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A
Troubleshooting
A-56
17.401 : Pole search error
Code
: &H0011 &H0191
Meaning/Cause
The motor magnetic pole was not detected when the servo was turned on.
a. The servo wire is broken or incorrectly connected.
b. The position sensor cable is incorrectly wired.
c. Axis parameter settings related to motor control is incorrect.
Action
a. Check the connection of the servo wire.
b. Check the connection of the position sensor cable.
c. Set the parameter setting correctly.
17.402 : ABS. data error
Code
: &H0011 &H0192
Meaning/Cause
a. The linear scale length setting is incorrect.
b. Z-phase was detected incorrectly.
Action
a. Set the correct value for the linear scale length.
b-1. Replace the ROB/IO cable.
b-2. Replace the robot.
17.403 : Position reset malposition
Code
: &H0011 &H0193
Meaning/Cause
a. "ABSINIT" statement was executed at a position where the current position cannot be reset.
b. Absolute reset was executed at a position where it cannot be executed.
Action
a. Move to a position where the current position can be reset, and then execute the "ABSINIT"
statement.
b. Move the axis to a position (machine reference is 44 to 56%) where the absolute reset can
be executed.
17.404 : Moving distance error
Code
: &H0011 &H0194
Meaning/Cause
The movement distance exceeded the specified value by return-to-origin.
Action
Re-perform the system generation.
17.410 : ABS. battery error
Code
: &H0011 &H019A
Meaning/Cause
During the controller power-off...
a. The absolute battery cable is breakdown.
b. The absolute battery cable is not connected.
c. The absolute battery voltage has dropped.
Action
This alarm occurs every time the power is turned on until the absolute reset is completed.
a. Replace the absolute battery.
b. Connect the absolute battery.
c. Set the "Incremental mode control" parameter to "VALID" for use in incremental mode.
17.411 : ABS. encoder error
Code
: &H0011 &H019B
Meaning/Cause
• Resolver signal line was disconnected or breakdown during the controller power-off.
(Same as when ROB I/O connector is removed.)
• The controller was restarted after the resolver signal line had been disconnected during
power-on. (Same as when ROB I/O connector is removed.)
Even after turning off the power, the controller still memorizes the disconnection and this is
displayed as an error when the controller is restarted.
Action
Perform absolute reset.
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