Motor Over Current Error

When error [4.1003] occurs, the motor current on one axis has exceeded its rating.

• The robot stops immediately, either during work or right after servo on.
• On some sites the servo does not turn on at all, and 4.1003 is raised on every attempt.
• The affected axis does not move, or starts to move and stops at once with servo off.
• From Param 1, you can identify which inverter (joint) the error occurred on.

[4.1003] Robot inverter category

Malfunction by the electric motor over-current.
Param 1: Inverter Number

• Excessive load or aggressive motion — a heavy tool, workpiece and jig together with fast acceleration, or blending near a joint limit, can push the current beyond the rating.
• External force on the axis — jig interference, a cable pulling on the arm, or continuous shock or vibration.
• Increased mechanical resistance — wear after long operation, or a dusty, wet or hot environment.
• A fault in the joint's electronics — especially when the error repeats on one axis with a normal load. This needs service.

• Check the tool mass, workpiece mass and center of gravity offset against the robot's specification and the payload setting.
• Check whether the robot works in a posture that puts a large moment on the axis, particularly near a joint limit.
• Check that the speed, acceleration and blend radius of the motion are not excessive, and whether the program, path or payload setting was changed recently. Try reducing them.
• Check that no external cable, hose or dress pack pulls on the arm, and that the robot does not interfere with a jig.
• Note whether the error always occurs on the same axis and at the same point.

If the error continues with a normal load and program, or the axis is unusually hot, stiff or noisy, 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
• The payload setting and a photo of the tool
• The controller log exported right after the error

• 4.1031 Inverter Over Current Error (H/W)
• 4.1025 Position Following Error
• 2.9011 Collision has been detected