Error handling: Motor power OFF.
Error reset: Possible.
Description: The speed of each axis (joint) (motor speed), calculated from encoder values, exceeds the rated value. This error is detected by the servo software.
Main causes:
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Arm dropping: Due to an open circuit in the U-phase, V-phase, or W-phase of the motor power cables, or a faulty power module.
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A failure caused by poor wiring in the motor power cable or encoder power cable.
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The encoder harness has an open or short circuit, or there is a problem with the encoder itself.
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The robot performed motion near a singularity (abrupt motion).
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A problem with the servo board.
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When moving at maximum speed with an excessive load, the moment of inertia exceeds the motor torque.
Countermeasures:
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Check the harness for open or short circuits.
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Replace the servo amplifier unit.
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Replace the encoder.
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If robot operation includes motion near a singularity (abrupt motion), change the taught data by correcting the pose, reducing the speed, etc.