IAI America SSEL - Manual (Page 459)

437
Appendix
(In the panel
wind
ow, the three di
gits after “E” in
dicate an error n
u
m
ber.)
Error No.
Error name
Description, ac
tion, etc.
66F
T
a
rget specification err
or due to no ax
is
number
T
he specified target of slave c
o
mmunic
ation (driver or encoder) is inv
a
lid
(no ax
is number is
assigned for the target ID, or an inter
nal
driv
er boar
d ax
is is
specified).
670
T
a
rget board t
y
pe error
T
he target board t
y
pe is invali
d.
671
Encoder control data error
T
he encoder c
ontrol data is invalid
or cannot be acquired.
Take the same
actions specified
for error Nos. 65A, 65B and 669.
672
Motor control data error
T
he motor control data is i
n
val
id or cannot be acquir
ed. T
a
ke the same actions as spec
ified
for error Nos. 65C, 65D, 668 and 669.
676
ABZ encoder
magnetic-pole
sensor si
gnal read err
o
r
Check if the e
n
c
oder ca
ble is
conn
ected.
677
ABZ encoder
phase-Z clear positio
n error
Check if the encoder cable is
connected.
680
Magn
etic-po
le
detectio
n par
a
m
eter error
Invali
d param
eter used for magnetic-
pol
e det
ection. Ch
eck driver p
a
ramet
er Nos. 49,
50,
etc.
681
Brake po
w
e
r er
ror
An attempt
w
a
s made to turn on the servo
w
hen the
brake
po
w
e
r
w
a
s not
yet i
nput.
682
I/O
function specification erro
r
Wrong I/O function spec
ification. Check I/O par
am
eter Nos
. 30 through 61 and 251 through
282.
683
Axis oper
ation
error in s
y
stem
semi-locked
(encoder stopped) status
An attempt
w
a
s made to oper
ate an ax
is
by
t
u
rni
ng on the servo, ex
ecuti
ng an absolute
reset, etc.,
w
h
en the s
y
stem
w
a
s in se
mi-lock
ed status (enc
oder
w
a
s stopped).
690
Motor overcurr
ent error
Excess
ive curr
ent fle
w
through the motor.
691
Driver error
(Driver error for future expans
ion)
692
Driver error
(Driver error for future expans
ion)
693
Driver error
(Driver error for future expans
ion)
694
Driver error
(Driver error for future expans
ion)
695
Driver error
(Driver error for future expans
ion)
696
Driver error
(Driver error for future expans
ion)
697
Driver error
(Driver error for future expans
ion)
698
Driver error
(Driver error for future expans
ion)
699
Driver error
(Driver error for future expans
ion)
6B5
Belt break
age error
T
he driving bel
t in the actuator broke.
6B6
Allo
w
able time
to exc
eed c
onti
nuous-op
erati
on enabl
e
torque ov
er err
or
T
he torque command value
exc
eeded the “cont
in
uo
us-op
eratio
n en
abl
e torque” for the
“allo
w
able time to exceed
continuous-oper
ati
on enab
le torque” or longer.
6B7
Hard
w
a
re-
uns
upported encoder error
T
h
is encoder is
not suppor
ted
by
FPGA. Check the encoder
versions supported by
FPGA.
6B8
Driver-unsupported enc
oder error
T
h
is encoder
is
not support
ed
by
the driver. Check
the encoder versions supported by
the
driver.
6B9
Servo ON error
at the encoder
rotation dat
a reset
An attemp
t
w
a
s made to reset rotation data in the enc
oder f
o
r
w
h
ic
h rotat
ion data reset is
not
permitted
w
h
ile the servo is ON.
T
u
rn off the
servo.
6BA
Caus
e of indeterminabl
e enc
oder count det
ection err
or
An
erro
r that makes the encoder count
indeterminable
w
a
s detected.
6BB
Deviati
on ov
erflo
w
error (h
om
e return
not
yet
complete)
T
he command cannot be foll
o
w
e
d
. Ch
eck if the op
erati
on is
locked a
nd als
o
check the
w
iring, encoder
, motor, etc.
T
h
ere is a pos
s
ibi
lit
y
of mismatc
hed electrical angl
e.