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EMCY: 83#128621D633D81848

This is error code 8612 (see /diagnostics as well). Unfortunately, Schunk does not list the error codes in the manual (anymore..).

I quick web search revealed that this code is used by some vendors to indicate that the software limit was reached.

You might want to check these limits. Perhabs you have to calibrate/home the robot again (with the Schunk software). If in doubt, just contact Schunk.

(BTW, 3221 might mean undervoltage error)

EMCY: 83#128621D633D81848

This is error code 8612 (see /diagnostics as well). Unfortunately, Schunk does not list the error codes in the manual (anymore..).

I quick web search revealed that this code is used by some vendors to indicate that the software limit was reached.

You might want to check these limits. Perhabs Perhaps you have to calibrate/home the robot again (with the Schunk software). If in doubt, just contact Schunk.

(BTW, 3221 might mean undervoltage error)