1Error list
Error no. C126n (n indicates the axis number (1 to 8).)
1-16
C126n
(n indicates the
axis number (1
to 8).)
Error message Encoder communication error
Cause Initial communication could not be established with the low-speed serial type absolute position linear scale.
Measures Check the detector cable connection and conductivity. If it comes back, contact your service provider.
C127n
(n indicates the
axis number (1
to 8).)
Error message Encoder communication error
Cause The serial data of absolute position was abnormally transmitted.
Measures Check the detector cable connection and conductivity. Moreover, confirms carefully that the moving posi
-
tion of the robot has not deviated, and if it has deviated, sets up the origin again. Refer to separate
"Instruction Manual/ROBOT ARM SETUP & MAINTENANCE" for operation method.
If it comes back, contact your service provider.
C128n
(n indicates the
axis number (1
to 8).)
Error message Encoder serial format error
Cause Absolute position serial data format was incorrect.
Measures Check the detector cable connection and conductivity. Moreover, confirms carefully that the moving posi
-
tion of the robot has not deviated, and if it has deviated, sets up the origin again. Refer to separate
"Instruction Manual/ROBOT ARM SETUP & MAINTENANCE" for operation method.
If it comes back, contact your service provider.
C129n
(n indicates the
axis number (1
to 8).)
Error message Absolute position fluctuation
Cause The absolute position data fluctuated when the power was turned ON.
Measures Check whether the axis moved due to arm dropping or external force when the power was turned ON.
C130n
(n indicates the
axis number (1
to 8).)
Error message Servo AMP MP scale F/B error
Cause Excessive displacement was detected in the feedback amounts between the detector and the MP scale.
Measures Turn the power OFF and ON once. If it comes back, contact your service provider.
C131n
(n indicates the
axis number (1
to 8).)
Error message Servo AMP MP scale offset error
Cause Excessive displacement was detected in the feedback amounts between the detector and the MP scale.
Measures Turn the power OFF and ON once. If it comes back, contact your service provider.
C132n
(n indicates the
axis number (1
to 8).)
Error message Multi-rotation data error
Cause An error was detected in the position detector's multi-rotation data.
Measures When the power supply is turned on next time, the current position data may not be correctly detected.
Please re-turn on the controller power supply and set up the origin by ABS method. Refer to separate
"Instruction Manual/ROBOT ARM SETUP & MAINTENANCE" for ABS method.
(Even if this warning occurs, unless the controller is re-turned on, it can operate perfectly. However, when
re-turning on the controller, the position gap may occur. Please be sure to set up the origin by ABS
method after re-turning on the controller power supply. Current position data returns to the normal posi
-
tion before error occurrence.)
When it comes back, contact to the dealer.
C133n
(n indicates the
axis number (1
to 8).)
Error message Encoder battery voltage low
Cause The battery voltage supplied to the position detector dropped.
Measures Replace the backup battery. For more information about the replacement procedure, refer to the separate
volumes, "Instruction Manual/Robot Arm Setup to Maintenance".
Even if this warning occurs, unless the controller is re-turned on, it can operate perfectly. However, if the
battery consumption is intense, the Encoder ABS position data lost error (H112n) may occur when the
controller is re-turned on. It is recommended to replace the battery at the earliest opportunity.
C134n
(n indicates the
axis number (1
to 8).)
Error message Over-regeneration warning
Cause The regenerative level of the additional axis has risen to 80% or more.
Measures Check the regenerative capacity and parameters for the additional axis.
If it comes back, contact your service provider. Regeneration resistance may be disconnected.
C135n
(n indicates the
axis number (1
to 8).)
Error message Overload warning
Cause The overload level reached 95% or more.
Measures Check the load weight and the robot for collisions, etc.
H136n *
(n indicates the
axis number (1
to 8).)
Error message Absolute position counter error
Cause The counter of absolute position is illegal.
Measures Confirm whether the connection of encoder cable and the battery voltage of arm is falling.
C137n
(n indicates the
axis number (1
to 8).)
Error message Illegal parameter (servo)
Cause A parameter was set exceeding the setting range.
Measures The parameter has not been changed. Reset the correct value. If it comes back, contact your service
provider.
Error No. Error cause and measures
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