[Cause]
The feedback speed becomes abnormally large. The numbers in parentheses indicate the action group number and the axis number within the action group.
[Countermeasures]
1. For the connection cable between the pulse encoder and the servo amplifier (if the generating axis is a robot axis, the robot connection cable for the pulse encoder), confirm the connection status of the connector.
2. It may be caused by erroneous operation due to noise. Confirm whether the shielding of the pulse encoder optical cable is properly grounded.
3. Certain models may cause robots to collide at high speed. After confirming that there is no abnormality in the robot, please cancel the alarm.
4. When an alarm occurs on an additional axis using the torque limit function, please confirm the operation of the additional axis when the torque limit value is restored to 100%. If the additional axis moves violently at this time, please modify the program to ensure that the command position of the additional axis moves at a position where the position error is close to zero, and then restore the torque limit value to 100%.
5. Replace the motor of the axis where the alarm has occurred. After replacement, zero point calibration is required.
6. Replace the servo amplifier of the axis where the alarm has occurred.
7. Replace the robot connection cable.
8. Replace the robot’s internal cable (pulse encoder cable). 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.
Note To clear this alarm, power needs to be cycled.