AOC-20s up/down error[Error Code:6016]

The following causes are possible.
• The lifting motor has a problem.
• The deviation of the installation position from the teaching result is causing the gripper to hit the vial.
• There is an obstacle in the path to the destination, which is interfering with the vial.
• A vial with dimensions different from those of the vial used for teaching is used.

Check and perform the following.
• Check whether the initialization process at power-on can be completed.
• Redo the teaching using the vial to be used for actual analysis.