Inverter Over Current Error (H/W) – Doosan Robotics

Symptoms

When error [4.1031] occurs, the current on one axis has exceeded the allowed range, either right after servo on or during operation.

Right after the brake is released or the servo is turned on, the axis moves slightly and the error is raised immediately.
During a repeated cycle such as palletizing or welding, the error repeats on the same axis.
It often occurs together with collision, position following, motor over-current or encoder errors.
When it repeats, the axis may become hot and servo on may no longer be possible.

[4.1031] Robot inverter category

Inverter Over Current Error (H/W)
Param 1: Inverter Number

Damage from a collision or excessive external force — the brake, reducer or motor of the joint is damaged and draws excessive current.
Wear from long service — in palletizing or welding cells, wear accumulates over years and over-current starts to appear on one axis.
A fault in the joint's electronics — the error reproduces immediately at servo on with no collision history.
Settings or wiring — wrong joint settings or a poor cable connection.

All of these need service. The checks below make the robot safe and collect the information needed.

Remove the tool and the workpiece if possible, and remove anything that may push on the robot — interfering objects, cable tension, jig interference.
If necessary, move the robot to a safe posture in recovery mode before turning the power back on.
Note which error codes appeared immediately before or with 4.1031.
Check whether the robot has collided, especially repeatedly or hard.
Do not keep retrying servo on if the error repeats — contact your distributor.

Robot model and serial number
Software version of the controller
The error code with its Param value, all codes shown with it, and the date and time
Collision history, and whether the axis drops when the brake is released or is unusually hot
The controller log exported right after the error