RJ2 S 420 İ W robot SRVO-050 alarm code. Please help me.

    I'm just trying for a week in robots. Before I read the installation manual reset everything and I did change the robot's batteries and re- installation. Step by step , I was able to fix all the alarm codes and signals to move the robot in the position to define all the joins. Robot calibration has to be made to work in Word position. I'm doing everything in the calibration section in the book and I would calibrate the individual robot. I'm just after a cold start from the beginning and yet it 's normal caliber or join or getting SRVO -050 alarm position in the word . I was dating method trial . I would be glad if you can help . Thank you .

    This is what the manual says:

    SRVO–050 SVAL1 CLALM alarm (Group : i Axis : j)
    (Explanation) The disturbance torque estimated by the servo software
    is abnormally high. (A collision has been detected.)
    (Action 1) Check that the robot has collided with anything. If it
    has, reset the robot and jog–feed it to recover from the
    collision.
    (Action 2) Check that the load weight is within the rating. If it
    is higher than the rating, reduce it to within the rating.
    (If the robot is used out of its usable range, the
    estimated disturbance torque becomes abnormally
    high, possibly resulting in this alarm being detected.)
    (Action 3) Check the phase voltage of the three–phase input
    power (200 VAC) to the servo amplifier. If it is 170
    VAC or lower, check the line voltage.
    (Action 4) Check motor power cables, replace if necessary.
    (Action 5) Replace the servo amplifier.

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