Description
An error occurred in control arithmetic process or parameter arithmetic process in SDCA01 board. This alarm occurs if a control-related parameter calculated from the input parameter (tool file) is not within the specified range.
Subcode description
Data [ X _ _ _ _ ] indicate the process where the alarm occurred.
10000: observer control
20000: high-accuracy path control
30000: dynamics
40000: disturbance-observer control
50000: new OBS control
Data [ _ YYY _ ] indicate the alarm details.
Data [ _ _ _ _ Z ] indicate the physical-axis number.
Causes and remedies
| Cause | Remedy |
|---|---|
| Tool (incorrect setting) | Change the tool file settings. (Check the units and positive/negative signs of the mass and center-of-gravity position.) |
| Overload (motor) | A large load is applied to the robot. Review the tool, workpiece, and operating conditions. |
| Software (malfunction) | 1. Turn the power off and back on. 2. If the alarm recurs, save CMOS.BIN and report the circumstances (operating procedure, etc.) to our service department. |