C341 RLS Motor encoder

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C341A0 Critical error

A critical error occurred communicating with the RLS motor encoder

Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance

C341A9 The scheduled RLS SPI package transfer did not complete before the deadline.

A timing error occured in the robot firwmare.

Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance

C341A10 CRC error in CH0 transfer, frame: {hex}

A SPI package from the RLS motorencoder was corrupted during transfer.

Try the following actions to see which resolves the issue: (A) Make sure the application is not exceeding the capabilities of the robot (B) Conduct a complete rebooting sequence, (C) Update software, (D) Contact your local Universal Robots service provider for assistance

C341A22 Detailed status error: Signal clipping, strong external magnetic field is present.

The presence of a strong external magnetic field, caused signal clipping on the RLS motorencoders signal.

C341A23 Detailed status warning: Signal amplitude too high. The read head is too close to the ring.

The motor encoder read head is too close to the ring or an external magnetic field is present

C341A24 Detailed status error: ASIC was reset, external RFI glitch caused encoder to reset.

External RFI glitch caused encoder to reset.

Try the following actions to see which resolves the issue: (A) Try to remove any obvious sources of strong RFI (B) Conduct a complete rebooting sequence, (C) Update software, (D) Contact your local Universal Robots service provider for assistance

C341A25 Detailed status error: ASIC synchronization lost, external RFI glitch caused malfunction.

External RFI glitch caused encoder to loose synchronization.

C341A26 Detailed status error: Encoder not configured properly.

Incorrect RLS motorencoder configuration

Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance

C341A27 Detailed status warning: Signal amplitude low. The distance between the read head and the ring is too large.

The distance between the read head and the ring is too large

C341A28 Detailed status error: Signal lost. The read head is out of alignment with the ring or the ring is damaged.

The read head is out of alignment with the ring or the ring is damaged

C341A30 Detailed status error: Power supply error. The read head power supply voltage is out of specified range.

The voltage supplied for the RLS motorencoder is outside allowed specifications

C341A31 Detailed status error: System error. Malfunction inside the circuitry or inconsistent calibration data is detected.

A system error occured inside the RLS motorencoder.

Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance

C341A32 Detailed status error: Magnetic pattern error. A stray magnetic field is present or metal particles are present between the read head and the ring or radial positioning between the read head and the ring is out of tolerances.

RLS motorencoder was unable to correctly decode the position, possible causes could be (A) Stray magnetic fields (B) Metal particles between read head and ring (C) Installation tolerances is outside specification.

C341A33 Detailed status error: Acceleration to high.

RLS motorencoder reported that the acceleration of the encoder disc was outside allowed specifications.

C341A65 Latest parsed motorencoder position was too old.

The latest parsed SPI package had a timestamp that was too old, indicating either a timing glitch or corrupted data.

Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance

C341A86 An error occured while reading the encoder firmware version.

An error occured while reading the encoder firmware version.

Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance

C341A87 The encoder firmware version is not valid.

The encoder firmware version is not valid.

Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance

C341A88 A reading of the register {hex} was attempted which is not valid for the present encoder

A read from a register that is invalid for the encoder was attempted

Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance

C341A89 A write of the register {hex} was attempted which is not valid for the present encoder

A write to a register that is invalid for the encoder was attempted

Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance

C341A90 Tried to access register {hex}, which is not valid for the present encoder

A register that is invalid for the encoder was accessed

Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance

C341A92 The encoder reported that it has not performed a self-calibration

The encoder reported that it has not performed a self-calibration

Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Contact your local Universal Robots service provider for assistance

C341A95 Detailed status error: System error. Malfunction inside the circuitry.

A system error occured inside the RLS motorencoder. To reset the System error bit try to cycle the power supply.

Try the following actions to see which resolves the issue: (A) Conduct a complete rebooting sequence, (B) Update software, (C) Replace the motor-encoder PCBA - Contact your local Universal Robots service provider for assistance

C341A96 Detailed status error: System error. Inconsistent calibration data detected.

A system error occured inside the RLS motorencoder. To reset the System error bit try to cycle the power supply.