IAI America RCP2-CF - Manual (Page 149)

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(3) Cold-start level alarms
Code Error name Cause/Action
B8 Pole sense error This controller will conduct excitation phase detection when the servo is
first turned ON after the power was input. This alarm indicates that the
specified encoder signal level cannot be detected after 100 ms of
excitation.
Cause: [1] Loose or disconnected motor-extension cable connector
[2] Brake cannot be released on a controller equipped with
brake.
[3] Large motor load due to application of external force
[4] Power was input when the actuator was contacting a
mechanical end.
[5] Large slide resistance of the actuator itself
Action: [1] Check the wiring condition of the motor extension cable.
[2] Check the wiring condition of the brake cable, and also turn
on/off the brake release switch to see if the brake makes
“click” sounds.
[3] Check for abnormality in the assembly condition of
mechanical parts.
[4] Move the actuator away from the mechanical end and then
reconnect the power.
[5] If the load is normal, cut off the power and move the
actuator by hand to check the slide resistance.
If the actuator is suspected to be the cause, please contact IAI.
D8 Deviation overflow The position deviation counter has overflowed.
Cause: [1] The speed dropped during movement due to the effect of
an external force, etc.
[2] The pole sense detection operation after power on is
unstable.
Action: [1] Check the load conditions—such as whether the load is
contacting a surrounding object or the brake is
disengaged—and then correct the abnormality, if any
[2] An overload condition is suspected, so review the load
weight. Reconnect the power and then execute home
return.
E8 Phase-A/B disconnection
detection
E9 Phase-A disconnection
detection
EA Phase-B disconnection
detection
Encoder signals cannot be detected correctly.
Cause: [1] Loose or disconnected encoder-extension cable connector
[2] Loose or disconnected actuator-end connector of the
supplied cable
[3] The encoder extension cable connector was plugged in
after the battery connector (absolute specification).
[4] If a high-thrust rod-type actuator is used together with an
actuator of other type, the encoder extension cables may
be connected wrongly.
Action: Check the connection condition of the encoder extension
cable and conduct continuity check. If the results are normal,
please contact IAI.
If [3] is the cause, plug in the encoder extension cable
connector, and then plug in the battery connector.
If [4] is suspected, check the model numbers of the encoder
extension cables and connect the extension cables correctly.
Cable for high-thrust rod type: CB-RFA-PA***
Cable for other actuator type: CB-RCP2-PA***