YASKAWA Motoman UP6 Instructions Manual page 526

AL-4310 (ENCODER OVERHEAT)
An alarm
occurs.
Turn OFF the control power supply
and wait 10 minutes.
Alarm?
Yes
Operate the encoder at 80°C or less.
Alarm?
Yes
Replace the motor (encoder).
Alarm?
Yes
Contact your Yaskawa
representative.
60
No
No
Continue normal operation.
The overheated encoder caused the alarm.
No
Continue normal operation.
The defective encoder caused the alarm.