1Error list
Error no. H101n (n indicates the axis number (1 to 8).)
1-16
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 An abnormality may have occurred in the position detector cable connection.
Measures 1) Turn the power OFF and ON once. If it comes back, contact your service provider.
2) When instantaneous power failure errors occur simultaneously, turn on the power supply again.
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 Communication with the position detector was cut off.
Measures Confirms the signal cable of the machine cable and the locomotion-axis cable etc. If it comes back, contact
your service provider.
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.
CR800-R/CR800-Q: Check the connection between the robot CPU system and the controller.
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.
CR800-R/CR800-Q: Check the connection between the robot CPU system and the robot controller. And
when turning the power ON, turn on the switch of the robot controller, then of the
robot CPU.
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
amplifier 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 com. receive error
Cause Abnormality occurred in data reception from a servo amplifier
Measures Check the communication cable connection and conductivity
Error No. Error cause and measures
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