Error 34317, 50204, 34316 IRB 120 Axis 5

I am having several errors related to 34317 and 34316, on my axis 5 of IRB 120, IRC5 unit.

How do i solve this issue?

I have checked the cables on Axis5, seems fine.

How do i check if the cables are really working fine, or any issue with my gearbox?

Do I have to grease the gearbox for IRB120, how do i grease the gearbox?

Thanks

just found out that axis 5 have slight vibration during movements, especially at low speed.