Error handling: Motor power OFF.
Error reset: Possible.
Description: Communication abnormalities between the main CPU board and servo board have occurred continuously for more than the specified number of communication cycles.
Main cause: The cause of the error is indicated by an 8-digit code. The code indicates error information from the last two communication cycles. The leftmost four digits indicate the error in the latest cycle, and the rightmost four digits indicate the error in the cycle before the latest one.
Code types are as follows:
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0001 Main CPU board data transmission error.
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0002 Main CPU board data reception error. (Data cannot be received from the servo board.)
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0004 The two communication control counter values in the data from the servo board do not match.
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0008 The communication control counter value in the data from the servo board is the same as the previous counter value.
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0010 The communication control counter value in the data from the servo board is discontinuous.
Countermeasures: If the error persists after resetting, perform the following procedures.
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0001 Replace the main CPU board.
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0002 1. Check the communication harness connections between the main CPU board and servo board.
- Replace the communication harness → servo board → main CPU board.
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0004 Replace the communication harness → servo board → main CPU board.
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0008 Replace the communication harness → servo board → main CPU board.
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0010 Replace the communication harness → servo board → main CPU board.
When using a slave controller (multi-axis controller), turn ON its controller power before turning ON the master controller (robot body controller) power.