Shibaura CA20-M10, Operating Manual, Page: 355 / 384

19
– 3
No. Error name Meaning/Cause Remedy State
ER26 Axis 1 encoder error The encoder signal line
has a disconnected
connector, broken wire,
bad contact, or faulty
encoder.
The setting of return to
origin speed or the
adjustment of return to
origin position are
incorrect.
Check if the encoder signal line
connector is connected securely and
if there is a bad contact or broken
wire in the cable.
Set return to origin speed or adjust
return to origin position.
*The error cannot be cleared by
CLEAR or a reset. The power must
be turned off and on again.
F-R-1
ER36 Axis 2 encoder error
ER46 Axis 3 encoder error
ER56 Axis 4 encoder error
ER27
Axis 1
home positioning error When the robot carrying
out home positioning,
even if it moves 20mm
in the state the origin
sensor is ON, the state
do not change. Check if the origin sensor connector
is connected securely and if there is
a bad contact or broken wire in the
cable.
Check if the origin sensor connector
breaks down. (Check if the origin
sensor is normally ON/OFF by
bringing close or keeping away the
slider to the origin manually.)
F-R-1
ER37 Axis 2
home positioning error
ER47 Axis 3
home positioning error
ER57 Axis 4
home positioning error
ER28 Axis 1
+ soft limit exceeded
(during execution) The designated
coordinate value has
exceeded the soft limit
positive value.
This was detected
during program
execution.
Check the soft limit positive value
and the program.
F-R-1
ER38 Axis 2
+ soft limit exceeded
(during execution)
ER48 Axis 3
+ soft limit exceeded
(during execution)
ER58 Axis 4
+ soft limit exceeded
(during execution)
ER29
Axis 1
- soft limit exceeded
(during execution) The designated
coordinate value has
exceeded the soft limit
negative value.
This was detected
during program
execution.
Check the soft limit negative value
and the program.
F-R-1
ER39 Axis 2
- soft limit exceeded
(during execution)
ER49 Axis 3
- soft limit exceeded
(during execution)
ER59 Axis 4
- soft limit exceeded
(during execution)
ER2A
Axis 1 overvoltage error The main power has
risen to an abnormally
high level (rise in power
supply voltage or
regenerative voltage). Check if the input voltage is within
+10% of the voltage setting, or the
transportable weight has been
exceeded.
F-R-1
ER3A Axis 2 overvoltage error
ER4A Axis 3 overvoltage error
ER5A Axis 4 overvoltage error
ER2B Axis 1
motor overheat error The temperature in the
encoder exceeds 90°C Check if the
acceleration/deceleration time is
normal, the transportable weight has
been exceeded, the robot has
contacted the mechanical stopper, or
the robot has contacted a foreign
F-R-1
ER3B Axis 2
motor overheat error
ER4B Axis 3
motor overheat error