1Error list
Error no. H105n * (n indicates the axis number (1 to 8).)
1-14
H105n *
(n indicates the
axis number (1
to 8).)
Error message Encoder init communication error
Cause Initial communication with the encoder was not possible
Measures Check the encoder cable connection
H106n *
(n indicates the
axis number (1
to 8).)
Error message Encoder communication error
Cause Communication between the encoder and detector was cut off
Measures Check the encoder cable connection
H107n *
(n indicates the
axis number (1
to 8).)
Error message Encoder communication error
Cause 1) Communication with the position detector was cut off.
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) Confirms the signal cable of the machine cable and the locomotion-axis cable etc. 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.)
H108n *
(n indicates the
axis number (1
to 8).)
Error message Servo AMP communication error
Cause An abnormality may have occurred in the communication cable connection.
Measures Turn the power OFF and ON once. If it comes back, contact your service provider.
CR7xx-Q: Confirms the connection between the robot CPU system and the drive unit.
H1090 *
H109n *
(n indicates the
axis number (1
to 8).)
Error message Servo AMP initialization error
Cause An abnormality may have occurred in the servo axis settings (parameters, rotary switches).
Measures Turn the power OFF and ON once. If it comes back, contact your service provider.
CR7xx-Q: Confirms the connection between the robot CPU system and the drive unit.
Using the additional axis: Confirms the axis setting switch, cable connection with robot controller, setting
parameter, condition of power supply of additional axis amplifier, type of additional
axis amplifier etc. When applying a power supply, turn on the additional axis ampli
-
fier first, then turn on the controller. And when turning the power ON, turn on the
switch of the drive unit, then of the robot CPU.
H1100 * Error message Servo AMP communication error
Cause An abnormality may have occurred in the communication cable connection.
Measures Turn the power OFF and ON once. If it comes back, contact your service provider.
Confirms the cable connection with robot controller and the condition of power supply of additional axis
amplifier.
H111n
(n indicates the
axis number (1
to 8).)
Error message SRV-AMP comm. error
Cause A communication error was detected between the servo amplifier and PC.
Measures Check the communication cable connection and conductivity. If it comes back, contact your service
provider.
H112n *
(n indicates the
axis number (1
to 8).)
Error message Encoder ABS position data lost
Cause The absolute position data in the position detector was lost. The voltage of the robot-arm or additional
axis’s backup battery may be dropping.
Measures Please set up the origin by ABS method after replacing the batteries. (Since position data can be perfectly
restored if the origin is set up by the ABS method, re-teaching is unnecessary.) Refer to separate
"Instruction Manual/ROBOT ARM SETUP & MAINTENANCE" for ABS method.
<Software version R4b (CR750-Q/CR751-Q controller)/S4b (CR750-D/CR751-D controller) or later>
If the voltage of robot battery is low, reset the error, and set up the origin by ABS method. Then, the robot
can be operated without replacing the battery. However, this error occurs again when the controller is re-
turned on. It is recommended to replace the battery at the earliest opportunity.
Error No. Error cause and measures
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