IAI R-unit RSEL, Instruction Manual, Page: 713 / 844

Chapter
11 T
roubleshooting
11.4 Alarm Codes of Driver Unit
11-73
ME0392-4C
Alarm code Alarm name Causes/countermeasures
0A2 Position data error
Cause: 1) Travel command for position No. with target position not set
in position table position field was issued.
2) Target position value in “Position” field exceeds Parameter
No. 3, 4 “Software Limit Setting Value”.
3) Push-motion operation was specified while the damping
control function was enabled.
Countermeasure: 1) Set the target position.
2) Bring the target position value within the software
limit set value.
3) The damping control function and push-motion
operation cannot be used at the same time. Set
so that only one of the functions is enabled.
0A3
Position command
information data error
Cause: 1) The command value at direct numerical command exceeds
the set maximum value.
2) Push-motion operation was specified while the damping
control function was enabled.
Countermeasure: 1) The code of the command item exceeding the
detailed address is displayed. Refer to these
values and enter the appropriate values.
Detailed address
(Command item code) Command item
0F00 Target position
0F02 Command speed
0F04 Acceleration
0F06 Deceleration
0F08 Positioning width
0F0C Pushing current limit value
0F0D Control signal
2) The damping control function and push-motion
operation cannot be used at the same time. Set
so that only one of the functions is enabled.
0A7
Command deceleration
error
Cause: Insufficient deceleration distance when deceleration has been
reduced during travel. The software limit has been exceeded
when decelerating from the current position after the change.
This occurs because the timing of the next travel command
when changing the speed during travel is delayed.
Countermeasure: Set the travel command timing for deceleration change faster.
0B5
A
Driver limited
Z-phase position error
Cause: The position where Z-phase was detected during home return
was outside the specified range. There is a possibility of
encoder failure.
Countermeasure: Contact IAI.
Software limit
Deceleration start position when
software limit is not exceeded Commands given at this position
will exceed the software limit
11.4 Alarm Codes of Driver Unit
ME0392-4C
11-74
Alarm code Alarm name Causes/countermeasures
0B6
A
Driver limited
Z-phase detection timeout
Cause: With simple absolute specification, Z-phase could not be detected
at the first servo ON or home return after turning the power on.
1) Contact failure or disconnection of the connector part of the
actuator connecting cable.
2) For models with brake, the brake cannot be released.
3) External force is applied and the motor cannot perform detection.
4) The sliding resistance of the actuator itself is excessive.
Countermeasure: 1) Check the wiring status of the actuator
connecting cable.
2) Check the wiring condition of the brake cable and
whether the brake part makes “clicking” sounds
when toggling the brake release switch. If not,
confirm that power is supplied to the brake.
3) Confirm that there are no assembly errors.
4) If the loading weight is normal, turn OFF the power and
then move by hand to check the sliding resistance.
If the cause is in the actuator itself, contact IAI.
0BA
Home sensor not
detected
Cause: Indicates that the home return motion of an actuator with
home sensor has not completed normally.
1) The workpiece interferes with the surroundings during home return.
2) The sliding resistance of the actuator is excessive.
3) Poor mounting, malfunction, or disconnection of the home sensor.
Countermeasures: If the workpiece does not interfere with the surroundings,
2) and 3) should be considered. Contact IAI.
0BE Home return timeout
Cause: Home return motion has not completed within a given period
of time from the start.
Detailed code Target operation
01 Home return motion timeout
02 LS retreat operation timeout
Countermeasure: This does not occur in normal operation. The
combination of driver unit and actuator may be
incorrect. Contact IAI.
0BF
S
Driver limited
Creep sensor not
detected
Cause: This indicates the actuator detected the creep sensor (option)
before detecting the origin sensor (option except for rotary
actuator), or the actuator reached the mechanical end (or the
actuator cannot move anymore because the load is too large).
1) The position to apply the creep sensor is not appropriate.
2) The creep sensor is faulty.
3) The cable is disconnected or the connector is not plugged
in properly.
4) The actuator cannot move due to heavy load caused by
interference.
Countermeasure: 1) Readjust the sensor installation position.
2) Replace the creep sensor.
3) Perform continuity check to see if the connector
is plugged in properly.
4) Check the interference and the transportable
weight and make sure there is no external force
applied.