A51
Alarm code A51 indicates .
Cause analysis: 1. The encoder battery is disconnected or its voltage is low; 2. Encoder multi-turn information error; 3. Encoder cable problem.
Remedy:
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Check whether the encoder cable is correctly and securely connected;
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Measure whether the encoder battery voltage is normal;
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Use a multimeter to measure the resistance of the encoder cable section by section and check for poor contact or disconnection. A direct encoder cable can be used for a quick check, or swap the encoder cables of two servo systems, making sure to swap both the drive side and the motor side at the same time;
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After ruling out encoder cable problems, swap the drives to determine whether the problem is with the drive or the motor. For this alarm, use Fn010 and Fn011 to clear encoder multi-turn information errors and perform homing on the robot axis corresponding to the drive.