[Cause]
This alarm is issued when there is an abnormality in the speed count value in the pulse encoder. The rotation speed may be incorrectly counted due to an abnormality of the pulse encoder. 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. The grounding of the motor flange should be strengthened. (In case of additional axis)
3. Replace the motor. After replacement, zero point calibration is required.
代码
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.