Pray that you can find someone who can help you with such an old, old, old legacy Motoman robot. Unfortunately that Motoman robot was way before my time.
Push it off the loading doc. Seriously! This robot was discontinued in the 1980's. It's older than dirt! There are no more parts. Anyone who worked on them is dead or retired.
First you need manuals - thank the long retired Pcarbines for this post 8.5 yrs ago >>> yasnac RX system for MOTOMAN L106 pulse generator issues
Because you state "What should i do?" after getting the alarm instead of listing the things you tried related to the alarm, my guess is you don't have a lot of experience. I would read all the manuals & guides Pcarbines provided in the post above and follow the procedures found in them. If you have specific questions, then go ahead and ask but you may not specific answers.
Be aware there is very limited or no RX specific experience available anymore. Although I'm not dead or retired (yet), it's been about 27 yrs since I've worked on an RX anything and the L106 manipulator was worn out more than any robot I had seen up until then. Had to cannibalize less-worn parts from scrap arms just to get a few more months till a R-J2 replacement cell was setup.
