in the assembly condition of mechanical parts.
C: [4] Power was input when the actuator was contacting a mechanical end.
A: [4] Move the actuator away from the mechanical end and then reconnect the power.
C: [5] Large slide resistance of the actuator itself.
A: [5] If the load is normal, cut off the power and move the actuator by hand to check the slide resistance. If the actuator is suspected to be the cause, please contact IAI.
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.
0BAHoming Sensor not FoundWhen homing , mechanic end is found before sensor was detected. Please check sensor, wiring.
0BEHoming Time OutCheck physical connection of the motor and actuator. Actual movement may not be happening.
0BFCreep Sensor not FoundFound home sensor or mechanic end before creep sensor was detected while homing. Check sensor, wiring and for mechanical binding.
0C0Excess SpeedPlease reduce the payload and/or speed.
0C1Servo ErrorThis alarm indicates that after receiving a movement command the motor is unable to operate for two seconds or more before reaching the target position.
CAUSE: [1] Loose or disconnected motor-relay cable connector.
ACTION: [1] Check the wiring condition of the motor relay cable.
C: [2] Brake cannot be released on a controller equipped with brake.
A: [2] Check the wiring condition of the brake cable, and also turn on/off the brake release switch to see if the brake makes “click” sounds.
C: [3] Large load due to application of external force.
A: [3] Check for abnormality in the assembly condition of mechanical parts.
C: [4] Large slide resistance of the actuator itself.
A: [4] If the load is normal, cut off the power and move the actuator by hand to check the slide resistance. If the actuator is suspected to be the cause, please contact IAI.
0C2Over Run (servo)Find over run sensor. Please check the following:
• Exceeding of the valid stroke range by external force in the servo OFF status. (regular detection)
• Exceeding of the valid stroke range by a forward jog at incremental encoder system. (coordinate not settled) (regular detection)
• Exceeding of the valid stroke range due to connecting an actuator with a different lead from controller setting.
• Abnormal homing operation of Incremental encoder system. Or by absolute set positioning fault, coordinate is out of alignment. Therefore, it does not stop at soft limit and exceeds the valid stroke range.
• By soft limit setting fault, soft limit is set higher than the valid stroke limit. Therefore, it does not stop at the soft limit and exceeds the valid stroke range.
• Regardless of valid stroke length, due to abnormal sensor behavior & wiring, it is in the overrun sensor detection status.
• Regardless of valid stroke length, due to a sensor related parameter (use/not use, a contact/b contact) setting fault, it affects the overrun sensor detection.
0C8OvercurrentMotor circuit may have shorted, due to excessive load. This alarm will not clear unless you cycle power.
0C9Excess Power VoltageThe load is too heavy. Check for mechanical binding.
0CAExcess HeatAmbient temperature may be too high. Main power supply board may be damaged. Additional symptom may be a weak motor.
0CBCurrent Sensor ErrorAbnormal current sensor off set
0CCControl Voltage ErrorShortage of AC. Supply voltage below threshold.
0CDEmergency Stop Relay ErrorNeed to change for mechanical binding.
0CEDrop in control supply voltageThis alarm indicates that the voltage of the 24-V input power supply has dropped (24V ? 20%: 19.2V or less).
Check: (1) Low voltage of the 24-V input power supply.
(2) Faulty part inside the controller.
ACTION: Check the voltage of the input power supply. If the voltage is normal, please contact IAI.
0CFPIO Power MonitorPower monitor function is provided to prevent burning of the I/O board or breakdown of parts caused by an abnormal voltage of the 24-V PIO power supply.
Although it is recommended to enable this function, it can be disabled in certain situations such as when making adjustments during trial operation.
To disable the function, set parameter No. 74 to “1 [Disable].”
The factory setting is “0 [Enable].”
* If a fieldbus module (such as a CC-Link or DeviceNet module) is installed, the controller will not perform PIO power monitor regardless of the setting of this parameter.
0D3Motor power-supply voltage lowCAUSE: [1] The motor input voltage is low. [2] Faulty component in the controller.
ACTION: Check the power-supply input voltage of the motor (controller). If the voltage is normal, please contact IAI.
0D4Drive Source ErrorCommonly associated with the ERC3 product. If this error cannot be cleared by restarting the controller through cycling the power, then please contact IAI.
0D6FAN error detectionPlease check the electrical connection for the fan and make sure it's not loose. Otherwise, the fan may need to be replaced. Applicable to the PCON-CFA.
0D8Deviation OverflowPlease check the mechanical binding. Check moment arm loads (weight & distance). Check for oscillation in the system. May need to adjust Parameter 12 (Positioning Current Limit) from typical of 35% up to a max of 70% (go in 5-10% steps).
0D9Software stroke limit over travel errorPlease make sure taught positions are within the stroke range of the actuator.
0DCExcess Push Movement RangePossible excess movement range during push movement.
0E0Excess LoadLoad may be too big. Please check for mechanical binding. If an overload alarm occurs, remove the cause of overload and then resume operation. To reset the overload alarm, input a reset signal from P10. If the alarm must be reset by turning off the main power, wait for a sufficient time (approx. 30 minutes) before resuming operation.
0E4Encoder Transmission ErrorThis is the transmission error of encoder reception. Either the noise or the reception IC board may have broken down.
0E5Encoder Reception ErrorAbsolute reset is yet to be performed. Battery error. An absolute reset must be performed after replacing the absolute battery. A disconnected PG cable or poor contact may be the cause. This is a transmission error in the encoder reception IC. Noise may have entered or the reception IC board may be faulty.
0E6Encoder Counter ErrorThis is the counter error of the encoder. This occurs when number of rotation exceeds 5000 rpm.
0E7No A, B and Z FeedbackPlease check the encoder/cable.
0EEAbsolute encoder error
detected 2
This error indicates that the ASIC board installed in the absolute encoder cannot detect position information correctly.
CAUSE: [1] The voltage of the absolute-encoder backup battery is low.
ACTION: [1] Check the PIO battery alarm output. If the output is OFF, replace the absolute-encoder backup battery.
C: [2] The encoder cable is disconnected.
A: [2] Connect the encoder cable.
Whichever action is taken under [1] or [2], an absolute reset must be performed.
0E8No A and B Pulse FeedbackPlease check the encoder/cable. Encoder signals cannot be detected correctly.
CAUSE: [1] Loose or disconnected encoder-extension cable connector.
ACTION: [1] Check for loose or disconnected connector.
C: [2] Piano switch 4 on the simple absolute unit is not set correctly.
A: [2] Check if the settings conform to 5.1.1, “Piano Switch Settings” in the operation manual for the simple absolute unit.
C: [3] If a RA10C actuator is used together with an actuator or actuators of other type, the encoder cables may not be connected in the correct combination.
A: [3] Check the model number of the encoder cable. (Encoder cable connecting the simple absolute unit and actuator)
Note) This action is applicable only to RCP2 series controllers.
Cable for RA10C type: CB-RFA-*Other actuators: CB-RCP2-*
0F4Unmatched PCBThis controller uses a different motor drive circuit depending on the motor capacity, and thus adopts a different printed circuit board (PCB) appropriate for each motor capacity.
For this reason, whether the motor type set by the applicable manufacturer’s parameter matches the board is checked in the initialization process after startup.
This error indicates that the two do not match.
CAUSE: The parameter was not entered correctly or the correct board was not assembled.
ACTION: Should this error occur, please make sure the correct parameter set has been loaded into the controller. Otherwise, please contact IAI.
0F8Damaged nonvolatile MemoryAbnormal data was detected during the nonvolatile memory check after starting.
CAUSE: [1] Faulty nonvolatile memory.
[2] The memory has been rewritten more than 100,000 times.
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.
0FAFixation Memory BreakageController initialization memory clear & procedure is needed.
0FBAbnormal CPUCPU shows abnormal movement. Noise may be the cause.
0FCLogic ErrorCAUSE: Malfunction due to noise or component failure.
ACTION: Turn power off and reboot.
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).
02ECalendar function related command is invalidCAUSE: attempted to use the calendar where the RTC function was made ineffective (or hasn't been set yet).
ACTION: Set parameter #111 to 1 (0 = don't use).
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
target value
Cause : The total number of the operation times exceeded
the value set in Parameter No.147 “Total
Movement Count Threshold”.
04FExceeded operated
distance target value
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.
069Detection of realtime clock oscillation stopCAUSE : The calendar function is stopped and the current time data is lost.
ACTION : Set the time again.
[Refer to the Instruction Manual of RC PC software.]
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.
080A movement command is issued when the servo is OFFCAUSE: A movement command was input as a numerical command when the servo was OFF.
ACTION: Input a SON signal to turn the servo ON (the SV signal or PEND signal should turn ON).
If this error occurred when parameter No. 21 was set to “Disable”, contact IAI.
082Position command in
incomplete home return
Cause : A position move command was issued before
home return was completed.
Treatment : Issue a command after confirming that home
return has been completed (HEND) is ON.
083Position command in
incomplete home return
Cause : An absolute position command was issued by
numerical specification before home return was
completed (direct command from Fieldbus).
Treatment : Issue a numeric specification after performing
home return operation and confirming the complete
signal (HEND).
084Numerical command in
incomplete home return
Cause : A move command was issued when home return
was still in progress.
Treatment : Issue a movement command after performing
home return operation and confirming the complete
signal (HEND).
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
effective
Cause : Actuator operation was commanded via serial
communication in pulse train mode.
Treatment : Stop the actuator operation command via serial
communication in pulse train mode.
090Software reset during
servo ON
Cause : A software reset command was issued when the
servo was ON.
Treatment : Issue a software reset command after confirming
that the servo is OFF (SV signal is 0).
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 : Input the PWRT signal after confirming that the
job button is not pressed and the actuator is
stopped (MOVE output signal is OFF).
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.
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.
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).
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).
201Emergency Stop(No Error).
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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