Error handling: Motor power OFF.
Error reset: Possible.
Description: The difference between the AS software command value and current encoder value exceeds the specified value. This error is detected by the servo software. The specified value depends on the model and axis.
Main causes:
- 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.)
- Electrical factors:
(1) Motor power line phase U, V, or W has an open circuit. (No open-circuit check)
(2) The power module is faulty.
(3) A problem with the servo board.
(4) The power supply unit is faulty.
(5) An open circuit in the harness between the servo board (X503, X504, X505) and power supply unit control board (X304).
(6) The PN power supply wiring between the power supply unit (X352, X353) and the servo amplifier unit has an open circuit.
(7) A problem with the motor.
- The robot performed motion near a singularity (sudden motion).
Countermeasures:
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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.
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If any components (reduction gear, etc.) are damaged, inspect and replace them if necessary.
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If the failure is caused by the load weight or motion pattern, recheck the robot operating conditions.
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If electrical factors cause the error, check the harnesses, servo amplifier unit, power supply unit, motor, etc. Replace them if necessary.
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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.
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Check the gas spring pressure and condition. Refill the gas or replace the gas spring if necessary.