6621

Alarm cause: Excessive servo torque fluctuation. Possible causes: 1. Contact or collision with an obstacle 2. Robot load mass and other settings differ from the actual conditions 3. The robot working trajectory is poor and the robot shakes severely 4. Motor or mechanical performance causes spikes in the actual torque output 5. Poor servo PID settings result in poor tracking between commanded and actual values 6. Cold weather causes effects associated with a cold machine 7. The robot installation setting, such as upright or inverted mounting, differs from the actual installation

Corrective measures: 1. Check whether an abnormal trajectory caused a collision or an obstacle appeared in the normal robot path 2. Set load information correctly according to the load direction and unit definitions in the user manual 3. Optimize the robot trajectory and reduce dynamic parameters to lessen jitter 4. Appropriately reduce collision detection sensitivity without affecting normal use 5. Adjust appropriate PID parameters 6. Warm up at low speed first, then run at full speed after warm-up 7. Set the correct installation method 8. If the alarm remains after the above measures, contact the manufacturer