[Cause]
1. An abnormality in the disconnect input signal was detected in the servo amplifier (6-axis amplifier, iSV) driving the group and axis displayed in the alarm message. When this alarm is detected in a 6-axis amplifier, it is output for axis 1 and axis 2, or for axis 1, axis 2 and axis 3, of the 6-axis amplifier where the alarm was detected.
2. When using the additional axis servo power-off (local stop) function, the system variable ($LS_IOPORT[n].$MO_GRP_NUM) setting does not match the servo amplifier switch setting (SW1).
[Countermeasure]
1. 6 If this alarm occurs on an axis driven by the axis amplifier, please confirm the connection and wiring of the cutoff input signal (CRMB16) on the 6 axis amplifier.
2. If this alarm occurs on an axis driven by an additional axis amplifier (iSV), check the connection and wiring of the disconnect input signal (JX8) on the additional axis amplifier.
3. When using the additional axis servo power-off (local stop) function, check whether the system variable ($LS_IOPORT[n].$MO_GRP_NUM) setting and the additional axis amplifier switch setting (SW1) are correct. For details, refer to ‘R-30iB STO Specification Additional Axis Servo OFF (Local Stop) Function Maintenance Preparation Material’ (A-95028). (This alarm is issued when the additional axis amplifier switch setting (SW1) is set to used, but the system variable ($LS_IOPORT[n].$MO_GRP_NUM) is not set correctly.)
4. Replace the servo amplifier (6-axis amplifier, iSV).
5. Replace the safety I/O board or the emergency stop board.
Note To clear this alarm, power needs to be cycled.