Description
The motor real speed (feedback) exceeded the speed limit. The speed limit is safety speed at teach mode and maximum speed at play mode.
Subcode description
Indicates the control-axis number on which the error was detected.
Causes and remedies
| Cause | Remedy |
|---|---|
| Software (incorrect setting) | Check the following settings. • Contact distance of the motor gun • Robot motion (external force, gravity) |
| Cable (abnormal) | 1. Reset the alarm. 2. If the alarm recurs, check that the following cables and connectors are connected and fully inserted. • Motor power cable • SDCA01 board-CN501, CN531, CN532, CN533, CN534, CN535, CN536 |
| Motor (abnormal) | 1. Reset the alarm. 2. If the alarm recurs, replace the motor. |
| ACP01 board (abnormal) | 1. Turn the power off and back on. 2. If the alarm recurs, replace the ACP01 board. As a precaution, save CMOS.BIN before replacing the board. After replacing the ACP01 board, remove the SD card from the original ACP01 board and insert it into the new ACP01 board. |
| 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.). |