9. Troubleshooting
Fieldbus Communication
242
RCP6
* In the alarm code list, description of P6PC shows RCM-P6PC, P6AC shows RCM-P6AC and P6DC shows RCM-P6DC.
Alarm
Code
Alarm
Level
Alarm Name Cause/Treatment
0C0 Actual speed excessive Cause : This indicates the number of motor rotation
exceeded the number of allowable rotation.
1) The slide resistance of the actuator is locally high.
2) The load is increased too much due to a external
force.
With the reasons above, it can be considered a
sudden speed increase has occurred before
detecting the servo error.
Treatment : Even though this would not occur in normal
operation, check if there is any abnormality in the
parts assembly condition. Also check if there is a
possibility that an external force may be applied in
the direction of the actuator movement.
0C1
For
RCP6S
and
P6PC
only
Servo error Cause : It indicates 2 seconds has passed without making a
move since a move command was received.
1) Connection error or wire breakage of
motor/encoder cables.
2) Brake is not released (when equipped with a
brake).
3) Load to the motor is high due to external force.
4) The resistance in the actuator sliding operation
is large.
Treatment : 1) Check for the motor/encoder cable wiring
condition.
2) Supply 24V DC 150mA to the BKRLS terminal
on the power supply connector and if you can
see an improvement, it is considered the
controller failure. Please contact IAI.
3) Confirm that there is no error in the mechanical
part assembly condition.
4) If the loaded weight is within the allowable range,
turn the power OFF and check the resistance in
sliding operation by moving the slider with hand.
0C5
For
P6AC
and
P6DC
only
Operation
release
Illegal transition
command in control
system
Cause : 1) Change the operation from the vibration
suppress control operation to the normal
position control operation.
2) Change the operation from the normal position
control operation to the vibration suppress
control operation.
Treatment : Change the sequence so the next action is
conducted after confirming the positioning complete
signal (PEND) is turned ON for both cases 1) and
2).
0C8 Overcurrent Cause : The output current in the power circuit section is
increased abnormally.
Treatment : This alarm will not be generated in normal
operation. It can be considered as the insulation
degradation of the motor winding or malfunction of
the controller. Please contact IAI.
0C9
For
RCP6S
and
P6PC
only
Cold start
Overvoltage Cause : The voltage on the power regenerative circuit
exceeded the threshold.
Treatment : Malfunction of the controller can be concerned.
Please contact IAI.
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