[Cause]
The joint position at the start of brake diagnosis is near a travel limit. The axis indication uses the following base 16 values: axis 1: 1; axis 2: 2; axis 3: 4; axis 4: 8; axis 5: 10; axis 6: 20; axis 7: 40; axis 8: 80; axis 9: 100. If this alarm occurs on multiple axes, the sum of these values is displayed in base 16.
1 axis + 3 axis + 4 axis + 6 axis + 9 axis = 12D
1 4 8 20 100
[Countermeasure]
The brake diagnostics are repeated in the position where the respective axis leaves the limit of the journey.