IAI America RCM-E - Manual (Page 72)

64
Appendix
Teaching pendant error table
Listed on the table are teaching pendant specific error.
For error of controller, refer to the Operating Manual of each controller.
Code Message name Description
112 Input Incorrect Error An incorrect value was entered in a parameter.
(Example) 9601 was entered as the serial communication speed by mistake. Reenter an
correct value.
113
114 Input Under Error
Input Over Error The entered value is smaller than the setting range.
The entered value is larger than the setting range.
Refer to the actuator specifications or parameter table and reenter a correct value.
115 Homing Incomplete The current position was written when home return was not yet completed.
Execute home return again.
117 No Move Data Target position is not set under the selected position number.
Enter the target position first.
11E Pair Data Mismatch The values indicating the magnitude relationship of a pair of data are incorrect.
(Example) The same value was entered in both the parameters for + and – soft limits.
Reenter correct values.
11F Absolute Value Error The minimum movement toward the target position is determined by the lead length of
the drive system and resolution of the encoder.
This message indicates that the entered target value is smaller than the minimum
movement.
(Example) If the lead length is 20mm, the encoder’s resolution is 800 pulses and
accordingly the minimum movement becomes 20 ÷ 800 = 0.025 mm/pulse.
In this case, this message will be displayed if 0.02mm is entered as the target
position.
121 Push search end over The final position in push & hold operation exceeds the soft limit.
This has no negative effect if the actuator contacts the work. If the actuator misses the
work, however, the soft limit will be reached and this message is displayed as a warning.
Change either the target position or positioning band.
122 Allocate, multi-axes connect Address was assigned when multiple axes were connected.
Assign each address only when one axis is connected.
133 Jig No. change not allowed For PCON-C/CG, ACON-C/CG, SCON controllers, the axis number is set with the rotary
switch on the front panel. The axis number cannot be set on the teaching pendant.
180
181
182
183 Change to axis number OK
Controller initialize OK
Home Change All Clear
IO function has been changed These messages are displayed to confirm operation.
(They do not indicate an operation error or other abnormality.)
201 Emergency Stop An emergency stop condition was detected. (This is not an error.)
This is displayed on RCP, RCS, E-Con, RCP2, and ERC.
202 Emergency Stop An emergency stop condition was detected. (This is not an error.)
This is displayed on PCON, ACON, SCON, and ERC2.
203 Motor voltage drop In controller of “shut-off relay external type,” motor drive power is shut off due to opening
between MPI terminal and MPO terminal.
(Note) If this error occurs while closing between MPI terminal and MPO terminal, the
controller is considered to be in failure.
204 ABS battery voltage drop Battery voltage drops when power is turned on.
20A During movement, Servo OFF This message indicates that the servo ON signal (SON) was turned OFF by the PLC
while the actuator was moving, and that the servo turned OFF and the movement was
disabled as a result.
20C During movement, CSTR-ON This message indicates that the start signal (CSTR) became “1” by the PLC while the
actuator was moving, and that duplicate movement commands occurred as a result.