IAI America RCP2-CF - Manual (Page 156)

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 Abnormal operation results when the servo is turned ON after the power ON.
Cause: Excitation phase detection was not performed correctly when the servo was turned ON, because one
of the following conditions existed when the power was input:
[1] The slider or rod was contacting the mechanical end.
[2] The load was being pushed by a strong external force.
Action: [1] Check if the slider or rod is contacting the mechanical end.
If the slider/rod is contacting the mechanical end, move it away from the mechanical end.
If the actuator is equipped with a brake, move the slider/rod after turning ON the brake release
switch to forcibly release the brake.
At this time, exercise caution not to allow the load to drop suddenly due to its own weight. Your
hand may be caught by the dropped load or the robot hand or load itself may be damaged.
If the actuator cannot be moved by hands, check the direction of excitation phase signal detection
and change the detection direction, if necessary.
For details, refer to 8.3.2, “Parameters Relating to the Actuator Operating Characteristics.”
[2] Check if the load is contacting any surrounding part.
If the load is contacting any surrounding part, provide a clearance of 1 mm or more from the
applicable part.
If the checks in [1] and [2] did not find any problem, please contact IAI.
 Abnormal noise is heard from a controller of absolute specification upon completion of home return.
Controllers of absolute specification may generate abnormal noise upon completion of home return. This is
the sound of the excitation operation performed once again when the home return is complete, and does not
indicate any problem. This noise tends to generate when an actuator with a long ball screw lead is used.
 The ALM lamp blinks when the power is cut off.
Cause: The battery voltage of the absolute specification controller has dropped to approx. 4.1 V or below.
Action: Turn on the power and keep it on for at least 48 hours to charge the battery.