IAI America RCS-E - Manual (Page 84)

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6.2 Alarm Level Classification
The alarms are classified into three levels based on the corresponding symptoms.
Alarm level ALM lamp *Alarm Condition at occurrence of alarm How to reset
Message Unlit Not output An error is displayed on the PC software screen or teaching pendant.
Operation
cancellation
Lit Output
The actuator decelerates to a stop, and
then the servo turns off.
Input a reset signal from the PLC.
Execute reset using the PC/teaching
pendant.
Cold start Lit Output
The actuator decelerates to a stop, and
then the servo turns off.
Reconnect the power.
(Note) Whatever the alarm, always investigate the cause of the alarm and remove the cause before resetting the
alarm. If the cause of the alarm cannot be removed, or when the alarm cannot be reset even after the
cause has been removed, please contact IAI.
If the same error occurs again after a reset, the cause of the alarm still exists.
6.3 Alarm Output by PIO
So that the PLC can identify each alarm occurring in the controller, the content of each controller alarm is output
using the ports corresponding to the last four bits of the complete position output signal.
(This function is not available for message level errors.)
The PLC should be able to identify if a given output indicates a complete position number or alarm based on the
status of the alarm output signal.
Alarm Bit Assignment Table (

= OFF,  = ON)
Complete Position No.
Alarm
8 4 2 1
Alarm Content Alarm Code*

Normal
     CPU abnormal 0FA
    
Wrong EEPROM Data Setting 0B0, 0B1
     Homing abnormal 0BE
    
Servo malfunction 0C0
     Electric conversion area abnormal 0B8 to 0CA
     Excessive deviation abnormal 0D8, 0DC
     Excessive load abnormal 0ED
     Encoder breakage, battery voltage low 0E4 to 0E7
     Corruption of EEPROM data 0F8
* The alarm codes are displayed at teaching pendant and PC interface software.