Error code: 151E

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APG Motor velocity deviation error

Detects, when accelerating/decelerating the motor, that it is being driven at an irregularly faster speed than the specified value.
Irregular load.
APG Motor Assy encoder failure.
APG Motor failure.
SUB Board is damaged.
APG Motor driver failure.

Replace the APG Motor Assy.
Replace the SUB-B Board.
Replace the Main Board.