Motion away from the negative software limit is not allowed (For ER series, version V5.0)

5104

Alarm cause: The current robot joint position is outside the negative software limit

Applicable equipment

Source: Fault JSON · ESTUN_fault_codes_zh_en.json · SHA-256 e318b3bb20315d070a7f50bd7649bf7dfd7d178030a4f7c736a5aa22f48095f9 · 5104

Brand	ESTUN
Updated	2026-10-27

5104

Alarm cause: The current robot joint position is outside the negative software limit

Applicable equipment

Source: Fault JSON · ESTUN_fault_codes_zh_en.json · SHA-256 e318b3bb20315d070a7f50bd7649bf7dfd7d178030a4f7c736a5aa22f48095f9 · 5104

Brand	ESTUN
Updated	2026-10-27