[Cause]
It may be caused by an abnormality of the pulse coder or incorrect operation of the pulse coder due to noise. The numbers in parentheses indicate the action group number and the axis number within the action group.
[Countermeasure]
1. Confirm whether the ground wire of the control device is correctly connected. Confirm the connection of the ground wire between the control device and the robot. Confirm that the shield of the robot connection cable is firmly connected to the ground wire.
2. After replacing the motor, perform zero point calibration.
3. Please replace the robot connection cable.
4. Please replace the cables in the mechanism (pulse encoder cable, motor cable).
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When adding an axis
1. Please strengthen the grounding of the motor flange corresponding to the alarm message.
2. Replace the motor.
For details, please take appropriate measures according to "Troubleshooting based on alarm codes" in the control device maintenance manual corresponding to the control device used.
After eliminating the cause of the alarm, perform pulse reset and then turn on the power. For the steps of pulse reset, please refer to 3.1.4 Pulse Encoder Alarm Recovery.
Note: When an alarm indicating a communication abnormality is accompanied (SRVO-068 DTERR alarm, SRVO-069 CRCERR alarm, SRVO-070 STBERR alarm), the alarm may not actually be issued.