Axis XX motor overload. (for E0x series controllers)

Error handling: Motor power OFF.
Error reset: Possible.

Description: The feedback current from the power block exceeds the motor's rated continuous current for longer than the allowable time. The servo software package detects this error based on the data shown below (overload curve).

Servo board
Servo
Servo
FPGA
CPU
Current
Feedback
Current
Detection
U,V,W
Circuit
Each motor
IPM
Ground
Robot main body
Power block

Time
Abnormal
Continuous rated current
Motor current
Overload curve

Main causes:

1. Mechanical factors:

(1) The robot arm is in contact with a fixture or similar object.

(2) A cable or similar item is caught on the robot arm.

(3) The reduction gear, gears, bearings, etc. are damaged.

(4) Gear reducer backlash is too small.

(5) The load weight exceeds the robot's specified capacity.

(6) The robot motion pattern exceeds the motor rating (due to sudden reverse motion, etc.).

(7) The motor brake is not released.

(8) The gas spring pressure is below the rated value. (For robot bodies using gas springs.)

2. Electrical factors:

(1) Motor power line phase U, V, or W has an open circuit. (No open-circuit check)

(2) The motor brake is not released.

(3) The power module is faulty.

(4) A problem with the servo board.

(5) A problem with the motor.

Countermeasures:

1. If the robot arm interferes with an object, retract it in teach mode. Then check the drive components, reduction gears, etc. for problems, and check for positional deviation caused by arm deformation.

2. Check for damaged components (reducers, etc.) and replace them if necessary.

3. If the failure is caused by the load weight or motion pattern, recheck the robot operating conditions.

4. If electrical factors cause the error, check the servo amplifier section, power supply unit, motor, and other components. Replace them if necessary.

5. Check the gas spring pressure and condition. Refill the gas or replace the gas spring if necessary.

[NOTE]
If this error occurs repeatedly, the motor may burn out. Be sure to eliminate the cause of the error before restarting the robot.