Countermeasure	Note 1	Note 2	Error Solution
Do one of the following: - Restart the controller. - Perform the following steps in order: 1. Open the system history and take action on the related encoder abnormality errors currently occurring. 2. If no related error is occurring, do one of the following: - Check the Safety Board connection. - Replace the Safety Board.	Abnormality detection location 1: Communication 2: Internal	Joint number 1:J1 2:J2 4:J3 8:J4 16:J5 32:J6	Reboot