[Cause]
A chain alarm was detected via the mode switch signal.
[Countermeasure]
1. Confirm the mode switch and its wiring, and replace it if there is any problem.
2. Replace the emergency stop board. For the recovery procedure when this alarm occurs, refer to the entries for SRVO-230 (Chain 1 abnormality) and 231 (Chain 2 abnormality).
Note: When this alarm is issued, do not reset the chain abnormality alarm until the fault has been identified and repaired. If the robot continues to be used with one circuit of the redundant circuit system faulty, safety may be difficult to ensure if the other circuit also fails.