I am working with a R30iA controller, R2000iB 150U robot.
I am trying to do some tracking with an external encoder.
Everything works as intended, except for the dreaded "SRVO-082 Dal Alarm(Track enc:1)" keeps popping up at random times, it usually pops up while the encoder is stationary, which I find sort of odd(but it is stationary a lot more than it moving..) It is a bit unusual because the machine I am tracking already has 2 encoders, and there is a splitter that allows me to connect to either encoder for my tracking application. So I have switched between the 2 encoders, I have changed my cable a bunch of times running to the controller, and I have tried both ports on the fanuc controller, it always seems to work, but every time after a little time the error pops up. Does anyone know exactly what that error means? how does it know the encoder is disconnected? I am making my own cable that runs to the controller, and my newest one is 2 shielded twisted pairs with another shield on the outside. I am only Connecting A, A* and B, B*, is it possible that that's an issue? maybe I need to connect the - from the machine to the robot controller or something like that? I do have the cable shield grounded on the robot side on the plate where all the other wires are grounded. below is a picture of the pinout I used.
any help is much appreciated.