[Cause]
Even if a request signal is sent to the serial pulse coder, serial data is not returned. The numbers in parentheses indicate the action group number and the axis number within the action group.
[Countermeasure]
1. Confirm the connection status of the connector on the connection cable between the pulse encoder and the servo amplifier (if the generating axis is a robot axis, the robot connection cable for the pulse encoder).
2. Confirm that the shield of the above connection cable has been grounded inside the cabinet.
3. If there is an abnormality when checked by the tester, please replace the cable within the mechanism (contents of the control device maintenance manual "Troubleshooting based on alarm codes" Countermeasures 3)
4. Replace the motor of the axis where the alarm has occurred. After replacement, zero point calibration is required.
5. Replace the servo amplifier of the axis where the alarm has occurred.
6. Replace the robot connection cable. For details, please take appropriate measures according to "Troubleshooting based on alarm codes" in the control device maintenance manual corresponding to the control device used.
Note 1 To clear this alarm, power needs to be cycled.
Note 2 If the battery line (6V) of the pulse encoder cable inside the mechanism is grounded or is intermittently grounded, communication errors such as DTERR (servo 068) may occur due to interference during grounding even if the shaft is not grounded.