IAI America RCS-E User Manual

Page 89

Code Error

Cause/action

0E5

Encoder receive error

The controller and encoder exchange position data via serial
communication.
This error occurs when the encoder did not return correct data in
response to a request from the controller, or the battery voltage became
law.
Cause:

[1] Law battery voltage

(Absolute controllers are shipped with the encoder cable
removed. On these controllers, this error always occurs
when the power is turned on for the first time at the user’s
site.)

[2] Open encoder extension cable or supplied actuator cable,

or poor connector contact

[3] Garbage data due to noise

[4] Faulty communication IC mounted on the encoder board

[5] Faulty communication IC mounted on the controller board

Action:

[1] If the error occurred after the power was turned on for the

first time, be sure to perform an absolute reset. (Refer to
4-2, “Absolute Reset Procedure.”)

[2] Check the connector for possibility of open circuit, and

examine the connection condition.

(Perform a continuity check by referring to 2-5, “Supplied
Cables.”)

[3] Turn off the power to all peripherals and move only the

controller and actuator. If the error does not occur, noise is
the likely cause.

In the case of [4] or [5], the encoder or controller must be
replaced.

If the cause cannot be specified, please contact IAI.

0E6

Encoder count error

The ASIC mounted on the encoder board is unable to detect position
information correctly.
Cause:

[1] When the absolute actuator is installed vertically, the

acceleration limit was exceeded due to a rapid drop of the
load caused by the brake being released when the power
was cut off.

(This error does not occur in normal conditions of use, but it
may occur if the work part received external force from
above.)

[2] Foreign deposit on the cable wheel

[3] The position relationship of cable wheel and photo-sensor

changed due to axis center run-out caused by excessive
external force, etc.

[4] Faulty component mounted on the encoder board

Action:

If [1] is suspected, perform an absolute reset.

In the case of [2] to [4], you must clean the cable wheel (by air
blow), adjust the installation position again, or replace the motor
unit or actuator.

In any case, please contact IAI.