Encoder reference position error - 2AF1

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This article applies for the RC7 or RC5 Controller

Problem

When the controller powers up the 2AF1 error shows on the pendant.

Typically this error is related to the robot arm being moved when the controller power was off. A simple encoder reference retest tends to fix the issue.

1. The robot type does not match the robot controller.
2. The encoder is normal, but the 2nd or 3rd axis (1st or 2nd axis forthe VP series) was moved when the controller power was off.
3. The motor was replaced.
4. An encoder positional error has occurred in the 2nd or 3rd axis (1st or 2nd axis for the VP series). In any of the above cases, a programmed operation is prohibited.

Solution

To clear the error caused by reason 1 or 2, send the arm data (including CALSET value) of the corresponding robot to the controller using WINCAPS III or perform Step 1 below for description 2 only.

To clear the error caused by reason 3, perform CALSET for the corresponding axis (see Step 2).

If the error persists after the above error recoveries, the possible cause can be an encoder error. Check whether a positional error has occurred on the 2nd or 3rd axis (1st or 2nd axis for the VP series) and perform CALSET for the problem axis.

Note: This error can be cleared also by transmitting the arm data (including CALSET)

Main Screen from Pendant (see step 1 pendant example)

1. Press [ F2: Arm ]
2. Press the [ SHIFT ] key
3. HOLD (Right and Left keys) + [ F6: Maint ]
4. Press [ F8: ENC Ref ]
5. Press [ F5: Chg Ref ]
6. Press [ OK ] (twice)
7. Press [ F1: Pos Conf ] 8. Press [ OK ] (twice) The error indication is cancelled by the above operation.

Move Robot Arm to CALSET Position

1. Press [ F2: Arm ]
2. Press the [ SHIFT ] Key
3. Press the [ F6: Maint ]
4. Press the [ F6: CALSET ]
5. Select Joint or joints needed for CALSET 6. Select OK