AL34 - Positive Soft Limit Over (+ Soft limit over - SOTP):
A command has caused the axis to exceed the positive soft limit defined by the parameters.

Actions to take:

    After resetting the alarm, move the axis away from the soft limit using jog mode.

AL35 - Negative Soft Limit Over (– Soft limit over - SOTM):
A command has caused the axis to exceed the negative soft limit defined by the parameters.

Actions to take:

    After resetting the alarm, move the axis away from the soft limit using jog mode.

AL36 - ABS Battery Cable Breakage (ABT):
The ABS battery has been disconnected while the power was off.

Actions to take:

    Ensure that the battery cable connector is securely connected and that the cable is not broken.

AL38 - Overrun (OVTR):
The axis has exceeded the stroke end limit in the forward direction.

Actions to take:

    Reset the alarm, then move the axis away from the limit using jog mode.

AL40 - Encoder Breakage (EREE):
The differential signal wire from the encoder has been broken.

Possible causes:

    [1] The encoder cable may be broken.
    [2] There may be a contact issue in the connector.

Actions to take:

    Check the encoder cable and fix any connection issues.

AL41 - Encoder Communication Error (ETER):
Communication with the encoder is not possible.

Possible causes:

    [1] The encoder cable may be broken.
    [2] There may be a contact issue in the connector.

Actions to take:

    Check the encoder cable and connector connections.

AL42 - Encoder Backup Error (EBACK):
The encoder battery voltage has dropped, and the absolute coordinates have been lost.

Possible causes:

    [1] The encoder battery voltage has dropped to 2.5 V or less.
    [2] The battery cable may be disconnected.
    [3] There may be a contact issue in the encoder cable connector.

Actions to take:

    Check the battery and cable connections, and replace the battery.

AL43 - Encoder Checksum Error (ECKER):
Checksum error. This alarm is not detected in 17-bit serial ABS encoders.

Actions to take:

    Check the encoder and contact the manufacturer if necessary.

AL44 - Encoder Battery Alarm (EBAL):
The encoder battery voltage has dropped to 3.1 V or less.

Actions to take:

    Replace the encoder battery.

AL45 - Encoder ABS Phase Error (EABSE):
A position data error has been detected in the encoder.

Actions to take:

    If this alarm occurs frequently, the encoder may be defective. Contact the manufacturer.

AL46 - Encoder Overspeed (EOSPD):
The encoder has detected a rotation speed of 6,000 r/min.

Possible causes:

    [1] An excessively large command may have been given.
    [2] Check the mechanical system.

Actions to take:

    Review the command value and check for any mechanical system issues.

AL47 - Encoder Interrupt Error (EWER):
There is a communication issue with the encoder. This alarm is not detected in 17-bit serial ABS encoders.

Actions to take:

    Check the encoder communication cables.

AL48 - Encoder Initialization Error (EINIT):
The encoder has detected an initialization error. This alarm is not detected in 17-bit serial ABS encoders.

Actions to take:

    Check the encoder initialization process, and contact the manufacturer if needed.

AL49 - Sensor Phase Error (PHSERR):
A phase error within one full turn of the sensor has been detected.

Possible causes:

    The feedback value from the motor sensor or external linear sensor may have shifted more than 45° in relation to the motor axis.

Actions to take:

    Check the feedback values from the sensor and correct any phase misalignment.