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.