E-Con: includes E-Con, ROBO Cylinder RCP2, RCP, RCS, ERC, ERC2, SCON, PCON, ACON Controllers.
| Error | Cause | Description |
|---|---|---|
| 0A1 | Parameter data error | CAUSE: 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. |
| 0A2 | Position Data Error | CAUSE: [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. |
| 0A3 | Serial command error | CAUSE: Incorrect data being sent via serial or fieldbus. ACTION: Check the values sent make sure it is within range. |
| 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. |
| 0B4 | Mismatching electric angle | CAUSE: 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. |
| 0B7 | Magnetic Pole Non-Confirmation | When 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. |
| 0B8 | Pole Sense Error | This 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. |
| 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 | Homing Sensor not Found | When homing , mechanic end is found before sensor was detected. Please check sensor, wiring. |
| 0BE | Homing Time Out | Check physical connection of the motor and actuator. Actual movement may not be happening. |
| 0BF | Creep Sensor not Found | Found home sensor or mechanic end before creep sensor was detected while homing. Check sensor, wiring and for mechanical binding. |
| 0C0 | Excess Speed | Please reduce the payload and/or speed. |
| 0C1 | Servo Error | This 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. |
| 0C2 | Over 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. |
| 0C8 | Overcurrent | Motor circuit may have shorted, due to excessive load. This alarm will not clear unless you cycle power. |
| 0C9 | Excess Power Voltage | The load is too heavy. Check for mechanical binding. |
| 0CA | Excess Heat | Ambient temperature may be too high. Main power supply board may be damaged. Additional symptom may be a weak motor. |
| 0CB | Current Sensor Error | Abnormal current sensor off set |
| 0CC | Control Voltage Error | Shortage of AC. Supply voltage below threshold. |
| 0CD | Emergency Stop Relay Error | Need to change for mechanical binding. |
| 0CE | Drop in control supply voltage | This 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. |
| 0CF | PIO Power Monitor | Power 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. |
| 0D3 | Motor power-supply voltage low | CAUSE: [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. |
| 0D4 | Drive Source Error | Commonly associated with the ERC3 product. If this error cannot be cleared by restarting the controller through cycling the power, then please contact IAI. |
| 0D6 | FAN error detection | Please 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. |
| 0D8 | Deviation Overflow | Please 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). |
| 0D9 | Software stroke limit over travel error | Please make sure taught positions are within the stroke range of the actuator. |
| 0DC | Excess Push Movement Range | Possible excess movement range during push movement. |
| 0E0 | Excess Load | Load 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. |
| 0E4 | Encoder Transmission Error | This is the transmission error of encoder reception. Either the noise or the reception IC board may have broken down. |
| 0E5 | Encoder Reception Error | Absolute 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. |
| 0E6 | Encoder Counter Error | This is the counter error of the encoder. This occurs when number of rotation exceeds 5000 rpm. |
| 0E7 | No A, B and Z Feedback | Please check the encoder/cable. |
| 0EE | Absolute 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. |
| 0E8 | No A and B Pulse Feedback | Please 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-* |
| 0F4 | Unmatched PCB | This 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. |
| 0F8 | Damaged nonvolatile Memory | Abnormal 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. |
| 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 | Fixation Memory Breakage | Controller initialization memory clear & procedure is needed. |
| 0FB | Abnormal CPU | CPU shows abnormal movement. Noise may be the cause. |
| 0FC | Logic Error | CAUSE: Malfunction due to noise or component failure. ACTION: Turn power off and reboot. |
| 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 | Calendar function related command is invalid | CAUSE: 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). |
| 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 target value | Cause : The total number of the operation times exceeded the value set in Parameter No.147 “Total Movement Count Threshold”. |
| 04F | Exceeded operated distance target value | 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. |
| 069 | Detection of realtime clock oscillation stop | CAUSE : 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.] |
| 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 | A movement command is issued when the servo is OFF | CAUSE: 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. |
| 082 | Position 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. |
| 083 | Position 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). |
| 084 | Numerical 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). |
| 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 : Actuator operation was commanded via serial communication in pulse train mode. Treatment : Stop the actuator operation command via serial communication in pulse train mode. |
| 090 | Software 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). |
| 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 : Input the PWRT signal after confirming that the job button is not pressed and the actuator is stopped (MOVE output signal is OFF). |
| 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. |
| 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. |
| 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). |
| 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). |
| 201 | Emergency Stop | (No Error). |
| 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. |
