Description
When control power is turned ON, the encoder data is checked. This alarm occurs if the encoder is rotating at 400 rpm or more at that time (for example, because the relevant axis is falling under its own weight).
Subcode description
Sub Code: Signifies the axis in
which the alarm occurred
Causes and remedies
| Cause | Remedy |
|---|---|
| Cable (abnormal) | 1. Turn the power off and back on. 2. Execute servo OFF at a position where the axis will not fall during servo ON. 3. If the alarm recurs together with an encoder backup error, replace the battery for the affected axis. 4. If the alarm recurs, check that the following cables and connectors are connected and fully inserted. [Robot axes] • Cable between encoders • SDCA01 board-CN508 [External axis] • Cable between encoders • SDCA01 board-CN534, CN535, CN536 |
| Encoder (abnormal) | Replace the corresponding motor (encoder). |
| SDCA01 board (abnormal) | Check whether the brake is slipping. |
| Other | If the alarm occurs again after implementing the countermeasures, contact our service department and describe the circumstances when CMOS.BIN was saved (operating procedure, etc.). |