[Cause]
The root-mean-square current calculated internally by the servo exceeded the permitted value. This alarm protects the motor and amplifier from thermal damage. The numbers in parentheses indicate the motion group number and the axis number within the group. Possible causes are as follows:
1. The operating condition exceeds the rated value
2. Due to the continuous operation of extremely low speed, the friction of the mechanism increases.
3. Overload from outside
4. Brake cable not connected yet
5. Insufficient torque caused by input power voltage drop
6. Brake failure (setting error)
7. Failure of the additional axis brake unit (in the case of additional axis)
8. Amplifier failure
9. Motor failure
10. Cable failure
[Countermeasure]
1. To confirm whether loads, load weights and inertia, etc., exceed the rated values and to confirm whether excess acceleration additional instructions cause excessive movement and modify action conditions as necessary.
2. Please control medium to high speed movements appropriately and avoid only extremely low speed movements.
3. Check whether the shaft is pushed or stretched, and make teaching corrections if necessary.
4. Confirm that the brake cable and connector are properly connected.
5. Confirm that the input voltage is the rated voltage of its control device.
6. Confirm whether the brake of the axis has been released. (When adding an additional axis, first confirm whether the brake number is set correctly.)
7. When using a brake unit on an additional axis, confirm whether the fuse of the brake unit is blown.
8. A related component may be faulty. Take the countermeasures in "Troubleshooting by Alarm Code" in the maintenance manual for the controller being used. For additional axes, refer to the additional-axis maintenance manual.
Note To clear this alarm, power needs to be cycled.