Error handling: Motor power OFF.
Error reset: Not possible.
Description: On the servo board, the gravity compensation (dynamic compensation) value calculated by the main CPU board exceeds the specified current value for each axis.
Main causes:
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Load settings are incorrect.
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The posture angles were not calculated correctly.
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An abrupt motion (a motion passing near a singularity) occurred during robot motion.
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The robot motion speed is too high, and teaching that exceeds the control value limit with dynamic compensation was performed.
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Abnormal communication between the main CPU board and servo board.
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A main CPU board failure or poor power supply caused an abnormality in software calculation processing.
Countermeasures:
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Check whether the load settings were made correctly.
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Check that each axis angle is displayed correctly on the teach pendant. If not, check that zeroing is correct.
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Change the taught points, accuracy settings, etc., to reduce the motion speed for the motion where the error occurs.
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If the error is displayed repeatedly even after resetting it, there may be an abnormality in the servo board, main CPU board, or inter-board communication cable. Contact our customer service and provide all details, including the complete message when the above error occurred, model, controller type, serial number, AS and servo software versions, program content, operation at the time of the error, option details, etc.