SRVO-066: CSAL alarm (pulse coder checksum)
The encoder's internal ROM failed its checksum - the pulse coder's firmware data is corrupt.
What it means
The encoder's internal ROM failed its checksum - the pulse coder's firmware data is corrupt. Barring the phantom-alarm case, this is a dead encoder, which on these motors means motor replacement.
Common causes
Ranked by what technicians most often find, most likely first.
- Pulse coder ROM failure.
- Phantom alongside SRVO-068/069/070 communication alarms - check those first.
How to fix it
- If SRVO-068/069/070 appear together with it, work those remedies before condemning the encoder.
- Otherwise replace the motor, then perform mastering. Power-cycle required to clear.
Quick facts
- Category
- Servo
- Affected series
- R-30iB; R-30iB Mate; R-30iB Plus; R-30iB Mate Plus
- Alarm family
- SRVO
Related codes
- SRVO-068DTERR alarm (pulse coder no response)
- SRVO-069CRCERR alarm (pulse coder data corrupt)
- SRVO-070STBERR alarm (pulse coder framing error)
- SRVO-067OHAL2 alarm (pulse coder overheat)
- SRVO-063RCAL alarm (rotation counter abnormal)
- SRVO-062BZAL alarm (pulse coder battery zero)
- SRVO-071SPHAL alarm (feedback speed excess)
- SRVO-072PMAL alarm (pulse coder fault)