IAI R-unit RSEL, Instruction Manual, Page: 664 / 844

Chapter
11 T
roubleshooting
11.3 Error List
11-25
ME0392-4C
Error
No.
Error name Content and Cause / Countermeasure
O
per
at
io
n-
can
cel
lat
ion
400
Encoder error
[Content & Cause]
1) Contact error at connector of actuator connection cable
2) Cable breakage on actuator connection cable
3) The brake is not released.
• Malfunction of brake
• Contact error in brake wiring
4) Detection operation is disturbed by an external force applied to an
actuator
5) Sliding resistance on the actuator is to high.
6) Encoder failure.
7) Noise applied on actuator connection cable
[Countermeasure]
1), 2) Replace the actuator connection cable
3) Replace the motor unit (or replace brake), check condition of brake
cable wiring, and then brake operation check manually
4) Revise condition of assembly
5) If there is no problem with the payload, cut off the power and check
sliding resistance by hand
6) Replace encoder (or replace motor unit)
7) Take a countermeasure to noise on actuator connection cable (such as
installing ferrite core)
401
Driver unit absolute
encoder error detection 1
[Content & Cause]
1) Change to the current position made during absolute data read-in or
saving
[Countermeasure]
1) Make sure vibration would not get applied to actuator
402
Driver unit absolute
encoder error detection 2
[Content & Cause]
1) Absolute reset is not conducted
2) Absolute Battery Voltage Drop
3) Contact error on connector part of actuator connection cable
4) Cable breakage on actuator connection cable
5) Change made to parameter in driver unit
[Countermeasure]
1), 5) Conduct absolute reset
2) Charging Absolute Battery
3) Check actuator connection cable connection status and connect again
4) Replace the actuator connection cable
403
Driver unit absolute
encoder error detection 3
[Content & Cause]
1) Current position changed with speed more than the rotation speed
setting due to external cause during the power cutoff
[Countermeasure]
1) Change the rotation speed setting to higher
404
Fan error
[Content & Cause]
1) Fan failure
[Countermeasure]
1) Replace the fan unit
405
Maintenance information
error
[Content & Cause]
1) Maintenance information data corrupted due to noise
[Countermeasure]
1) -1 Initialize the maintenance information
1) -2 Take a countermeasure to noise on the controller (if frequently
occurs)