X-SEL: includes X-SEL, IX-XSEL, SSEL, PSEL, ASEL, TT Controllers
| Error | Cause | Description |
|---|---|---|
| 802 | SCIF Receiving ER Status (The IAI protocol is received.) | Interference. Check for noise, disconnected equipment, and improper communication setting. When the communication is established when PC/TP is mis-connected with user opening SIO-CH1, it is generated. |
| 803 | Reception Time-out Status (The IAI protocol is received.) | The interval after the initial byte of data is received is too long. Also, there could be a disconnection of the communications cable or a possibility of disconnected equipment, too. |
| 804 | SCIF Overrun Status (SEL is received.) | Check for noise, disconnected equipment, and improper communication setting. |
| 805 | SCIF Receiving ER Status (SEL is received.) | Check for noise, disconnected equipment, and improper communication setting. |
| 806 | SCIF Other Factor Reception ER Status (SEL is received.) | Interference. Please deal same as Error No.804,805. |
| 807 | Shutdown Relay ER Status | The motor(s) are still energized although the system is in shutdown status. It is possible that the relay has welded shut |
| 808 | Slave Parameter Write During OFF Status | Power was turned OFF during slave parameter write. (Only when the backup battery is used, is it possible to detect.) |
| 809 | Data Flash ROM Write During OFF Status | Power supply was turned OFF during data flash ROM write. (Only when the backup battery is used, it is possible to detect it.) |
| 80A | Enhancing SIO Overrun Status (SEL is received.) | Check for noise, disconnected equipment, and improper communication setting |
| 80B | Enhancing SIO Parity ER Status (SEL is received.) | Check for noise, disconnected equipment, and improper communication setting |
| 80C | Enhancing SIO Framing ER Status (SEL is received.) | Check for noise, disconnected equipment, and improper communication setting. |
| 80D | Enhancing SIO Other Factor Reception ER status (SEL is received.) | Interference. Please deal same as Error No.80A, 80B, and 80C |
| 80E | Enhancing SIO Reception Buffer Overflow Status (SEL is received.) | The reception buffer overflowed. More excessive data than the outside is received |
| 900 | Empty Step Shortage Error | An empty step to preserve the step data is insufficient. Please secure an empty step necessary for preservation |
| 901 | Step No. Error | Invalid Step No |
| 902 | Symbol Definition Table No. Error | Invalid Symbol definition table No |
| 903 | Point No. Error | Invalid Point No |
| 904 | Variable No. Error | Invalid Variable No |
| 905 | Flag No. Error | Invalid Flag No |
| 906 | I/O Port Flag No. Error | Invalid I/O port flag No |
| 930 | Coordinate System No. Error | Invalid Coordinate system No. - only new SCARA. |
| 931 | Coordinate System Type Error | Invalid coordinate system type - only new SCARA. |
| 932 | Coordinate System Definition Data Number Specification Error | The specification of the number of coordinate system definition data is invalid. - only new SCARA. |
| 933 | Axis No. Error | Invalid Axis No. - only new SCARA. |
| 934 | SCARA ABS Reset Special Movement Operation Type Error | SCARA ABS reset special movement operation type is invalid - only new SCARA. |
| 935 | PositioningOperation Type Error | The positioning operation type is invalid - only new SCARA. |
| 936 | Interference Check Zone No. Error | Interference check zone No. is invalid - only new SCARA. |
| 937 | Interference Check Zone Specification Invalid Error | When the interference check zone invades, the error type is invalid. - only new SCARA. |
| 801 | SCIF Overrun Status (The IAI protocol is received) | Check for noise, disconnected equipment, and improper communication setting. |
| ECB | Communication Error (PC) | Loss of communication possibly due to loss of power. |
| 938 | Interference Check Zone Data Number Specification Error | The specification of the number of interference check zone data is invalid. - only new SCARA |
| 939 | Interference Check Zone Invasion Detection (message level specification) | The interference check zone invasion was detected. (message level specification)- only new SCARA |
| 93A | Rotary Axis CP Jog Prohibition Error Outside Range of Motion (Tool XY offset, exist, and.) | Please move in range of motion with each axis Jog. - only new SCARA |
| A01 | Low System Memory Backup Battery Warning | The voltage of the system memory backup battery is low. Please exchange the battery. (voltage level in which data can be backed up) |
| A02 | Low System Memory Backup Battery Warning | The voltage of the system memory backup battery is low. Please exchange the battery (voltage level at which data cannot be backed up). |
| A03 | Low Absolute Encoder Data Backup Battery | The voltage of the absolute encoder data battery is low. Please check for battery connection or exchange. Chattering contact in the brake connection can also be a culprit. |
| A04 | System Mode Error During Core Section Update | When the system mode was not a core part update mode, the update command was received. Please confirm the presence of the chip resistance for the core part update mode on substrate setting when you update the core part. (for maintenance) |
| A05 | Motorola, Inc. S Record Format Error | The update program file is invalid. Please confirm the file. |
| A06 | Motorola, Inc. S Checksum Error | The update program file is invalid. Please confirm the file. |
| A07 | Motorola, Inc. S Loading Address Error | The update program file is invalid. Please confirm the file. |
| A08 | Over Motorola, Inc. S Writing Address Error | The update program file is invalid. Please confirm the file. |
| A09 | Flash ROM Timing Limit Excess Error (write) | Flash ROM write has timed out |
| A0A | Flash ROM Timing Limit Excess Error (erase) | Flash ROM erase has timed out |
| A0B | Flash ROM Verify Error | Flash ROM write/erase is invalid |
| A0C | Flash ROM ACK Time-out | The write is erase/invalid of flash ROM. |
| A0D | The First Sector No. Specification Error | Flash ROM erase Error |
| A0E | Sector Number Specification Error | Flash ROM erase Error |
| A0F | Offset Address Error at Writing Destination (odd number address) | The write is invalid of flash ROM. |
| A10 | Writing Source Data Buffer Address Error (odd number address) | The write is invalid of flash ROM. |
| A11 | Core Part Code Sector Block ID Invalid Error | The core part program written in flash ROM is invalid now. |
| A12 | Core Part Code Sector Block ID Deletion Frequency Exaggerated | The deletion frequency of flash ROM exceeds a permissible frequency. |
| A13 | Flash ROM Write Demand Error when Erase Incompleteness is Ended | Flash ROM writing command had been received before flash ROM erase command was received when updating it. Please confirm Appdatop ? log ram file, and update it again. |
| A14 | Busy Status Release Time-out Error when EEPROM | Busy state release waiting time-out after writing of EEPROM |
| A15 | Mount, target, EEPROM, write in. Demand Error | With the unit with CPU of the driver etc. Mount, one, EEPROM, write in, demand, provide. |
| A16 | Mount, target, EEPROM, read. Demand Error | It was a unit with CPU of the driver etc. , and reading was demanded for the one of the unmounting. |
| A17 | Sum Check Error (The IAI protocol is received.) | Checksum in reception is invalid. |
| A18 | Header Error (The IAI protocol is received.) | The header in reception is invalid. |
| A19 | Message Addressing Error (During IAI Protocol receiving) | The receiving address is invalid. |
| A1A | ID Error (The IAI protocol is received.) | ID in reception is invalid. |
| A1C | Conversion Error | Transmitted data does not agree to protocol or illegal data is included. Please confirm transmission. |
| A1D | Start Mode Error | Program start not permitted in present mode (MANU/AUTO). |
| A1E | Start Condition Failure Error | Program start was given while writing Flash ROM or during E-STOP or Open Safety Gate. |
| A1F | Axis Multiple Use Error (SIO) | Axis already in use |
| A20 | Servo Use write Acquisition Error (SIO) | There is not becoming empty in the servo use right. |
| A21 | Error to have acquired servo use right (SIO) | The servo use right has already been acquired. |
| A22 | Servo use right unacquisition Error (SIO) | It failed in the continuance acquisition of the servo use right. |
| A23 | Low ABS Encoder Backup Battery Warning (main analysis) | The voltage of the absolute encoder data battery may be low. Please check the battery connection or replace if necessary. In case of the XSEL-P/Q controller series, make sure the battery enable switch is set to "ENB". |
| A25 | Step Number Specification Error | Step number specification is invalid. |
| A26 | Program Number Specification Error | Program number specification is invalid. |
| A27 | Program Unregistration Error | A pertinent program is not registered |
| A28 | Error which cannot be reorganized while executing program | The program area reorganization operation was done while executing the program. Please end all programs previously executing it |
| A29 | Error not to be able to edit program while executing it | The edit operation was done to the program under execution. Please end the execution of the program |
| A2A | Defined Program is not Running | The specified program is not running |
| A2B | Illegal Program Execution in AUTO Mode | Program execution from the software is prohibited in AUTO mode |
| A2C | Program No. Error | Invalid Program No |
| A2D | Program Restart Error | The restart was demanded for a program which was not running |
| A2E | Program Temporary Stop Error | The temporary stop was demanded for a program which was not running |
| A2F | Breakpoint Error | Step No. specified for a breakpoint is invalid |
| A30 | Breakpoint Setting Number Specification Error | The set number of breakpoints exceeds the limit value |
| A31 | Parameter Change Number Error | The number of parameter changes is invalid |
| A32 | Parameter Type Error | Invalid parameter type |
| A33 | Parameter No. Error | Invalid parameter No |
| A34 | Card Parameter Buffer Read Error | The card parameter buffer is read and it is invalid |
| A35 | Card Parameter Buffer Write Error | The card parameter buffer is written and it is invalid |
| A36 | Parameter Change Rejection Error During Movement | Parameters cannot be changed while an axis is in motion |
| A37 | Card Manufacturing and Function Information Change Rejection Error | The card manufacturing and the function information change are prohibited |
| A38 | Parameter Change Rejection Error at Servo ON | Parameters cannot be changed while the servo is on |
| A39 | Deferred Collection Card Parameter Change Error | The change of the parameter of the card which had not been recognized when resetting it was tried |
| A3A | Device No. Error | Device No. is invalid |
| A3C | Memory Initialization Type Specification Error | Abnormality is found in the specification of the memory initialization type |
| A3D | Unit Type Error | The unit type is invalid |
| A3E | SEL Write Data Type Specification Error | Abnormality is found in the specification of the SEL write data type |
| A3F | Flash ROM Write Rejection Error when Program is Being Executed | Writing Flash ROM while executing a program is prohibited |
| A40 | Flash ROM write inside data change rejection Error | The data change writing flash ROM is prohibited |
| A41 | Multiple Flash ROM Write Instruction Rejection Error | Flash ROM writing instruction was received again while writing flash ROM |
| A42 | Inside Flash ROM Write Direct Monitor Prohibition Error | A direct monitor writing flash ROM is prohibited |
| A43 | P0 and P3 Area Direct Monitor Prohibition Error | A direct monitor to P0 and the P3 area is prohibited |
| A44 | Point Data Number Specification Error | Invalid specification of the number of point data |
| A45 | Specification of Number of Symbol Records Error | Invalid specification of the number of symbol records |
| A46 | Variable Data Number Specification Error | Invalid specification of the number of variable data |
| A48 | One Error Details Inquiry Type Error | Type 1 of the Error details inquiry is invalid |
| A49 | Two Error Details Inquiry Type Errors | Type 2 of the Error details inquiry is invalid |
| A4A | Monitor Data Type Error | The data type of the monitor data inquiry is invalid |
| A4B | Specification of Number of Monitor Records Error | Invalid specification of the number of records of monitor data inquiries |
| A4C | Monitor Operation Special Command Register Busy Error | Driver special command ACK became a time-out by the monitor operation |
| A4E | Parameter Register Busy Error When Slave Command is Issued | Driver special command ACK became a time-out because of the slave command issue |
| A4F | Software Reset Rejection Error while In-Motion | Software reset (SIO) operating (middle the servo use when the program is being executed) is prohibited |
| A50 | Driving Source Restoration Demand Rejection Error | Driving source interception factor (Error, dead man SW, safety gate, and emergency stop, etc.) has not been released |
| A51 | Temporary Stop of Motion Release Request Rejection Error | The stop factor has not been released at temporary stop of all operation |
| A53 | Rejection Error when Servo is In-Use. | The processing not permitted was tried while using the servo |
| A54 | Function Unsupport Rejection Error | It is a unsupport function |
| A55 | Function Use Rejection Error Only for Manufacturer | The processing not opened except the manufacturer was tried |
| A56 | Data Failure Rejection Error | Data is invalid |
| A57 | Program Multiple Start Error | Illegal execution of a program which is already running |
| A58 | BCD Failure Warning | The data being written to variable 99 is not a valid BCD number |
| A59 | IN/OUT Instruction Port Flag Invalidity Warning | It is possible that the number of input and output ports exceeds 32. Check I/O Parameters 2-9 for proper settings |
| A5B | Character String -> Numerical Value Conversion Invalidity Warning | Specified values of the number of characters when converting it are invalid or there is a character into which the numerical value cannot be converted |
| A5C | SCPY Instruction Copy Character Number Invalidity Warning | Specified values of the number of characters when copying it are invalid |
| A5D | SIO Channel Opening Error in Non-AUTO mode | The user SIO channel can only be opened in AUTO mode |
| A5E | Specification of Number of I/O Port Flags Error | Invalid specification of the number of I/O port flags |
| A5F | Field Bus Error (LERROR-ON) | LERROR-ON was detected |
| A60 | Field Bus Error (LERROR-BLINK) | LERROR-blink was detected |
| A61 | Field Bus Error (HERROR-ON) | HERROR-ON was detected |
| A62 | Field Bus Error (HERROR-BLINK) | HERROR-blink was detected |
| A63 | Field Bus Not Ready | Cannot confirm field bus readiness |
| A64 | SCIF Overrunning Error (At the SIO bridge.) | Check for noise, disconnected equipment, and improper communication setting |
| A65 | SCIF Receiving Error (At the SIO bridge.) | Check for noise, disconnected equipment, and improper communication setting |
| A66 | SCI Overrunning Error (At the SIO bridge.) | Check for noise, disconnected equipment, and improper communication setting |
| A67 | SCI Framing Error (At the SIO bridge.) | Check for noise, disconnected equipment, and improper communication setting |
| A68 | SCI Parity Error (At the SIO bridge.) | Check for noise, disconnected equipment, and improper communication setting |
| A69 | Data Change Rejection Error while Running | Program data cannot be changed while program is running |
| A6A | Software Reset During Flash ROM Write | Controller was reset through I/O while writing flash ROM. Write again |
| A6B | Field Bus Error (FBRS link Error) | The FBRS link Error was detected |
| A6C | Program Start in AUTO Mode Error | While Other Parameter #45 is set to 0, a program cannot be started serially in AUTO mode. Change Other Parameter #45 to 1 |
| A6D | P0, P3, and FROM area Direct Write Prohibition Error | P0, P3, and a direct write to the FROM area are prohibited |
| A6E | Write Inside Rejection Error | The processing not permitted in the slave parameter write in data flash ROM write was tried |
| B00 | SCHA Setting Error | The ending character set using SCHA is invalid |
| B01 | TPCD Setting Error | Set value must be either 0 or 1 |
| B02 | SLEN Setting Error | The setting of SLEN is out of range |
| B03 | Homing Method Error | Homing Method specified in Specific Axis Parameter #10 is invalid for that particular axis |
| B04 | 1 Shot Pulse Output Simultaneous Use Error | BTPN and the BTPF timer simultaneous number of operation in one program exceed upper bound (16) |
| B05 | Over Travel Error During Homing | Possibly bad limit switch/creep sensor |
| B06 | Multiple OPEN Error | Attempted to OPEN a channel which was already opened in another program |
| B07 | SIO channel Usage Error | Attempted to use a channel which has not been opened (OPEN command) |
| B08 | Multiple WRIT Error | The WRIT instruction was executed at the same time by two or more tasks for the same channel |
| B09 | SIO RS485 WRIT?READ Simultaneous Error | The WRIT instruction and the READ instruction were executed at the same time |
| B0A | Usage of Unassigned SIO Channel | It tried to use the channel that normally cracked and was not applied. Please confirm I/O parameter No.100-111 and the state of the I/O slot |
| B10 | Z-phase Search Time-out Error | Z-phase cannot be detected. Check encoder connections or possibly defective encoder |
| B11 | HOME Limit Switch Time-out Error | The escape from the starting point sensor cannot be confirmed. Please confirm the restraint, wiring, and the starting point sensor etc. of operation |
| B12 | SEL Command Return Code Storage Variable No. Error | SEL command return code storage variable No. is invalid. Please confirm "Other parameter No.24 READ instruction return code storage local variable No." etc |
| B13 | Backup SRAM Data Checksum Error | Backup SRAM data is destroyed. Please confirm the battery |
| B14 | Flash ROM8Mbit Version Unsupport Function Error | It tried to use a function not supported under flash ROM8Mbit substrate environment. (HT connection specification etc.) |
| B15 | Input Port Debugging Filter Type Error | The input port debugging filter type setting value is invalid |
| B16 | SEL Operand Specification Error | Invalid SEL instruction word operand specification |
| B17 | Parameter Register Busy Error when Slave Command is Issued | Driver special command ACK became a time-out because of the slave command issue |
| B18 | Device No. Error | Device No. is invalid |
| B19 | Unit Type Error | The unit type is invalid |
| B1A | ABS Reset Specification Error | The ABS reset specification is illegal. It specifies more than two axes the axis excluding the specification simultaneously and the ABS encoder |
| C03 | Unregistered Program Specification Error | The specified program is not registered |
| C04 | Program Entry Point Undetected Error | Execution was demanded for program No. in which the program step was not registered |
| C05 | Program First Step BGSR Error | The first command in a program cannot be BGSR |
| C06 | Executable Step Undetected Error | In the program being executed, there are no executable steps |
| C07 | Subroutine Undefined Error | The subroutine which was called is not defined |
| C08 | Multiple Subroutine Defined Error | The subroutine is defined in same subroutine No. by two or more places |
| C0A | Multiple Tag Define Error | Tag is defined in same tag No. by two or more places |
| C0B | Tag Undefined Error | The tag specified for a jump destination of the GOTO command is not defined |
| C0C | DW, IF, IS, and SL Pair End Mismatch Error | The syntax of the branch instruction is invalid. Correspondence with the branch instruction which appeared last time is invalid at EDIF, EDDO, and EDSL. Please confirm the IF?IS instruction, the correspondence of EDIF, the correspondence of the DO instruc |
| C0D | DW, IF, IS, and SL Pair End Shortage Error | Neither EDIF, EDDO nor EDSL are found. Please confirm the IF?IS instruction, the correspondence of EDIF, the correspondence of the DO instruction and EDDO, the SLCT instructions, and the correspondences of EDSL |
| C0E | BGSR Pair End Shortage Error | EDSR corresponding to BGSR is insufficient or BGSR corresponding to EDSR is insufficient. Please confirm the correspondence of BGSR and EDSR |
| C0F | DO, IF, and Over IS Nest Steps Number Error | The frequency of the nest of the DO instruction and the IF?IS instruction exceeds the limit value. The limit is 15 nested statements. Also, check for exiting with a GOTO command before the end of statement |
| C10 | Over SLCT Nest Steps Number Error | The frequency of the nest of the SLCT exceeds the limit value. The limit is 15 nested statements. Also, check for exiting with a GOTO command before the end of statement |
| C11 | Over Error of Frequency of Subroutine Nest | The frequency of the nest of subroutines exceeds the limit value. The limit is 15 nested subroutines. Also, check for exiting with a GOTO command before the end of the subroutine |
| C12 | DO, IF, and IS Nest Steps Number Error Under | The position of EDIF or EDDO is invalid. Please do not confirm whether diverge the correspondence of the IF?IS instruction, the correspondence of EDIF, the DO instruction, and EDDO and in syntaxes (outside the syntax in the GOTO instruction) |
| C13 | SLCT Nest Steps Number Error under | The position of EDSL is invalid. Please do not confirm whether diverge the correspondence of SLCT and EDSL and in syntaxes (outside the syntax in the GOTO instruction) |
| C14 | Error of Frequency of Subroutine Nest Under | The position of EDSR is invalid. Please do not confirm whether diverge the correspondence of BGSR and EDSR and in syntaxes (outside the syntax in the GOTO instruction) |
| C15 | Error of the Next Step Instruction Code of SLCT | Which must be the next program step of SLCT of WHEQ, WHNE, WHGT, WHGE, WHLT, WHLE, WSEQ, WSNE, OTHE, and EDSL? |
| C16 | Create Stack Failure | It failed in the initialization of the input condition state storage stack |
| C17 | Enhancing Condition Code Error | The program step is invalid. The code of the enhancing condition is invalid |
| C18 | Enhancing Condition LD Simultaneous Processing Numerical Excessive Error | The number of simultaneous processing of LD exceeds the limit value |
| C19 | Enhancing Condition LD Shortage Detection Error 1 | When O is used enhancing condition A, LD is insufficient |
| C1A | Enhancing Condition LD Shortage Detection Error 2 | When OB is used enhancing condition AB, LD is insufficient |
| C1C | Unused LD Detection Error | It tried to execute the command without the use of the input condition that LD was used and saved two or more times with enhancing condition AB or OB |
| C1F | Input Condition CND Shortage Detection Error | There is no necessary input condition when the enhancing condition is used |
| C21 | Input Condition Use Error at Input Condition Prohibition Command | An input condition cannot be used on the specified command |
| C22 | Positional Command Illegal Error at Input Condition Prohibition Command | There must not be input condition prohibition command on the way of the nest of the input condition |
| C23 | Operand Invalid Error | The program step is invalid. Necessary operand data is invalid |
| C24 | Operand Type Error | The program step is invalid. The data type of the operand is invalid |
| C25 | Actuator Control Declaration Error | A set value of the actuator control declaration instruction is invalid |
| C26 | Over Set Range Error of Time of Timer | Invalid setting for the timer |
| C27 | Over Set Range Error of Time-out Time at WAIT | Invalid setting of the time-out time |
| C28 | Tick Frequency Setting Range Error | Invalid setting of the Tick frequency |
| C29 | HOME Limit Switch Time-out Error | When DIV was ordered, 0 was specified for a divisor |
| C2A | Range Error when SQR is Ordered | The operand value of the SQR instruction is invalid. Operand must be greater than zero. |
| C2B | BCD Mark Digit Number Range Error | Specified values of the number of BCD mark digits are invalid. Please specify the value from 1 to 8 |
| C2C | Program No. Error | Program No. is invalid |
| C2D | Step No. Error | Step No. is invalid |
| C2E | Empty Step Shortage Error | An empty step to preserve the step data is insufficient. Please secure an empty step necessary for preservation |
| C2F | Axis No. Error | Axis No. is invalid |
| C30 | Axis Pattern Error | The axis pattern is invalid |
| C32 | Operation Axis Addition Error when Command is Being Executed | It moved a continuous point or the operation axis of the point data was added while processing the Ots movement calculation |
| C33 | Base Axis No. Error | Base axis No. is invalid |
| C34 | Zone No. Error | Zone No. is invalid. - Only X-SEL : |
| C35 | Point No. Error | Point No. is invalid |
| C36 | I/O port Flag No. Error | I/O port flag No. is invalid |
| C37 | Flag No. Error | Flag No. is invalid |
| C38 | Tag No. Error | Tag No. is invalid |
| C39 | Subroutine No. Error | Subroutine No. is invalid |
| C3A | Open User Serial Channel No. Error | Invalid User SIO Channel specified. Verify settings in I/O Parameter Nos. 100-111 |
| C3B | Parameter No. Error | Parameter No. is invalid |
| C3C | Variable No. Error | Variable No. is invalid |
| C3D | String No. Error | String No. is invalid |
| C3E | String Variable Data Number Specification Error | String length goes beyond range of columns (1 ~ 999) |
| C40 | Delimiter Non Detection Error in String Variable | The delimiter in the string variable cannot be detected |
| C41 | String Variable Copy Size Over Error | The size of the string variable copy is too large |
| C42 | Character Number Error when String is Processed | The character string length when the string is processed is not defined. Please execute the string processing instruction after it defines it by the SLEN instruction |
| C43 | Character String Length Error when String is Processed | The character string length when the string is processed is invalid. Please confirm the value of the character string length defined by the SLEN instruction |
| C46 | Source Symbol Storage Table Empty Area Shortage Error | An empty area to store the source symbol is insufficient. Please confirm the source symbol use frequency |
| C47 | Symbol Retrieval Error | The definition of the symbol used in the program step is not found |
| C48 | Error SIO Continuous Switching Error | SIO transmission is not corresponding to the format or includes illegal data |
| C49 | Error During Tasks Other Than SEL-SIO | SIO is being used by other interpreter tasks |
| C4A | SCIF Non-Open Error | It is not opened by the task that cereal of the user open channel 1 tried to use. Please open the channel previously by the OPEN instruction |
| C4B | Delimiter Error | The ending character is not defined. Please set the ending character before OPEN using the SCHA command |
| C4E | Illegal OPEN of SIO Channel 1 | User SIO Channel 1 was opened illegally. If I/O Parameter #90 is set to 2, channel 1 cannot be used for user SIO, only IAI Protocol applies |
| C4F | SEL Program Source Symbol Sum Check Error | Flash ROM data is destroyed |
| C50 | Symbol Definition Table Sum Check Error | Flash ROM data is destroyed |
| C51 | Point Data Sum Check Error | Flash ROM data is destroyed |
| C52 | Backup SRAM Data Destruction Error | Backup SRAM data is destroyed. Please confirm the battery |
| C53 | Flash ROM SEL Global Data Error List Invalid Error | SEL global data Error list in flash ROM is invalid |
| C54 | Flash ROM SEL Global Data Error List Overlap Error | SEL global data Error list in flash ROM overlaps |
| C55 | SEL Global Data Error List Flash ROM Erase No. Over Error | Flash ROM erase limit has been exceeded |
| C56 | Timing Limit Over Error (flash ROM erase) | Erase is invalid of flash ROM |
| C57 | Flash ROM Verifying Error (flash ROM erase) | Erase is invalid of flash ROM |
| C58 | Flash ROM ACK Time-out Error (flash ROM erase) | Erase is invalid of flash ROM |
| C59 | Front Sector No. Designation Error (flash ROM erase) | Erase is invalid of flash ROM |
| C5A | Front Sector No. Designation Error (flash ROM erase) | Erase is invalid of flash ROM |
| C5B | Timing Limit Over Error (flash ROM write) | The write is invalid of flash ROM |
| C5C | Flash ROM Verifying Error (flash ROM write) | The write is invalid of flash ROM |
| C5D | Flash ROM ACK Time-out Error (flash ROM write) | The write is invalid of flash ROM |
| C5E | Writing Destination Offset Address Error (flash ROM write) | The write is invalid of flash ROM |
| C5F | Writing Source Data Buffer Address Error (flash ROM write) | The write is invalid of flash ROM |
| C60 | Error Without SEL Global Data Error Restructuring Area | There is no erase settlement SEL global data error restructuring area |
| C61 | SEL Data Flash ROM Erase No. Over Error | Flash ROM has been overwritten too many times |
| C62 | Movement Command Error at Servo OFF | The execution of the movement command was attempted while servo OFF |
| C63 | Servo Movement Condition Error | It is not in the condition in which the servo can work |
| C64 | Servo Irregular Addition and Subtraction Velocity Error | The internal servo addition and subtraction velocity is invalid |
| C65 | Servo ON/OFF Logic Error | Servo ON/OFF logic between the main drivers is invalid |
| C66 | Multiple Axes Usage Error | The use right acquisition of the axis which had already been used was tried |
| C67 | Servo Usage Acquisition Error | There is not becoming empty in the servo user management area |
| C68 | Servo Usage Acquisition Complete Error | The servo use right has already been acquired |
| C69 | Servo Usage Non-Acquisition Error | The servo use right unacquisition user tried the continuance use acquisition |
| C6A | Push Movement Flag Logic Error | Internal logic of the push processing is invalid |
| C6B | Deflection Overflow Error | Operation is mechanically impeded. Check to see if the actuator mounting bolts are contacting inside the axes, or if the slider attachment is contacting any surrounding mechanical parts. Check brake functionality. Inspect mounting bolts along base. Check for binding in the system |
| C6C | Movement Error During ABS Data Acquiring | Axis was detected to be moving upon power up. Reset controller |
| C6D | MAX Axis Over Error | It became axis specification which exceeded the axis which was able to be mounted since the axis shifted by the base instruction |
| C6E | Servo OFF Axis Usage Error | Movement command was given while servo off |
| C6F | Homing Incomplete Error | The homing procedure is not complete |
| C70 | ABS Coordinate Non Confirmation Error | Absolute coordinates have not been fixed. Cycle power |
| C71 | Synchronized Axis Command Error | The command was issued to a synchronized following axis. - Only X-SEL : |
| C72 | Overrun Error | The overrunning sensor operated |
| C73 | Target Value Data Soft Limit Over Error | The commanded position exceeds the software limit. IX SCARA: check if robot is in opposite arm of commanded move. Robot is shutdown in Left arm mode then restarted but first commands are to a position reached by Right arm mode. Move robot while powered off or provide a recovery routine (PTPE command to allow controller to choose arm mode) |
| C74 | Actual Position Soft Limit Over Error | Actual position is out of range. Most likely in negative position after ABS reset procedure. Manually move slider in to positive territory and do "Error Reset" |
| C75 | Motion Data Packet Forming Logic Error | The motion data packet generation logic is invalid |
| C76 | Movement Point No. Over Error | The number of packets generated simultaneously is too abundant |
| C77 | Handling Packet Overflow Error | The servo handling packet overflowed |
| C78 | Motion Data Packet Overflow Error | The servo motion data packet overflowed |
| C79 | Pole Sense Movement Error | It is not possible to operate at the pole sense |
| C7A | Servo Non-Support Function Error | It tried to use the function not supported |
| C7B | Fraction Pulse Slide Error | An internal calculation of the servo is invalid |
| C7C | Fraction Pulse Processing Logic Error | An internal calculation of the servo is invalid |
| C7D | Insufficient Pulse within Packet Error | An internal calculation of the servo is invalid |
| C7E | Quadratic Equation Resolution Error | Abnormality was detected while calculating the second order equation solution |
| C7F | No Valid Designated Axis Error | A movement command was given without any axes specified |
| C80 | Servo Packet Computation Error | An internal calculation of the servo is invalid |
| C81 | Operation Volume Logic Error During Servo ON | The servo processing logic is invalid |
| C82 | Servo Direct Command Type Error | The servo processing logic is invalid |
| C83 | Servo Computation Method Type Error | The type of the method of calculating the servo is invalid |
| C84 | Servo OFF Error During Axis Usage | Servo OFF did the axis using it (Be processing it) |
| C85 | No Driver Error | Attempted to use an axis for which no driver is installed |
| C86 | Driver ready OFF Error | Movement of an axis was attempted while driver ready off |
| C87 | SEL Non Support Function Error | It tried to use the SEL unsupport function |
| C88 | Velocity Designation Error | Speed specification is either invalid or missing from program |
| C89 | Acceleration/Deceleration Designation Error | Acc/Dec specified is invalid |
| C8B | CIRCLE and ARCH Computation Logic Failure | The circular arc processing logic is invalid |
| C8D | CIRCLE and ARCH Computation Error | The position data where the circular arc was not able to move was specified. Please confirm the position data |
| C8E | Point Erase Error During Command Execution | The final point data was deleted while processing the continuous point movement calculation |
| C8F | Axis Movement Type Error | The axis movement type is invalid. Check Specific Axis Parameter #1 to ensure proper setting |
| C90 | Spline Computation Logic Failure | The spline processing logic is invalid |
| C91 | Push Multiple Axes Designation Error | A push movement was specified for more than one axis |
| C92 | Push Approach Distance and Velocity Designation Error | The specification of the push approach distance and the speed is invalid |
| C93 | System Output Operation Error | The user tried the operation of the system output (I/O parameter output function selection specification port and zone of the parameter (each axis) output port (Only X-SEL :), etc.) |
| C94 | PIO Program No. Error Likely due to wrong input bit pattern used. | Program No. specified from PIO is invalid. Likely wrong bit pattern. Cause: For example, if calling Program 11 via BCD by turning on PRG_1+PRG_2+PRG_8 (Input Bit 7, 8 & 10) this error will occur. Solution: Call Program 11 via BCD, use PROG_10 + PRG_1 (Input Bit 11 & 7). NOTE that the PSEL/ASEL/SSEL units use a BINARY pattern as default, not BCD like the rest |
| C95 | AUTO Program No. Error | Other parameter No.1 "Auto Start Program No." is invalid |
| C96 | Program Start During "Termination of Movement and Program" Error. | The start of the program from "I/O processing program at the Termination of Movement and Program." is prohibited. (Only before Ver.0.33 of the main application program.)" |
| C97 | I/O Processing Program Error During "Termination of Movement and Program" | I/O Processing Program No. at the "Termination of Movement and Program" is invalid |
| C98 | I/O Processing Program Error During "Temporary Stop of Movement and Program" | I/O Processing Program No. "During a Temporary Stop of All Movement" is invalid |
| C99 | Homing Sensor Non-Detection Error | The home sensor cannot be detected. Please confirm wiring and the sensor |
| C9A | Creep Sensor Non-Detection Error | The creep sensor cannot be detected. Please confirm wiring and the sensor |
| C9B | Z-phase Detection Error | Z-phase cannot be detected. Please confirm wiring and the encoder |
| C9C | Positional Z-phase Defective Error | Z-phase position is defective. It is necessary to readjust the Z-phase position. Possibly bad encoder or distorted mechanical stop |
| C9D | Card parameter Write Error | The card parameter write is invalid |
| C9E | Servo Calculation Overflow Error | An internal calculation of the servo is invalid |
| CA1 | The ABS Encoder Backup Battery Voltage is Abnormal. (driver analysis) | Please perform the absolute reset procedure after confirming the ABS encoder backup battery is connected, exchanging, and confirming the encoder cable connection |
| CA2 | The ABS Encoder Backup Battery Voltage is Abnormal. (main analysis) | Please perform the absolute reset procedure after confirming the ABS encoder backup battery is connected, exchanging, and confirming the encoder cable connection |
| CA3 | Slave Setting Data Input Out of Range Error | Set data to the slave is outside the latitude |
| CA4 | Slave Error Response | The error response is returned from the slave |
| CA5 | Stop Deflection Overflow Error | Movement may have occurred during stopping due to external force or operation may have been restricted during deceleration. This error may also generate when jog operation is restricted (due to contact with an obstacle, contact with a mechanical end before home return, etc.) or when wiring error, faulty encoder or faulty motor is detected during deceleration |
| CA6 | Palletize No. Invalid | A specified value of palletize No. is invalid |
| CA7 | Palletize Cross Check Even Number Column Setting Invalid. | Set values of the even number row number of plover settings of palletize are invalid |
| CA8 | The Palletize Pitch Setting Value is Invalid. | A set value of palletize pitch is invalid |
| CA9 | Palletize Axis Direction Place Point No. Setting Value is Invalid | Set values of the number X?Y axially of palletize are invalid |
| CAA | Palletize PASE and PAPS Undeclared Error | Neither palletize setting command, PASE or PAPS, is given. Please set either |
| CAB | Palletize Position No. is Invalid. | A specified value of palletize positional No. is invalid |
| CAC | Palletize Positional No. Setting Over | A specified value of palletize positional No. exceeds the range of positional No. calculated by present palletize setting |
| CAD | Palletize XYZ Same Axes Setting Error | Any of the X?Y?Z axis for palletize was specified with the same axis |
| CAE | Insufficient Point Data Valid Axis No. for Palletize Three-Point Teaching | In the point data for the palletize three point teaching, the number of effective axes is insufficient. The axis which composes palletize XY plane cannot be specified |
| CAF | Excessive Point Data Valid Axis No. for Palletize Three-Point Teaching | In the point data for the palletize three point teaching, the number of effective axes is excessive. The axis which composes palletize XY plane cannot be specified |
| CB0 | Mismatch Point Data Valid Axes for Palletize Three-Point Teaching | The effective axis pattern of the point data for the palletize three point teaching is not corresponding |
| CB1 | Offset Setting Error During Palletize Three Point Teaching | The plover setting offset cannot be set when the base point is the same as X axis terminal when the Palletize three point teaching is set (It is not 0) |
| CB2 | BGPA and EDPA Pair and Mismatch Error | The BGPA and EDPA syntaxes are invalid. EDPA was declared when BGPA is undeclared or BGPA is declared without declaring EDPA after BGPA is declared |
| CB4 | Palletize Z Axis Non Deceleration Error | Please declare Z axis by PCHZ or ACHZ |
| CB5 | BGPA Non Deceleration Error During Palletize Setting | Do not set Palletize without declaring BGPA. Please declare BGPA |
| CB6 | Palletize Point Error | invalidity (There is things except no Z axis element) is found in Palletizepoint |
| CB7 | ARCH Trigger Non Declaration Error | Please declare the arch trigger by PTRG or ATRG |
| CB8 | Three-Point Teaching Non Setting Error During Palletize Angle Acquisition | After the teaching is set of the Palletize three points, the Palletize angle cannot be acquired |
| CB9 | Axes X and Y Non Specification Error During Palletize Angle Acquisition | Because the XY axis cannot be specified because there are a lot of effective axes of the point data of three point teaching, the angle calculation cannot be done |
| CBA | Base Axis and /Y Axes Mismatch Error During Palletize Angle Acquisition | The angle calculation cannot be done because there are not two axes which compose the XY axis set by three point teaching |
| CBB | Base point and X axis terminal XY element same Error when Palletize angle is acquired | Because the arc tangent cannot calculate when the effective axis data which composes the XY axis of the base point and X axis terminal of three point teaching is the same, the angle calculation cannot be done |
| CBC | Palletize Motion Computation Error | An error occurred in the palletize motion trapezoidal calculation |
| CBD | Divisor 0 Error During MOD Command | When MOD was ordered, 0 was specified for a divisor |
| CBE | Target Value Data Boundary Over Error | The target position or the movement tracks exceed the positioning boundary of the infinite stroke mode. - only X-SEL |
| CBF | Positioning Distance Over Flow Error | The positioning distance is too large. If the controller is of absolute encoder specification and the system has just been moved or 'Error No. C74, Actual-position soft limit over error' has also generated, the controller may be experiencing a servo-packet calculation overflow caused by abnormal current position resulting from an unsuccessful absolute reset. Perform an absolute reset again by following the operation manual. (Simply selecting 'Encoder error reset' on the absolute reset screen will not allow the controller to recognize the correct position. Always perform an absolute reset by strictly following the specified procedure.) |
| CC0 | Axis mode Error | The axis mode is invalid |
| CC1 | Velocity Change Condition Error | The speed change was tried to the axis (S motion use operation axis etc.) which was not able to change the speed |
| CC2 | Driver Parameter List No. Error | Driver parameter list No. is invalid |
| CC3 | Angle Error | The angle is invalid |
| CC4 | SEL Data Error | The SEL data is invalid |
| CC5 | Positioning Boundary Escape Error | The execution of the command not permitted outside the positioning boundary was tried |
| CC6 | First Driver Error Detection | The first driver Error was detected. Please check cabling. This error may be related to other errors. To view the Detailed Error information, click on "Monitor" from the main menu. Then select "Detailed Error Information" which will display the Error Number Select window. Click "OK" after setting the Error Number Select which will display the Detailed Error Information screen |
| CC7 | Palletize Movement Z Axis Pattern Non Detection Error | When palletize moves, Z axis element is not found in the axis pattern |
| CC8 | ARCH Top Z Axis Pattern Non Detection Error | Most significant point Z axis element is not found in the axis pattern at the arch motion |
| CC9 | ARCH Trigger Z Axis Pattern Non Detection Error | Z axis element is not found in the arch trigger declaration point data axis pattern |
| CCA | ARCH Top and End Point Reverse Error | The relation of coordinates of the most significant point and the terminal is reversed at the arch motion |
| CCB | ARCH Start Point Trigger Reverse Error | The relation of coordinates of the starting point and the starting point art trigger is reversed at the arch motion |
| CCC | ARCH End Point Trigger Reverse Error | The relation of coordinates of the terminal and the terminal art trigger is reversed at the arch motion |
| CCD | Drive Source Shut Off Axis Usage Error | The use of the axis to which driving source was intercepted was tried |
| CCE | Axis usage Error | The use of the Error generation axis was tried. The axis is in error and cannot be activated. Remove cause of error before proceeding |
| CCF | Palletize Base Point Valid Axis Mismatch Error | At palletize, the X?Y(?Z) axis set by PASE?PCHZ is not effective in the axis pattern of the base point point data set by PAST |
| D01 | Encoder EEPROM Write Time-out Error | There is a trouble in the communication with the encoder breakdown or the encoder |
| D02 | Encoder EEPROM Read Time-out Error | There is a trouble in the communication with the encoder breakdown or the encoder |
| D03 | Encoder Count Error | It is presumed an encoder breakdown or a defective state of the encoder |
| D04 | Encoder One Rotation Reset Error | The encoder breakdown or the encoder rotates |
| D05 | Encoder EEPROM Write Acceptance Error | There is a trouble in the communication with the encoder breakdown or the encoder |
| D06 | Encoder Reception Data Error | There is a trouble in the communication with the encoder breakdown or the encoder |
| D07 | Driver Logic Error | It is in a state that driver CPU board cannot work normally. Possible causes: Damage the Driver CPU Board, Electrical noise, Bug of the firmware. Solution: Check for electrical noise sources on the power line (if unavoidable then maybe use a UPS to condition the power line). Install electrical noise filters on the incoming power to the controller (typically iron powder clamp filters but sometimes a filter module). Confirm that the system is grounded. If still unable to resolve then contact IAI Tech Support to return for repair. |
| D08 | Encoder CRC Error | There is a trouble in the communication with the encoder breakdown or the encoder |
| D09 | Driver Excess Speed Error | The rotation speed of the motor exceeded the upper bound |
| D0A | Driver Overload Error | The input electric power to the motor exceeded the upper bound. Most likely something is prohibiting the motion of the axis. If the axis has a brake, make sure it is releasing properly |
| D0B | Driver EEPROM Data Error | Data write to EEPROM is prohibited |
| D0C | Encoder EEPROM Data Error | There is an error I in the EEPROM |
| D0E | Axis Sensor Error (P0E2) | Axis sensor invalidity generation |
| D0F | Power Stage Temperature Error (P0E1) | The power stage board exceeded the upper bound temperature |
| D10 | Intelligent Power Module (IPM) Error (P0E0) | The trouble occurred in the motor drive circuit. Most likely the driver board is damaged. Measure the relative resistance of the U,V,W motor phases. Also confirm that the numbered wires are inserted in order on the green motor connector |
| D11 | Driver Allocation Error | It is in the state that driver CPU board cannot work normally |
| D12 | Encoder Disconnection Error | The encoder cable has been disconnected |
| D13 | FPGA Watch Dog Timer | There is a trouble in the interface between main CPU |
| D14 | Electric Current Loop Under Run Error | There is a trouble in the interface between main CPU |
| D15 | Driver CPU Down Status Error | Driver CPU board invalidity generation |
| D17 | Main CPU Alarm Status Error | There is a trouble in the interface between main CPU |
| D18 | Velocity Loop Under Run Error | There is a trouble in the interface between main CPU |
| D19 | Encoder Reception Time-out Error | There is no communication between controller and encoder. Please check cabling and connection. Possibly defective encoder or encoder connection on controller plugged in backwards. Faulty commmunication cable may also cause ths |
| D1A | Driver Command Error | CPU bus command invalidity generation |
| D1B | Serial Bus Reception Error | There is a trouble in the interface between main CPU |
| D1C | Encoder Over Speed Error | The rotation speed of the motor exceeded the upper bound. Encoder data is corrupted. SCARA -- vibration or motion of arm during shipment may have caused the encoder value to become corrupted. Execute Absolute Reset Procedure |
| D1D | Encoder Full ABS Status Error | The rotation speed of the motor exceeded the upper bound |
| D1E | Encoder Counter Overflow Error | The multi rotation counter of the encoder exceeded the upper bound |
| D1F | Encoder Multiple Rotation Error | It is presumed an encoder breakdown or a defective state of the encoder |
| D20 | Driver Error | (Refer to Error No. CA1.) |
| D22 | Encoder Multiple Rotation Reset Error | The encoder breakdown or the encoder rotates |
| D23 | Encoder Alarm Reset Error | Encoder breakdown |
| D24 | Encoder ID Error | There is a trouble in the communication with the encoder breakdown or the encoder |
| D25 | Encoder Composition Mismatch Error | Composition information on the encoder is outside the function information range |
| D26 | Motor Composition Mismatch Error | Composition information on the motor is outside the function information range |
| D50 | Field Bus Error (FBMIRQ time-out) | The FBMIRQ time-out was detected |
| D51 | Field Bus Error (FBMIRQ reset) | The FBMIRQ reset Error was detected |
| D52 | Field Bus Error (FBMBSY) | FBMBSY was detected |
| D53 | Field Bus Error (BSYERR) | BSYERR was detected |
| D54 | Window Lock Error (LERR) | LERR was detected |
| D55 | Field Bus Error (Min busy) | Min busy Error was detected |
| D56 | Field Bus Error (MinACK time-out) | The Min ACK time-out was detected |
| D57 | Field Bus Error (MoutSTB time-out) | The Mout STB time-out was detected |
| D58 | Field Bus Error (INIT time-out) | The INIT time-out was detected |
| D59 | Field Bus Error (DPRAM write lead) | The DPRAM write lead Error was detected |
| D5A | Field Bus Error (TOGGLE time-out) | The TOGGLE time-out was detected |
| D5B | Field Bus Error (access write retry over) | Access write retry over error was detected |
| D5C | Field Bus Error (Error of access right open) | The Error of the access right open was detected |
| D5D | Field Bus Error (FBRS link Error) | Device is not connected to bus. To temporarily ignore this Error as well as the above FieldBus Errors, change I/O Parameter "Extended I/O Error Monitor" to 0 for the corresponding slot. (nos. 11-13). For XSEL-(P/Q)X, this is Parameter 18 "NetIF Sprvs". DeviceNet needs it own dedicated 24VDC (+/-1%) supply separate from PLC I/O, etc. Supply should have current limit protection and fusing at each cable segment. Needs to rise in <250ms to within 5% of rated output. |
| D60 | Enhancing SIO 2?4CH insulation power supply is invalid. | Enhancing SIO insulation invalid power supply was detected |
| D61 | Enhancing SIO 1?3CH insulation power supply is invalid. | Enhancing SIO insulation invalid power supply was detected. Likely damaged expansion slot serial card. Contact IAI to order a new card |
| D62 | The clock oscillation is invalid for enhancing SIO baud rate generator. | Enhancing SIO clock invalid oscillation was detected |
| D63 | Enhancing SIO UART Paging Error | Enhancing SIO paging Error was detected |
| D64 | Expansion SIO Assignment Error | Expansion SIO Slot Card is not addressed properly. Check I/O Parameters to ensure proper settings |
| D68 | Uninstalled Remote Mode Control Support Board | Hardware which supports the remote mode control is not installed though remote mode control (AUTO/MANU) is specified by I/O parameter No.79 |
| D69 | Terminal stand overcurrent or supply power supply is invalid with the outside. | The terminal stand supply power supply with the terminal stand overcurrent or the outside with the outside is invalid |
| D80 | SCARA Non Support Function Error | It tried to use the SCARA unsupport function. - only new SCARA |
| D81 | Parameter Error When Effective Target Data is Calculated | #NAME? |
| E01 | DMA Address Error | It is DMA forwarding Error |
| E02 | SCIF Transmission Buffer Overflow Error | The SCIF transmission buffer overflowed. |
| E03 | SCI Transmission Buffer Overflow Error | The SCI transmission buffer overflowed. |
| E04 | SCIF Reception Buffer Overflow Error | The SCIF reception buffer overflowed. More excessive data than the outside is received. |
| E05 | SCI Reception Buffer Overflow Error | The SCI reception buffer overflowed. More excessive data than the slave is received. |
| E06 | Reception Time-out Error (slave communication) | The response from the slave cannot be recognized. The driver CPU board may need to be replaced. |
| E07 | SCI Overrun Error (slave communication) | Interference. Please confirm the noise, the circuit trouble, and the slave card. |
| E08 | SCI Framing Error (slave communication) | Interference. Please confirm the noise, the short, and the circuit trouble and the slave card. |
| E09 | SCI Parity Error (slave communication) | Interference. Please confirm the noise, the short, and the circuit trouble and the slave card. |
| E0A | SCI CRC Error (slave communication) | CRC is invalid. |
| E10 | SCIF Communication Mode Error | The communication mode is invalid. |
| E11 | SCI Communication Mode Error | The communication mode is invalid. |
| E12 | SIO Bridge SCIF Transmission Queue Over Flow Error | It is a transmission cue overflow. |
| E13 | SIO Bridge SCI Transmission Queue Over Flow Error | It is a transmission cue overflow. |
| E14 | SCI Receive Data Register Full Wait Time Out Error | Interference. Please confirm the noise, the short, and the circuit trouble and the slave card. |
| E15 | SCI Overrun Error | Interference. Please confirm the noise, the short, and the circuit trouble and the slave card. |
| E16 | Program End Confirmation Time-out Error | The program cannot be ended. |
| E17 | I/O Processing Program Start Logic Error | The I/O processing program start logic is invalid. |
| E18 | Task ID Error | Task ID is invalid. |
| E19 | WAIT Factor Error | The WAIT factor is invalid. |
| E1A | WAIT Logic Error | The WAIT logic is invalid. |
| E1B | Point Data Valid Address Error | A point data effective address is not set. |
| E1C | Source Data Error | The source data is invalid. |
| E1D | Non Operation Output No. Error | No operation output No. is invalid. There is a possibility that numerical values (0 is acceptable) other than output port No. are input to I/O parameter No.70-73. |
| E1E | Zone Parameter Error | The ZONE parameter setting(s) in Specific Axis Parameters Nos. 88,91,94, and 97 cannot be set to system I/O signals such as those set with I/O Parameters Nos. 30-45. - only X-SEL. |
| E1F | I/O Assignment Parameter Error | When numerical values other than the multiple of eight are input to I/O parameter No.14-17 when numerical values other than numerical values (-1 is acceptable) other than I/O port No. and I/O head port No.+ multiples of eight are input to I/O parameter No |
| E20 | I/O Multiple Assignment Error | I/O assignments overlap. Check I/O Parameters Nos. 2-9 and 14-17 to ensure no duplicate settings. |
| E21 | I/O Assignment No. Over Error | Check I/O parameters Nos. 2-9, 14-17 for I/O assignments not corresponding to actual hardware. |
| E22 | Header Error (slave communication) | The header in reception from the slave card is invalid. |
| E23 | Card ID Error (slave communication) | Card ID in reception from the slave card is invalid. |
| E24 | Response Type Error (slave communication) | The response type in reception from the slave card is invalid. |
| E25 | Command Type Error (slave communication) | The command type which tries to be transmitted is invalid. |
| E26 | Target Type Error | The target type is invalid. Check the dip switch settings to be sure 1-4 are off. (On the XSEL-J type, the switches are above the MANU/AUTO switch and on the XSEL-K type the switches are located underneath the display cover.) |
| E27 | Target Non Equipped Error | The target (slave cards such as the driver card, I/O cards, and encoders) is unmounted. |
| E29 | EEPROM Error (EWEN/EWDS impropriety) | It is invalid. (At the write.) |
| E2A | Different Read and Compare During EEPROM Write Error | It is invalid. (At the write.) |
| E2B | Response Failure During EEPROM Information Acquisition | Slave, EEPROM, information, acquisition, command, transmit. An invalid response was received. |
| E2C | MAX Reception Size Over During EEPROM Information Acquisition | Slave, EEPROM, information, acquisition, command, transmit. The reception size exceeds the limit value. |
| E2D | Reception Data Check Sum Error During EEPROM Information Acquisition | Slave, EEPROM, information, acquisition, command, transmit. The checksum of receive data is invalid. |
| E2E | Necessary Power Stage Not Equipped Error | A necessary power stage is not mounted for an effective axis. |
| E2F | Necessary Regenerative Resistance Not Equipped Error | Necessary regenerative resistance is not mounted for an effective axis. |
| E30 | Necessary Motor Drive Source Not Equipped Error | A necessary motor drive power supply is not mounted for an effective axis. |
| E31 | Standard I/O Slot Card Error | Standard I/O unit is not mounted. |
| E32 | Control Power Supply Not Equipped Error | The control power supply unit is not mounted. |
| E33 | Slave Response Logic Error | The slave response logic is invalid. |
| E34 | Outside of Slave Block Number Range | The slave block number is outside the range. |
| E37 | Slave Data Setting Prohibition | The slave data setting is being prohibited. |
| E38 | Slave EEPROM Failure. | Slave EEPROM failed. |
| E39 | Encoder EEPROM Non Equipped Error | EEPROM on encoder board is not detected. |
| E3A | ABS Encoder Error | ABS encoder is specified illegally. Check Specific Axis Parameter #38 to ensure proper setting. 0: INC; 1: ABS |
| E3C | Undefined Slave Command Error Code Detection | The undefined slave command Error code was detected. |
| E3D | SEL Program Point Parameter Flash ROM Status Error | Data is not normally written in flash ROM or it is data written in an old version without interchangeability. |
| E3E | Parameter Sum Check Error | Flash ROM data is destroyed. |
| E3F | Gain Parameter Error | Check Specific Axis Parameter #60 to ensure proper setting. |
| E40 | Rotating Axis Parameter Error | Check Specific Axis Parameters No.67, 66, 38, 37, and 1 to ensure proper setting. |
| E41 | Insufficient Servo Motion Data Packet Error | It is servo motion data packet shortage. |
| E42 | Servo Job Error | The servo job is invalid. |
| E45 | Servo Undefined Command Detection Error | An undefined command was detected in the servo processing. |
| E46 | MAX Reception Size Over During ABS Data Acquisition | The reception size at the ABS data acquisition is too large. |
| E47 | No Normal Response during ABS Data Acquisition | There is no normal response at the ABS data acquisition. |
| E49 | Encoder Multiple Rotation Error | The encoder multi rotation Error was detected. |
| E4A | Encoder Multiple Rotation Counter Over Flow Error | The encoder multi rotation counter overflow Error was detected. If the controller is of the absolute encoder type, please try performing an absolute reset; change the batteries;or test the electrical connections in the cables/connectors. |
| E4B | Encoder Count Error | The encoder count Error was detected. |
| E4C | Encoder Overspeed Error | The encoder overspeed Error was detected. |
| E4D | Driver Z-phase Detection Logic Error | Z-phase detection completion status was notified by the driver though it was not in Z-phase detection operation mode. |
| E4E | Z-phase N. Related Parameter | Please confirm parameter No.23, 38, and 37, etc. according to the axis. |
| E4F | Synchronized Parameter Error | Please confirm parameter No.65, 39, and all axis parameter No.1, etc. according to the axis. - Only X-SEL :. |
| E50 | Driver Special Command ACK Time-out Error | ACK to a driver special command cannot be detected. |
| E51 | Drive Part Error (DRVESR) | It is an Error because of the driver notification. |
| E52 | Encoder Error (DRVESR) | It is an Error because of the driver notification. |
| E53 | Driver CPU Error (DRVESR) | It is an Error because of the driver notification. |
| E54 | Servo Control Error (DRVESR) | It is an Error because of the driver notification. |
| E55 | Command Error (DRVESR) | It is an Error because of the driver notification. |
| E56 | Linear Motor Temperature Error | It is an Error because of the driver notification. |
| E58 | Servo ON/OFF Time-out Error | Servo ON/OFF confirmation cannot be taken. |
| E59 | Brake ON/OFF Time-out Error | Brake ON/OFF confirmation cannot be taken. |
| E5A | Pole Sense Error | The motor magnetic pole cannot be detected. |
| E5B | Detection OFF Error at Pole Sense Complete | Motor magnetic pole detection status bit (Psenex) is turned off although the pole sense was completed. |
| E5C | Reserve Servo Job Error at Stop | The servo job is invalid. |
| E5D | Servo Packet Error | The servo packet is invalid. |
| E5E | Servo Usage Management Arrangement No. Error | invalidity is found in servo use right management array No. |
| E5F | Length Conversion Parameter Error | Check Specific Axis Parameters No.47, 50, 51, 42, and 1 to ensure proper setting. |
| E60 | MAX Slave Reception Size Over Error | The slave reception size is too large. |
| E61 | No Normal Response to Slave Reception Error | A normal response from the slave cannot be received. |
| E62 | Transmission Source Slave CPU Type Error | Transmission former slave CPU type is invalid. |
| E63 | Message Buffer Information Type Error | The message buffer information type is invalid. |
| E64 | Power Reserve Detection Failure | A preliminary invalid system power supply was detected. |
| E65 | Regenerative Resistance Temperature Error | The regenerative resistance temperature Error was detected. |
| E66 | AC Power Over Voltage Error | The AC power supply overvoltage Error was detected. |
| E67 | Motor Power Over Voltage Error | The motor power supply overvoltage Error was detected. |
| E68 | Reset Requiring Recovery Type Emergency Stop Status (Not an Error) | Please turn on the power supply again after releasing the emergency stop. |
| E69 | 24V I/O Power Error | Make sure 24VDC +/- 10% is supplied for the I/O. Beyond this will generate the error. Can override by changing I/O parameter 10 from 1 to 2 (ignores I/O power errors - ok for short term) or to 0 (turns card off.) |
| E6A | Reset Requiring Recovery Type Safety Gate Open Status (Not an Error) | Please cycle power once the safety gate has been closed. |
| E6B | Undetermined Shut Down Factor Error | The shutdown factor is irregular. Check enable jumper/switch. On the J-Type controller, be sure that the rotary switch is set to 0. |
| E6C | DO Output Power Error | The DO output current is abnormal. |
| E6D | Shut Down Relay Error | There is a possibility of the shutdown relay welding shut. Also could be firmware bug on J-type controller. Later versions of firmware corrected this problem. XSEL KE/KET/Q (Global spec) controllers need to have motor power applied as soon as the "Ready" output turns on. Monitor this output and turn on the contacts for the motor power via a relay. As a condition limited to X-SEL-P type controllers of standard single-phase specification, a 'drive-source cutoff relay error (E6D)' may generate if the power is turned off and then turned on again (reconnected) too quickly. This error indicates that the internal relay has fused, and its occurrence has to do with the specific circuit configuration of the above controller type. Although the specific wait time varies depending on the input voltage and number of external regenerative resistors connected, as a general guide wait for at least 40 seconds before reconnecting the power. |
| E6E | Power Stage Rated (W) Mismatch Error | The power stage where ratings capacity (W) is improper is mounted. |
| E6F | Power Stage Rated (V) Mismatch Error | The power stage where voltage rating (V) is improper is mounted. |
| E70 | Motor Drive Power Rated (V) Mismatch Error | The motor drive power supply where voltage rating (V) is improper is mounted. |
| E71 | Functional Information Does Not Support Encoder Composing Information | The encoder outside the support range is mounted for the driver unit. |
| E72 | Functional Information Does Not Support Motor Composing Information | The motor outside the support range is mounted for the driver unit. |
| E73 | Encoder Resolution Error | In the parameter of the system according to the axis and the mounted encoder, the encoder resolution does not correspond to actual hardware. Check Specific Axis Parameter #42 to ensure correct setting. |
| E74 | Encoder Division Rate Error | In the parameter of the system according to the axis and the mounted encoder, the rate of the encoder dividing frequency does not correspond to actual hardware. Check Specific Axis Parameter #43 to ensure correct setting. |
| E75 | Encoder Linear/Rotary Type Adjustment Error | In the system parameters according to the axis and the mounted encoder, the encoder linear/rotary type does not correspond to actual hardware. Check Specific Axis Parameter #37 0: Rotary 1: Linear. Linear is for use only on Linear Servo Motor actuator |
| E76 | Encoder ABS/INC Type Mismatch Error | In the system parameters according to the axis and the mounted encoder, encoder ABS/INC type does not correspond to actual hardware. Check Specific Axis Parameter #38 0: INC 1: ABS, otherwise contact IAI for further information. |
| E77 | Magnetic Pole Sensor Attachment Designation Mismatch Error | In the system parameters according to the axis and the mounted encoder, Hall Effect sensor specification does not correspond to actual hardware. Check Specific Axis Parameter #39 0: Not Attached 1: Attached, otherwise contact IAI for further information. |
| E78 | Brake Attachment Designation Mismatch Error | In the system parameters the brake installation specification does not correspond to the actual hardware. Check Specific Axis Parameter #34 0: Brake Not Attached 1: Brake Attached. Also check that encoder cabling is correct. Also check that Encoder Parameter #14 is the same value as Driver Parameter #29; otherwise contact IAI for further information. |
| E79 | Response Failure During EEPROM Data Setting Slave Command Transmission | When setting slave command was transmitted, an invalid response was received. |
| E7A | MAX Reception Size Over Error During EEPROM Data Setting Slave Command Transmission | When setting slave command is transmitted, the reception size exceeds the limit value. |
| E7B | Motor Drive Power Electric Current Time-out Error | The motor drive power supply cannot be energized. |
| E7C | Registry Drive Test Error | The register lead write is invalid. |
| E7D | Straight Movement Axis Parameter Error | Please confirm parameter No.38, 68, and 1, etc. according to the axis. |
| E7E | Parameter Error | The parameter is invalid. |
| E7F | Stroke Parameter Error | Please confirm parameter No.7, 8, and 1, etc. according to the axis. |
| E80 | Non Support Card Error | The card not supported is installed in the I/O slot. |
| E81 | Standard I/O Slot Card Detection Error | The I/O Slot #1 card cannot be detected. Verify the card is mounted properly in the controller. |
| E82 | Card Mismatch Error | There is a problem in the combination or the position where the I/O slot card is installed. |
| E83 | I/O Slot Card Error | The I/O slot card is invalid. |
| E84 | Encoder Resolution Error | Please confirm parameter No.47 according to the axis, 50, 51, 44, 42, 43, 1, and 37, etc. |
| E85 | Undetermined Driver Ready OFF Factor Error | Driver Ready OFF factor is irregular. |
| E86 | Field Bus Error (FBVCCER) | Field bus Error (FBVCCER) was detected. |
| E87 | Field Bus Error (FBPOWER) | Field bus Error (FBPOWER) was detected. |
| E88 | Power Supply System Error | A power supply system error was detected. This is usually caused by cycling power too quickly. Power down for five seconds before powering on again. Also can be caused by improper power supplied to the controller. |
| E89 | SCIF Opening Error in Non-AUTO mode (The servo is being used.) | Serial channel one OPEN (PC software and port of the TP using combined) from the SEL program is prohibited excluding the AUTO mode while using the servo. (For safety.) |
| E8A | SEL Program Flash ROM Status Error | Data is not normally written in flash ROM or it is data written in an old version without interchangeability. Using cartesian firmware on SCARA or vise versa. Upload correct core and application firmware. |
| E8B | Symbol Definition Table Flash ROM Status Error | Data is not normally written in flash ROM or it is data written in an old version without interchangeability. |
| E8C | Point Data Flash ROM Status Error | Data is not normally written in flash ROM or it is data written in an old version without interchangeability. |
| E8D | Parameter Flash ROM Status Error | Data is not normally written in flash ROM or it is data written in an old version without interchangeability. |
| FF0~F00 | Shutdown Error (For the hi_sysdwn() definition.) | |
| F03~F58 | Shutdown Error (OS call Error) | The shutdown Error (OS call Error) was detected. |
| F60 | System Down Level Error Call Procedure Error | The system down level error call procedure mistake was detected. |
| F61 | Interpreter Task End Task ID Error | Interpreter task end task ID Error was detected. |
| F62 | Power Reserve Detection Failure | A preliminary invalid system power supply was detected. |
| F63 | Regenerative Resistance Temperature Error | The regenerative resistance temperature Error was detected. |
| F64 | AC Power Over Voltage Error | The AC power supply overvoltage Error was detected. |
| F65 | Motor Power Over Voltage Error | The motor power supply overvoltage Error was detected. |
| F66 | Servo Control Under Run Error | Communication error between main CPU and the Driver. Cause: 1) Noise between main CPU and driver PCB; 2) Failure on the main CPU or driver PCB. 3) Internal PCB disconnection (such as on TT when changing boards). Remedy: Cycle power to attempt to clear F66. Confirm use of the screws near the connector (on TT). If persistent, then likely failure on CPU/driver PCB. Contact IAI Tech Support. |
| F67 | FROM Write Pass Range Error | The writing operation other than 32 bit long word access were detected at the time of writing in flash ROM. |
| F68 | FROM Write Protect Error | The writing operation to flash ROM area where writing was protected was detected. |
| F69 | Boot Watch Dog Error | The boot watchdog detection of FPGA was generated. There is a possibility that the core part program does not operate normally. |
| F6A~FA0 | Undefined Exception and Interruption Error | The exception and the interrupt not defined were generated. |
| FB0 | TMU0 Interruption Error | The TMU0 interruption Error was detected. This is an error due to a problem with the CPU (central processing unit) board. This board may need to be replaced. |
| FB1 | Application Program Part Code SDRAM Copy Error (sum check) | After copying the FROM->SDRAM program, four byte check sum of the equivalent section is not corresponding. |
| FB2 | No Installation Flash ROM Adjustment(application program part) | Flash ROM type assumed with software does not adjust to mounting wear flash ROM type. Please confirm the combination of software and hardware. |
| B7C | Target tracks error in "C"ircular "P"ath operation limitation. | The location you are trying to reach is out of operation limitation. |
| B7D | Target tracks error which cannot physically achieved. | The actuator is trying to travel to a point outside its physical ability. |
| EC6 | Sum check Error. | Problem in the serial communication interface. Check baud rate. |
| ACF | Check Power Supply | Check power supplied to controller. If the last digit of the controller's model number is '-1', the power specification is 100V. If the last digit is '-2', the power specification is 200V. |
| A5A | Number to Character string change failure warning. | Number to Character string change failure warning. |
| B80 | Specified prohibition axis error | Error occurred when try to execute a prohibited motion/command. Ex) HOME on an IX SCARA through Serial Communication. |
| B82 | Multiple axis specification error when jog operates. | Multiple axes declared when trying to perform a JOG function. |
| ED0 | Service Port Number Error | Please contact him for further details. |
| E4 | Low Battery Error | The voltage to the battery has dropped below a certain value which then causes this error to be displayed. |
| dSF | 1) Nothing connected to TP in MANU mode. 2) Use of non-IAI RS232 cable. 3) Deadman switch on Teach Pendant (special option type) not made | 1) Connect the teach pendant or PC cable to the TP port while in MANU mode. 2) Use IAI RS232 cable with e-stop only. 3) Squeeze the deadman switch slightly so that the contact is made (it is designed this way). If using a USB cable, also connect the dummy plug (DP-1) into the serial teaching port. i.e. use communication cable part number CB-STE1MW-050 with the XSEL-J controller. |
| 208 | Time Data Error | The time data is invalid. Check the data. |
| 200 | Encoder parameter data version mismatch warning | The version of encoder parameter data is not supported by this controller. Update the encoder parameters. |
| 203 | Drive-source cutoff relay DET (MELT) error | The drive-source cutoff relay may have fused. |
| 205 | Update system software version error (IAI protocol) | An update was tried to an old version of system software that has no compatibility. Check such information as the compatibility of the system software and the hardware, and try the steps for updating again from the start. |
| 206 | Updating system mode error (IAI Protocol) | An update command was received other than in the update mode. |
| 207 | Update file name error (IAI protocol) | The name of the update program file selected in the update mode is invalid. Select the correct file and repeat the updating procedure from the beginning. |
| 208 | Time data error | [Detail & Cause] An error is occurred on clock data to be indicated in such as communication. [Countermeasure] Check the communication message and so on. |
| 209 | Unsupported control constant table ID error | The control constant table ID is not supported. Check the data. |
| 20A | Control constant table change/query error | The message of the control constant table change/query command contains an error. Check the message that has been sent. |
| 20B | Control constant table write data type specification error | The specified control constant table write data type is invalid. Check the message that has been sent. |
| 20C | Control constant table management information mismatch | The management information regarding the control constant table is invalid. Confirm that the control constant table is supported by the controller. |
| 20D | Flash busy reset timeout error | Error erasing/writing the flash ROM |
| 20E | Motorola S-byte count error | The update program file is invalid. Check the file. |
| 20F | Updating target specification error (Received by the | The system application received an updating target specification command. To update the program, restart the controller and repeat the updating procedure from the beginning. |
| 211 | IA Net link error | IA Net link error was detected. Check if the stations indicated in I/O parameters No. 605 and 606 are connected to IA Net properly, or if the station numbers are duplicated in the IA Net network. |
| 212 | IA Net break station detection error | A station that cannot be joined in the IA Net communication cycle was detected. Check if there is a controller or unit with the station number greater than what is set in I/O parameter No. 604 “IA Net Final Station Number” |
| 213 | IA Net mail undefined error code receive error | Undefined IA Net mail error code was received. There is a concern that there is a function that is available in other controllers and units in the IA Net network, but is not available on this controller. Update the application in the main CPU board. |
| 214 | IA Net stop detection error | IA Net stop detection error was detected. Check if there is an IA Net related error being occurred. |
| 228 | Calendar clock lost error (RTC oscillation stop detection) | [Detail & Cause] Clock data is lost due to power voltage drop in calendar IC. [Countermeasure] Establish the clock setting again. |
| 229 | RTC device access error | [Detail & Cause] It is a data access error to the RTC device. [Countermeasure] In case the same error occurs even after power reboot, there is a concern of noise disturbance or component malfunction. |
| 22A | RTC device access error | [Detail & Cause] It is a clock data error off the calendar function. It also occurs when the power voltage in calendar IC is dropped. [Countermeasure] Establish the clock setting again. In case the same error occurs even after clock setting is established, there is a concern of noise disturbance or component malfunction. |
| 22D | Error in number of maintenance information change | [Detail & Cause] There is an error in the number of maintenance information change to be indicated in such as communication. [Countermeasure] Check the communication message and so on. |
| 22E | Maintenance information type error | [Detail & Cause] There is an error in the maintenance information type to be indicated in such as communication. [Countermeasure] Check the communication message and so on. |
| 22F | Maintenance information number error | [Detail & Cause] There is an error in the maintenance information number to be indicated in such as communication. [Countermeasure] Check the communication message and so on. |
| 231 | Movements threshold exceeded | [Detail & Cause] The total times of axis operation has exceeded the times set in Each Axis Parameter No. 221 “Threshold for total number of movements”. [Countermeasure] Have maintenance conducted on each axis. |
| 232 | Traveled distance threshold exceeded | [Detail & Cause] The total distance of axis operation has exceeded the distance set in Each Axis Parameter No. 222 “Threshold for total travelled distance”. [Countermeasure] Have maintenance conducted on each axis. |
| 233 | Fan error | [Detail & Cause] Drop or stop in fan revolution has been detected. [Countermeasure] Contact IAI as there is a risk of generating heat due to the stop of the fan on the controller. |
| 235 | Fan revolution drop alarm | [Detail & Cause] Drop in fan revolution has been detected. [Countermeasure] Contact IAI as there is a risk of generating heat due to the stop of the fan on the controller. |
| 236 | Position data record format class error | There is an error in the position data record format class. |
| 237 | Password error | There is a failure in the password error. |
| 400 | Mounted-SIO unopen error (S) | An attempt was made to use a channel that is not open. |
| 401 | Mounted-SIO in-use error | An attempt was made to open a channel that has already been opened by other task. |
| 402 | Mounted-SIO unopen error (M) | An attempt was made to use a channel not opened by the applicable task. |
| 403 | Mounted-SIO duplicate WRIT execution error | WRIT commands were executed simultaneously by multiple tasks for the same channel. |
| 404 | Mounted-SIO unused channel selection error | An attempt was made to use a channel specified as 'not used' by a parameter. Check I/O parameter Nos. 201, 213, etc. |
| 406 | Flash busy reset timeout | Error erasing/writing the flash ROM |
| 407 | Control constant table management information mismatch | The management information regarding the control constant table is invalid. If this error occurs when the controller is started, the control constant table may need to be updated. |
| 408 | Control constant table ID error | The control constant table ID is invalid. |
| 409 | Encoder control constant error (power-source voltage | An encoder control constant relating to power-source voltage control is invalid. The encoder power-source voltage cannot be adjusted (the encoder power will be supplied without voltage adjustment). |
| 40A | Encoder power-source voltage calculation error | The encoder power-source voltage cannot be adjusted (the encoder power will be supplied without voltage adjustment). Check the 'motor/encoder configuration information' in driver parameter No. 26 and encoder parameter No. 11. |
| 40B | Speed control parameter calculation error | Check driver parameter Nos. 38, 39, 40, 43, 44, 45, etc. |
| 40D | Vision System Response Timeout Error | Communication response from the vision system cannot be confirmed. Check in the settings in I/O Parameter No. 129 Bit 4 to 7 and No. 160 to 164, if data transportation is working for the capturing command in the vision system and so on. * This is an error generated only on MSEL-PC/PG |
| 41B | ABS unit encoder error (1) | Causes: [1] The power was reconnected after completion of an absolute reset. [2] An absolute reset was performed. Axis movement was detected due to an external factor, etc., while the controller was communicating with the simple absolute unit. The actuator may have moved due to the reactive force of the self-standing cable or other external force, or vibration may have generated at the installation location. Actions: [1] Turn off the power and then reconnect the power in a condition where the actuator is not receiving vibration. (Info. 1 in the error list is “1”). [2] Perform an absolute reset in a condition where the actuator is not receiving vibration. (Info. 1 in the error list is “2”) |
| 41C | ABS unit encoder error (2) | Causes: [1] The power was turned on for the first time after connecting the battery. [2] The battery voltage dropped to a level at which the encoder counter in the simple absolute unit could no longer be retained. A home return parameter was changed. (Info. 1 in the error list is “1”). [3] The encoder connector was removed during a power outage or the encoder cable became open. (Info. 1 in the error list is “2”). [4] The battery voltage dropped to 3.1 V. (Info. 1 in the error list is “4”). [5] The battery is not connected. (Info. 1 in the error list is “5”). Actions: Perform an absolute reset according to the absolute reset procedure. If the low battery voltage in [2] is suspected or [4] is the case, supply the power for at least 48 hours to sufficiently charge the battery before performing an absolute reset. * It takes 72 hours for the fully discharged battery to be charged fully. |
| 41D | ABS unit encoder error (3) | Causes: Axis movement at a speed equal to or exceeding the speed set for the simple absolute unit, caused by an external force, etc., was detected while the power was cut off. Actions: Change the applicable setting of the simple absolute unit or implement a measure to prevent the axis from moving at a speed equal to or exceeding the set speed while the power is cut off. If there is still ample time before the data retention time of the battery is up, increase the rotation speed setting. After this error occurred, perform an absolute reset according to the absolute reset procedure. |
| 603 | Drive-source cutoff relay DET (MELT) error | The drive-source cutoff relay may have fused. |
| 604 | Power-supply board CPU ready OFF error | A ready status of the power-supply board cannot be confirmed. |
| 605 | Forced discharge error | Abnormal forced discharge. The drive-source cutoff relay may be abnormal. The power must be reconnected. |
| 606 | Regenerative discharge error | Abnormal regenerative discharge. The power must be reconnected. |
| 607 | Motor power-source voltage low error | Low voltage was detected in the motor power circuit. |
| 608 | Power-supply board FRCDCSTR-ON timeout error | Power-supply board FRCDCSTR-ON could not be confirmed within the specified time. |
| 609 | Power-supply board RBONSTR-ON timeout error | Power-supply board RBONSTR-ON could not be confirmed within the specified time. |
| 60A | Power-supply board RBONSTR-OFF timeout error | Power-supply board RBONSTR-OFF could not be confirmed within the specified time. |
| 60B | Power-supply board FRCDCSTR-OFF timeout error | Power-supply board FRCDCSTR-OFF could not be confirmed within the specified time. |
| 60C | Power-system overheat error | An overheated power-supply board, regenerative resistor, etc., was detected. The power must be reconnected. |
| 60D | Slave board CPU ready OFF error (other than power supply) | A ready status of the driver board, etc. (other than power-supply board) cannot be confirmed. |
| 60E | Dynamic brake ON/OFF timeout error | Dynamic brake ON/OFF cannot be confirmed within the specified time. |
| 60F | Power-supply board synchronous send timing error 1 | A communication failure occurred between the power-supply board and FPGA (main). |
| 610 | Power-supply board synchronous send timing error 2 (CPCLKER) | A communication failure occurred between the power-supply board and FPGA (main). |
| 611 | Power-supply board synchronous communication LRC error | A communication failure occurred between the power-supply board and FPGA (main). |
| 612 | Power-supply board synchronous communication timeout error | A communication failure occurred between the power-supply board and FPGA (main). |
| 613 | Driver synchronous communication driver read error | A communication failure occurred between the driver board and FPGA (main). |
| 614 | Driver synchronous communication LRC error | A communication failure occurred between the driver board and FPGA (main). |
| 615 | Driver synchronous communication toggle error | A communication failure occurred between the driver board and FPGA (main). |
| 61A | Mounted-SIO watchdog timer error | The mounted-SIO CPU system is abnormal. |
| 61B | Mounted-SIO parameter data error | There is an invalid mounted-SIO parameter. Check I/O parameter Nos. 201 to 224. |
| 61C | Mounted-SIO parameter transfer format error | The mounted-SIO parameter transfer format is invalid. |
| 61D | Mounted-SIO other slave error | An error occurred in the mounted-SIO CPU. Record or save the detailed information of the error list. |
| 61E | Mounted-SIO F-send/receive queue overflow error (M) | An overflow was detected in the FIFO (FPGA) for main CPU-mounted-SIO communication. |
| 61F | Mounted-SIO control command PUT disable error | FIFO (FPGA)-FULL was detected at mounted-SIO control command PUT. |
| 620 | Mounted-SIO control command completion timeout error | Completion of the mounted-SIO control command cannot be confirmed after the specified time. |
| 621 | Mounted-SIO logic error | A logic error in mounted-SIO control. |
| 622 | Mounted-SIO undefined control command receive error | An undefined control command was received from the mounted-SIO. |
| 623 | Driver error detail code acquisition error | A driver error occurred, but an error detail code could not be acquired. |
| 624 | Undefined driver error | A driver error occurred. |
| 625 | Driver-side detection synchronous communication error | A communication failure occurred between the driver board and FPGA (main). |
| 626 | Driver IPM15V voltage low error | A low voltage was detected in the driver IPM15V circuit. |
| 627 | Driver current detection A/D offset over error | A driver current detection A/D offset error was detected. |
| 628 | Driver error | (Driver error for future expansion) |
| 629 | Driver Error | (Driver error for future expansion) |
| 62A | Driver error | (Driver error for future expansion) |
| 62B | Driver error | (Driver error for future expansion) |
| 62C | Driver error | (Driver error for future expansion) |
| 62D | Driver error | (Driver error for future expansion) |
| 62E | Driver error | (Driver error for future expansion) |
| 62F | Driver error | (Driver error for future expansion) |
| 630 | Updating system code error (Application detection) | The updating system code is invalid. |
| 631 | Updating unit code error (Application detection) | The updating unit code is invalid. |
| 632 | Updating device number error (Application detection) | The updating device number is invalid. |
| 633 | Feedback pulse synchronization error (Detected in the | Abnormal feedback pulse synchronization (detected in the speed loop). |
| 634 | Feedback pulse synchronization error (Detected in the | Abnormal feedback pulse synchronization (detected in the position loop). |
| 635 | Deadman/enable switch requiring reset recovery open | Reset the deadman/enable switch, and then reconnect the power. |
| 636 | Serial encoder command busy error | The system was busy when the serial encoder command was issued. |
| 637 | Serial encoder command timeout error | Completion of the serial encoder command cannot be confirmed after the specified time. |
| 638 | Speed control parameter setting command busy error | The system was busy when the speed control parameter setting command was issued. |
| 639 | Speed control parameter setting command timeout error | Completion of the speed control parameter setting command cannot be confirmed after the specified time. |
| 63A | ABZ encoder logic error | An encoder phase-A/B electrical level pattern error was detected. The power must be reconnected. |
| 63B | Encoder/motor control constant table flash ROM status | Data is not written correctly to the flash ROM, or the data is of an old, incompatible version. |
| 63C | Encoder/motor control constant table checksum error | The flash ROM data is corrupted. |
| 63D | ABZ encoder specification error | An ABZ encoder cannot be installed for this axis. Check the 'motor/encoder configuration information' in driver parameter No. 26 and encoder parameter No. 11. |
| 63E | ABZ encoder magnetic-pole sensor signal logic error | Check if the encoder cable is connected. |
| 63F | Encoder control constant error | The encoder control constant is invalid. |
| 640 | Motor control constant error | The motor control constant is invalid. |
| 641 | Encoder power-source voltage control parameter error | Check driver parameter Nos. 32, 33, etc. |
| 642 | Speed loop parameter error | Check driver parameter Nos. 43, 44, 45, etc. |
| 643 | Encoder resolution division error | Check 'Axis-specific parameter No. 43: Encoder division ratio.' |
| 644 | Encoder/motor combination mismatch error (encoder resolution) | Check driver parameter No. 26, encoder parameter No. 11. |
| 645 | DAC transfer completion check timeout error when encoder power | A timeout occurred during DAC transfer when the encoder power was supplied. |
| 646 | Encoder EEPROM read busy error | The encoder is faulty or an encoder communication failure occurred. |
| 647 | Encoder EEPROM write address mismatch error | The encoder is faulty or an encoder communication failure occurred. |
| 648 | Encoder EEPROM read address mismatch error | The encoder is faulty or an encoder communication failure occurred. |
| 649 | Undefined serial encoder installation error | Installation of serial encoder is not defined. Check the 'motor/encoder configuration information' in driver parameter No. 26 and encoder parameter No. 11. |
| 64A | Undefined serial encoder command error | The serial encoder command is not defined. |
| 64B | Serial encoder command packet error | The serial encoder command packet is invalid. |
| 64C | 1-revolution data reset error at servo ON (serial encoder command) | A 1-revolution data reset was commanded when the servo was ON. Turn OFF the servo. |
| 64D | Encoder reset command timeout error (serial encoder command) | An encoder communication failure. |
| 64E | ABS data query command timeout error (serial encoder command) | An encoder communication failure. |
| 64F | Encoder error reset error at servo ON (serial encoder command) | Turn OFF the servo before resetting an encoder error. |
| 650 | Encoder receive timeout error (during initialization communication) | An encoder communication failure. |
| 651 | Speed control interruption control job error | The speed control interruption error job is invalid. |
| 652 | Serial encoder command control job error | The serial encoder command control job is invalid. |
| 653 | Encoder control job logic error | The encoder control job logic is invalid. |
| 655 | Encoder receive timeout error at serial encoder command issuance | An encoder communication failure. |
| 656 | Torque limit logic error | The torque limit logic is invalid. |
| 657 | Torque limit parameter error | Check driver parameter Nos. 38, 39, 40, etc. |
| 658 | Movement error during ABZ encoder counter initialization | Axis movement was detected while initializing the ABZ encoder counter following power on. The power may have been turned on or a software reset executed while the actuator was moving due to external force such as reactive force of a self-supported cable or while the installation location was vibrating. |
| 65A | Unsupported encoder ID error | The encoder is not supported. No encoder control constant record is available that corresponds to the encoder ID. Check the installed encoder. |
| 65B | Unsupported encoder error (main information) | The encoder is not supported. No encoder control constant record is available that corresponds to the encoder ID, or the record is invalid. Check the 'motor/encoder configuration information' in driver parameter No. 26 and encoder parameter No. 11. |
| 65C | Unsupported motor error (main information) | The motor is not supported. No motor control constant record is available that corresponds to the motor ID, or the record is invalid. Check the 'motor/encoder configuration information' in driver parameter No. 26 and encoder parameter No. 11. |
| 65D | Unsupported motor error (driver information) | The motor is not supported. The motor ID bit number is outside the range of maximum supported motor ID number when the driver parameter, Use motor control data in driver flash ROM is specified. Check the motor/encoder configuration information in driver parameter No. 26 and encoder parameter No. 11. |
| 65E | Current detection circuit type mismatch error | The motor control constant, "Current detection circuit specification" does not match the driver parameter, Installation type word 1, current detection circuit type. Check the motor/encoder configuration information in driver parameter No. 26 and encoder parameter No. 11. |
| 65F | Main/driver motor control data mismatch error | A motor control constant does not match the corresponding driver parameter (rated speed, maximum speed, rated current, maximum current number of pole pairs, linear motor lead, linear motor specification). Check the motor/encoder configuration information in driver parameter No. 26 and encoder parameter No. 11. |
| 660 | Maximum motor speed mismatch error | The axis-specific parameter, "Maximum motor speed" does not match the motor control constant, "Maximum speed." Check the "motor/encoder configuration information" in driver parameter No. 26 and encoder parameter No. 11. |
| 661 | Encoder/motor combination mismatch error (linear/rotary | The linear/rotary type does not match between the encoder and motor. Check the 'motor/encoder configuration information' in driver parameter No. 26 and encoder parameter No. 11. |
| 662 | Mechanical angle 360-degree pulse count calculation error | The calculated pulse count based on 360 mechanical angle degrees is invalid. (The calculated value is "0", or in the case of a linear encoder, the calculated value has fraction.) |
| 663 | Software DB specification error | The value in the driver parameter, 'Software DB specification' is invalid. |
| 664 | Current control band number specification error | The value in the driver parameter, 'Current control band number' is invalid. |
| 665 | Driver/encoder communication line channel number | All-axis parameter No. 101 or 102, "Driver/encoder communication line channel setting" is invalid (invalid value, duplicate specifications). |
| 666 | Driver initialization communication type specification error | All-axis parameter No. 103 or 104, 'Driver initialization communication type setting' is invalid (invalid value, duplicate specifications, mismatch). |
| 667 | Invalid driver initialization communication line specification error at | Initialization communication line channel number is not specified for a valid axis. Check all-axis parameter No. 1, "Valid axis pattern," Nos. 101 and 102, "Driver/encoder communication line channel setting" and Nos. 103 and 104, "Driver initialization communication type setting." |
| 668 | Driver target information initialization error | The initialization sequence of driver target information did not complete successfully. Check the installed driver board. Check all-axis parameter Nos. 101, 102, 103 and 104, or driver parameter No. 26, encoder parameter No. 11. |
| 669 | Encoder target information initialization error | The initialization sequence of encoder target information did not complete successfully. Check the installed encoder. Check all-axis parameter Nos. 101, 102, 103 and 104, or driver parameter No. 26, encoder parameter No. 11. |
| 66A | Power-system target information initialization error | The initialization sequence of power-system target information did not complete successfully. Check the installed power-supply board. Check the power-supply board parameters. |
| 66B | Slave communication error response error | An error response was received during slave communication. |
| 66C | SCI LRC error (slave communication) | The message LRC of slave communication is invalid. |
| 66D | Slave communication target ID error | The target ID of slave communication is invalid. |
| 66E | Slave communication block number error | The block number of slave communication is invalid. |
| 66F | Target specification error due to no axis number | The specified target of slave communication (driver or encoder) is invalid (no axis number is assigned for the target ID, or an internal driver board axis is specified). |
| 670 | Target board type error | The target board type is invalid. |
| 671 | Encoder control data error | The encoder control data is invalid or cannot be acquired. Take the same actions specified for error Nos. 65A, 65B and 669. |
| 672 | Motor control data error | The motor control data is invalid or cannot be acquired. Take the same actions as specified for error Nos. 65C, 65D, 668 and 669. |
| 81A | Mounted-SIO overrun status (SEL reception) | Communication failure. Check for noise, connected equipment and communication setting. |
| 81B | Mounted-SIO parity ER status (SEL reception) | Communication failure. Check for noise, shorted/disconnected communication cable, connected equipment and communication setting. |
| 81C | Mounted-SIO framing ER status (SEL reception) | Communication failure. Check for noise, shorted/disconnected communication cable, connected equipment and communication setting. |
| 81D | Mounted-SIO S-receive queue overflow status (SEL reception) | The receive queue in the mounted-SIO CPU overflowed. Excessive data was received from outside. |
| 81E | Mounted-SIO M-receive temporary queue overflow status | The temporary receive queue in the main CPU overflowed. Excessive data was received from outside. |
| 81F | Mounted-SIO M-receive buffer overflow status (SEL | The receive buffer overflowed. Excessive data was received from outside. |
| 820 | DRV status 820 (TO_SELECTEDDATA) | (This is not an error, but maintenance information.) |
| D67 | Motor/encoder configuration information mismatch error | Check that the actuators are plugged into the correct axis connections. Larger wattage is usually lower Axis #. The 'motor/encoder configuration information' (motor ID# & encoder ID#) in driver parameter No. 25 do not match the 'motor/encoder configuration information' (motor ID# & encoder ID#) in encoder parameter No. 11. Check the parameter values, encoder cable connection, etc. |
| FB8 | Undefined NMI error | An undefined NMI interruption occurred. |
| A70 | SCIF overrun error | Communication error. Check for noise, connected equipment and communication setting. (When updating the application, connect to a PC and use IAI's update tool.) |
| A71 | SCIF framing error | Communication error. Check for noise, shorted/disconnected communication cable, connected equipment and communication setting. (When updating the application, connect to a PC and use IAI's update tool.) |
| A72 | SCIF parity error | Communication error. Check for noise, shorted/disconnected communication cable, connected equipment and communication setting. (When updating the application, connect to a PC and use IAI's update tool.) |
| A73 | IAI protocol header error | Communication protocol error. Check for noise and connected equipment. (When updating the application, connect to a PC and use IAI's update tool.) |
| A74 | IAI protocol terminal ID error | Communication protocol error. Check for noise and connected equipment. (When updating the application, connect to a PC and use IAI's update tool.) |
| A75 | IAI protocol command ID error | Communication protocol error. Check for noise and connected equipment. (When updating the application, connect to a PC and use IAI's update tool.) |
| A76 | IAI protocol checksum error | Communication protocol error. Check for noise and connected equipment. (When updating the application, connect to a PC and use IAI's update tool.) |
| A77 | Motorola S record type error | The update program file is invalid. Check the file. |
| A78 | Motorola S checksum error | The update program file is invalid. Check the file. |
| A79 | Motorola S load address error | The update program file is invalid. Check the file. |
| A7A | Motorola S write address over error | The update program file is invalid. Check the file. |
| A7B | Flash timing limit over error (Write) | Error writing the flash ROM (When updating) |
| A7C | Flash timing limit over error (Erase) | Error erasing the flash ROM (When updating) |
| A7D | Flash verify error | Error erasing/writing the flash ROM (When updating) |
| A7E | Flash ACK timeout | Error erasing/writing the flash ROM (When updating) |
| A7F | Head sector number specification error | Error erasing the flash ROM (When updating) |
| A80 | Sector count specification error | Error erasing the flash ROM (When updating) |
| A81 | Write-destination offset address error (Odd-numbered | The address written during flash ROM write (when updating) is invalid. Check the update program file. |
| A82 | Write-source data buffer address error (Odd-numbered | Error writing the flash ROM (When updating) |
| A83 | Invalid code sector block ID error | The flash ROM is new, or the program currently written to the flash ROM is invalid because the last update was aborted. The ROM can be updated without problem. |
| A84 | Code sector block ID erase count over | The number of times the flash ROM was erased exceeded the allowable count. |
| A85 | FROM write request error before erase is complete | When updating, a flash-ROM write command was received before a flash-ROM erase command. Confirm that the update program file is valid and then perform update again. |
| A86 | Absolute-encoder backup battery voltage-low warning (Driver | The voltage of the absolute-data backup battery is low. Check the battery connection or replace the battery. |
| A87 | Motorola S-byte count error (Core detection) | The update program file is invalid. Check the file. |
| A88 | Message conversion error (Core detection) | The received message does not conform to the message format or contains invalid data. Check the message sent from the host communication device. |
| A89 | Updating target non-specification error (Core detection) | During update, an update command was received before the updating target was specified properly. Check if an appropriate updating PC tool is used and the target specification and other settings in the updating PC tool are correct. |
| A8A | Updating system code error (Core detection) | The system code in the message received with the updating target specification command does not match the controller system. Check the target specification and other settings in the updating PC tool. |
| A8B | Updating unit code error (Core detection) | The unit code in the message received with the updating target specification command does not match any updatable unit in the controller. Check the target specification and other settings in the updating PC tool. |
| A8C | Updating device number error (Core detection) | The specified device number in the message received with the updating target specification command is not appropriate. Check the target specification and other settings in the updating PC tool. |
| A8D | Flash busy reset timeout (Core detection) | Error erasing/writing the flash ROM |
| CD0 | Drive error (Driver detection) | Error notification from the driver |
| CD1 | Encoder error (Driver detection) | Error notification from the driver |
| CD2 | Driver CPU error (Driver detection) | Error notification from the driver |
| CD3 | Servo control error (Driver detection) | Error notification from the driver |
| CD4 | Command error (Driver detection) | Error notification from the driver |
| CD5 | Motor temperature error (Driver detection) | Error notification from the driver |
| E90 | Core code flash-ROM status error | The core program is invalid. Contact the manufacturer. |
| E91 | Application code flash-ROM status error | The application program is invalid. Contact the manufacturer. |
| E92 | Core code sum error | The core program is invalid. Contact the manufacturer. |
| E93 | Application code sum error | The application program is invalid. Contact the manufacturer. |
| E94 | Timing limit over error (Flash erase) | Error erasing the flash ROM |
| E95 | Flash verify error (Flash erase) | Error erasing the flash ROM |
| E96 | Flash ACK timeout (Flash erase) | Error erasing the flash ROM |
| E97 | Head sector number specification error (Flash erase) | Error erasing the flash ROM |
| E98 | Sector count specification error (Flash erase) | Error erasing the flash ROM |
| E99 | Timing limit over error (Flash write) | Error writing the flash ROM |
| E9A | Flash verify error (Flash write) | Error writing the flash ROM |
| E9B | Flash ACK timeout (Flash write) | Error writing the flash ROM |
| E9C | Write-destination offset address error (Flash write) | Error writing the flash ROM |
| E9D | Write-source data buffer address error (Flash write) | Error writing the flash ROM |
| E9E | Watchdog reset occurrence error | A WDT (watchdog timer) was manually reset (error detection). |
| E9F | Exception occurrence error while BL = 1 (NMI) | An exception occurred while the block bit in the CPU status register was '1'. (NMI) |
| EA0 | Exception occurrence error while BL = 1 (Other than NMI) | An exception occurred while the block bit in the CPU status register was '1'. (Other than NMI) |
| EA1 | Bit exception reset due to command/data TLB duplication | This reset occurs when there are multiple TLB entries corresponding to the virtual address. |
| EA2 | Undefined exception/interruption error | An undefined exception/interruption occurred. |
| EA3 | AC-power cutoff detection error | An AC-power cutoff was detected. |
| EA4 | Abnormal standby power detection error | Abnormal standby power was detected. |
| EA5 | Regenerative resistance temperature error | A regenerative resistance temperature error was detected. Reduce acceleration, velocity or payload or increase delay times. Insufficient regen units connected, please add more units (refer to charts in catalog or manual). |
| EA6 | AC-power overvoltage error | An AC-power overvoltage error was detected. |
| EA7 | Motor-power overvoltage error | A motor-power overvoltage error was detected. |
| EA8 | FROM-write bus width error | A write operation other than 32-bit long word access was detected while writing the flash ROM. |
| EA9 | FROM write protect error | Write operation to a write-protected flash ROM area (FRMWE bit in DEVCTR = 1) was detected. |
| EAA | SDRAM write/read test error | The SDRAM is faulty. Contact the manufacturer. |
| EAB | Application-update SCIF send-queue overflow error | An overflow occurred in the send queue. |
| EAC | Servo control underrun error | A servo control underrun error was detected. |
| EAD | Boot error | A FPGA boot watchdog was detected. The core program may not be running properly. |
| EAE | Application-update SCIF receive-queue overflow error | Excessive data is received from outside. (Confirm that a PC and IAI's update tool are used to update the application.) |
| EAF | Installed flash ROM type mismatch (Core) | The flash ROM type anticipated in the software does not match the flash ROM type actually installed. Check the combination of software and hardware. |
| EB0 | Undefined NMI error (Core) | An undefined NMI interruption occurred. |
| 210 | Program-related data change/run command rejection error in | Change of program-related data or running of programs is prohibited in the positioner mode. |
| 680 | Magnetic-pole detection parameter error | Invalid parameter used for magnetic-pole detection. Check driver parameter Nos. 49, 50, etc. |
| 682 | I/O function specification error | Wrong I/O function specification. Check I/O parameter Nos. 30 through 61 and 251 through 282. |
| 683 | Axis operation error in system semi-locked (encoder stopped) | An attempt was made to operate an axis by turning on the servo, executing an absolute reset, etc., when the system was in semi-locked status (encoder was stopped). |
| 690 | Motor overcurrent error | Excessive current flew through the motor. |
| 913 | Multiple-program simultaneous start inhibition error | Simultaneously starting of multiple programs is inhibited. |
| 914 | Absolute-data backup battery voltage error | Check the connection of the absolute-data backup battery and replace the battery if necessary, and also check the connection of the encoder cable, and then perform an absolute reset. |
| dCF | DC power cutoff | For 24VDC systems (PSEL/ASEL): Momentary power failure has occurred or the voltage has dropped. |
| B91 | Main overspeed requirement error | An excessive speed is required. This error may also occur when passing near the singular point (where arms 1 and 2 form a straight line) during CP operation. Program CP operation by avoiding movements near the singular point. This error may be prevented by lowering the specified speed. |
| 684 | Expansion Data Access Error | Old SEL PC software used with new controller. Sept 2007 SSEL controller memory expanded, needs to use PC Interface Software v7.06 or greater. Contact IAI Tech Support for further assistance. |
| EC9 (PC) | Receive Overrun | Close IAI SEL software and re-open to establish communication. May need to cycle power to the controller and/or computer. |
| EC7 | Receive Buffer Overflow. (PC) | The receive buffer (PC) overflowed. Perform 'Reconnection.' |
| EC8 | Receive Buffer Overflow Error (PC) (OS) | The receive buffer overflowed. Perform 'Reconnection.' |
| ECA | Framing Error (PC) | Framing error occurred. Perform 'Reconnection.' |
| ECC | Unsupported controller connection error | The connected controller is not supported. Contact IAI to determine software rev and controller combination. May need update. |
| ECD | Ethernet Receive Timeout Error (PC) | Communication error. Check the HUB, cable connection, short, noise, etc. |
| ECE | Disconnection Error (PC) | Communication error. Check the HUB, cable connection, short, noise, etc. |
| ECF | Socket Error (PC) | Communication error. The cable may be removed or disconnected. |
| ED1 | Cannot connect so many sockets (PC) | This error occurs when 64 or more controllers are connected. |
