1-13
Error no. H096n (n indicates the axis number (1 to 8).)
1Error list
H096n
(n indicates the
axis number (1
to 8).)
Error message Excessive error 1
Cause The position error exceeded at servo ON.
Moreover, this error may occur during the emergency-stop deceleration.
Measures ･ Check the load weight and press, etc.
Confirms the connection of the machine cable and the locomotion-axis cable etc.
If the surrounding temperature is low, or starting after stopping operation for an extended period of time,
perform running-in operation at low speed or use the warm-up operation mode.
･ When hand offset is long and acceleration-and-deceleration control is fixed or tracking is active in RH-
20FH series.
please reduce the acceleration and deceleration speeds (Accel command) and movement speed (Ovrd
command). Refer to separate "Instruction Manual/Detailed Explanation of Functions and Operations" for
details of each command.
(This error may occur during the emergency-stop deceleration.)
･ While operation is performed in the compliance mode of the joint coordinate system, if the Excessive error
1 (H096n) occurs, increase the set value of parameter CMPJCLL to suppress this error.
Refer to "Detailed explanation of command words"/"Cmp Jnt (Compliance Joint)" and "Movement
parameter"/"CMPJCLL (Current Limit Level for Cmp Jnt)" given in separate "INSTRUCTION MANUAL/
Detailed explanation of functions and operations".
(To use this function, the controller software version R4b/S4b or later is required.)
H097n
(n indicates the
axis number (1
to 8).)
Error message Excessive error 2
Cause The position error exceeded at servo OFF.
Measures Check the moving robot arm by something power. When it comes back, contact to the dealer.
H098n
(n indicates the
axis number (1
to 8).)
Error message Excessive error 3
Cause Abnormal motor power line connection.
Measures Check the connection of motor power line. When the excessive error 1 was detected, the current of the
motor is off.
H101n
(n indicates the
axis number (1
to 8).)
Error message Collision detection
Cause A collision was detected.
Measures 1) If the robot has stopped by interference with peripheral equipment, move the arm to part from peripheral
equipment using jog operation. Depending on the level of collision, the collision detection error may occur
again. In that case, turn on the servo power again and do jog operation. If it still recurs, release the brake
and move the arm by hand.
2) If this error occurs without having collided, please adjust the collision detection level. If collision is
detected incorrectly during automatic operation, enlarge the setting value of the parameter (COLLVL)
corresponding to axis. If collision is detected incorrectly during jog operation, enlarge the setting value of
the parameter (COLLVLJG) corresponding to axis. However, since the detection level drops by enlarging
the set value, don't enlarge too much. And, the incorrect detection can be reduced when setup value of
parameter (HNDDATn、 WRKDATn) is correct.
3) If the speed excessive error has occurred at the same time, the torque alteration by rapid speed change
may be detected as a collision state. Remove other causes of the error and confirm movement again.
4) In case of operation under the environment of low temperature or after the long term stoppage, the col
-
lision detection error may occur by viscous transmutation of the grease used. In such a case, operate by
accustoming at low speed (warm-up), or use the warm-up operation mode.
H102n
(n indicates the
axis number (1
to 8).)
Error message Servo AMP over-regeneration
Cause The additional axis exceeded the regenerative performance limit.
Measures Check the regenerative capacity and parameters for the additional axis.
If it comes back, contact your service provider. Regeneration resistance may be disconnected.
H1030 * Error message Power supply over-regeneration
Cause The converter's regenerative performance limit was exceeded.
Measures Wait at least 15 minutes in the power ON state, and then turn the power OFF and ON.
If it comes back, contact your service provider. Regeneration resistance may be disconnected.
H104n *
(n indicates the
axis number (1
to 8).)
Error message Encoder init communication error
Cause 1) An abnormality may have occurred in the position detector cable connection.
2) The fuse (4A fuse) installed at the bottom of the 24 V power supply circuit in the controller may have
blown out. For the fuse blowout, the emergency stop made by the customer may be the cause, or there
may be a ground fault or short circuit with the 24 V power supply in the wiring of a door switch, enabling
device, etc.
Measures 1) Turn the power OFF and ON once. If it comes back, contact your service provider.
2) Investigate and correct the ground fault or short circuit portion in the wiring made by the customer.
Then, replace the fuse inside the controller. Refer to Page 60, "Fig.2-3 ： Fuse (F8) exchange place
(CR750/CR751 controller)" for details. (On details of the fuse, contact the manufacturer.)
Error No. Error cause and measures
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