IAI America RCP2-CF - Manual (Page 142)

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10. Troubleshooting
10.1 Action to Be Taken upon Occurrence of Problem
Upon occurrence of a problem, take an appropriate action according to the procedure below in order to ensure
speedy recovery and prevent recurrence of the problem.
a) Check the status indicator lamps.
RDY (green) --- Power is supplied and the CPU is operating properly.
RUN (green) --- The servo is ON.
ALM (red) ---
An alarm is present, or an emergency stop has been actuated or the motor drive power is
cut off.
b) Check for error in the host controller.
c) Check the voltage of the main 24-VDC power supply.
d) Check the voltage of the 24-VDC power supply for I/O signals.
e) Check for alarm.
Confirm the details of error on the PC or teaching pendant.
f) Check the cables for connection error, disconnection or pinching.
Before performing a continuity check, turn off the power (to prevent a runaway actuator) and disconnect the
cables (to prevent accidental power connection due to a sneak current path).
g) Check the I/O signals.
h) Check the noise elimination measures (grounding, installation of surge killer, etc.).
i)
Review the events leading to the occurrence of problem, as well as the operating condition at the time of
occurrence.
j) Check the serial numbers of the controller and actuator.
k) Analyze the cause.
l) Take
action.
Please check items a) through j) before contacting IAI.
(Reference)
LED and output signal changes in each mode
Servo
OFF
Servo
ON
Alarm is present
(excluding message
level alarms)
Emergency-stop
switch is pressed
(built-in cutoff relay)
Motor drive power is
cut off (external
cutoff relay)
RDY (lamp) Lit Lit Lit Lit Lit
RUN (lamp) Unlit Lit Unlit Unlit Unlit
ALM (lamp) Unlit Unlit Lit Lit Lit (Note 1)
SRDY OFF ON OFF OFF OFF
ALM
ON ON OFF ON ON (Note 2)
EMGS ON ON ON OFF (Note 2)
(Note 1) With the absolute specification controller, this LED will blink if the battery voltage drops to approx. 4.1
V or below when the power is cut off.
(Note 2) *ALM and *EMGS are based on the negative logic.
These signals remain ON in normal conditions of use while the power is supplied. They remain OFF
while the power is cut off.
They cannot be used as a contact-B interlock when the power is cut off.