Fanuc SRVO Alarm Codes

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Fanuc SRVO Alarm Codes

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SRVO-001 SERVO Operator panel E-stop
Cause: The EMERGENCY STOP button on the operator panel or operation box was pressed.
Remedy:
1. Twist the operator panel EMERGENCY STOP button clockwise to release it, then press RESET.
2. If this alarm cannot be reset, refer to the Controller Maintenance Manual for more information.
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SRVO-002 SERVO Teach pendant E-stop
Cause: The EMERGENCY STOP button on the teach pendant was pressed.
Remedy:
1. Twist the teach pendant EMERGENCY STOP button clockwise to release it, then press RESET.
2. If this alarm cannot be reset, replace the teach pendant.
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SRVO-003 SERVO Deadman switch released
Cause: The deadman switch was not pressed when the teach pendant was enabled.
Remedy:
1. Press the deadman switch to release it, then press RESET. If the deadman switch is three position
switch type, press the deadman switch to middle position to release it, then press RESET.
2. If this alarm cannot be reset, replace the teach pendant.
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SRVO-004 SERVO Fence open
Cause: The safety door or fence is open.
Remedy:
1. Close the safety fence after checking that a worker is not inside the safe fence, then press
RESET.
2. If this alarm cannot be reset, Refer to the Controller Maintenance Manual for more information.
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SRVO-005 SERVO Robot overtravel
Cause: A hardware limit switch on an axis was tripped. Usually, the movement of the robot is
prevented from exceeding a limit beyond the maximum range of movement (software limits) for each
axis. However, when the robot is shipped, the overtravel state is set for transit.
Remedy:
1. Hold down the SHIFT key, and press RESET to reset the alarm.
2. Continue holding the SHIFT key, and jog the robot to bring all axes into the movable range.
3. If this alarm cannot be reset, refer to the Controller Maintenance Manual for more information.
NOTE: 1. The direction of jog of each axis is limited until the alarm is released. It cannot jog
to the direction where the axis moved when the alarm is occurred. 2. In the robot calibration
incomplete status, you can release the above note1 limitation with the overtravel release screen
[SYSTEM/ OT release].
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SRVO-006 SERVO Hand broken
Cause: A safety hand has broken. If no broken hand can be found, however, the most likely cause is
the HBK signal of a robot connection cable being at the 0 V level.
Remedy:
1. Hold down the SHIFT key, and press RESET to reset the alarm.
2. While holding down the SHIFT key, jog the tool to the workplace. Replace the safety hand
or check the safety joint cable. If the Hand broken signal is not in use, it can be disabled in
the system config screen / Hand broken setting. After these measures, hold down the SHIFT
key, and press RESET.
3. If this alarm cannot be reset, refer to the Controller Maintenance Manual for more information.
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SRVO-007 SERVO External emergency stops
Cause: The external EMERGENCY STOP button was pressed.
Remedy:
1. If you are using the external emergency stop, clear the source of the fault, and press RESET.
2. If this alarm cannot be reset, refer to the Controller Maintenance Manual for more information.
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SRVO-008 SERVO Brake fuse blown
Cause: The brake fuse is blown on the EMG Control PCB.
Remedy: Replace the fuse. Check the LED (FALM) on the printed circuit board for emergency stop
control to determine whether the fuse has blown.
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SRVO-009 SERVO Pneumatic pressure alarm
Cause: The pneumatic pressure alarm indicates the presence of a defect. If the pneumatic pressure
alarm is not detected, however, the most likely cause is the PPABN signal of a robot connection
cable being at the 0 V level.
Remedy:
1. Repair the pneumatic pressure or check the cable.
2. If the pneumatic pressure signal is not in use, it can be disabled in the system config screen.
3. If this alarm cannot be reset, refer to the Controller Maintenance Manual for more information.
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SRVO-010 SERVO Belt broken
Cause: The belt broken robot digital input is asserted.
Remedy:
1. If the belt is found to be defective in any way, repair it and then press RESET.
2. When the belt is found to be normal, signal RDI [7] in the robot connection cable
might be abnormal. Check the cable. Note: In the robot series whose system variable
$PARAM_GROUP.$BELT_ENABLE is TRUE, this alarm is detected.
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SRVO-011 SERVO TP released while enabled
Cause: The teach pendant attachment switch on the operator panel was operated while the teach
pendant was enabled.
Remedy: Reconnect the teach pendant cable to continue operation with the teach pendant disabled.
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SRVO-012 SERVO Power failure recovery
Cause: Normal power on (hot start).
Remedy: This is just a notification. You do not have to do anything for this warning message.
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SRVO-013 SYSTEM Srvo module config changed
Cause: Upon power-up with power restoration enabled (hot start), the configuration of the DSP
modules on the axis control printed circuit board and the multi-function printed circuit board has
been changed.
Remedy: Turn on the power in cold start mode.
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SRVO-014 SERVO Fan motor abnormal(%d),CPU STOP
Cause: A fan motor in the control unit is abnormal.
Remedy: Check the fan motors and fan motor connection cables. Replace any faulty fan motor(s).
Refer to the Controller Maintenance Manual for more information.
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SRVO-015 SERVO System over heat
Cause: The temperature of the control unit is higher than the specified value.
Remedy:
1. If the ambient temperature is higher than the specified temperature (45 deg.), provide ventilation
to reduce the ambient temperature to the specified value.
2. Check that the fans are operating normally. If not, check the fan motors and fan motor
connection cables. Replace any faulty fan motor(s) and/or cable(s).
3. If the thermostat on the main board is faulty, replace the main board. Be sure to save the all files
to memory card or other external media before you perform this operation.
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SRVO-016 SERVO Cooling water volume drop
Cause: Cooling water volume dropped.
Remedy: Document the events that led to the error, and contact your FANUC technical representative.
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SRVO-017 SERVO No robot internal mirror
Cause: No robot internal mirror.
Remedy: Document the events that led to the error, and contact your FANUC technical representative.
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SRVO-018 SERVO Brake abnormal
Cause: The brake current exceeded the specification.
Remedy: There is possibility that the robot connection cable might short. Refer to the Controller
Maintenance Manual for more information.
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SRVO-019 SERVO SVON input
Cause: On the terminal block on the printed circuit board of the operator panel, no connection is
established between signals *SVON1 and *SVON2. When an external switch is connected, it should
be checked.
Remedy: Establish a connection between *SVON1 and *SVON2.
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SRVO-020 SERVO SRDY off (TP)
Cause: The teach pendant cable is disconnected or a momentary break occurred in any one of the TP
emergency stop circuits: TP emergency stop, DEADMAN, or fence.
Remedy: Check the teach pendant cable and connections.
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SRVO-021 SERVO SRDY off (Group:%d Axis:%d)
Cause: The ready signal of the servo amplifier corresponding to the displayed group and axis was
turned off.
Remedy:
1. Refer to those cause/measures when the alarm history is confirmed and other alarms have
occurred at the same time.
2. If this alarm occurred after add axis or modification of axis’ setup, confirm whether a set content
is correct. If the mistake is found, modify it. Especially, confirm whether to find the mistake
in the hardware start axis number, the amplifier number, and the amplifier type. Note: In the
axis setting to the multi-axis amplifier (It is one amplifier that has more than two axes), set it as
an amplifier number different in each axis.
3. Confirm the setting of the machine lock for the multi group.
• Advance to measures 4 when all motion groups machine lock are released.
• Release the machine lock of the robot when the robot (six axis amplifier) is a machine lock.
Note: When six axis amplifier is made a machine lock, the amplifier subordinate to this
turns off and SRDY is turned off.
• In the multi axis amplifier case, set the machine lock the same value with the axes allocated
to this amplifier mutually. For instance, when G2-J1 and G3-J1 are allocated to a common
two-axis amplifier, the setting of the machine lock of G2 and G3 should be the same.
4. If this alarm cannot be reset, refer to the Controller Maintenance Manual for more information.
Note: There is a possibility when the specification of the teach pendant is not correct compared
with the controller. For instance, when the teach pendant of the RIA/CE specification is used
in the controller of non-RIA/CE specification, this alarm might occur. Connect the correct
teach pendant corresponding to the controller.
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SRVO-022 SERVO SRDY on (Group:%d Axis:%d)
Cause: SRDY was already on when an attempt was made to turn on the MCC with HRDY. (HRDY
is the signal sent from the host to the servo system to specify whether to turn the servo amplifier’s
MCC on or off. SRDY is the signal sent from the servo system to the host to indicate whether a
servo amplifier’s MCC is on or off.)
Remedy:
1. Replace the servo amplifier applicable to the alarm message.
2. Replace the servo card module or the auxiliary axis board applicable to the alarm message.
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SRVO-023 SERVO Stop error excess(G:%d A:%d)
Cause: When the robot stopped, the servo positional error exceeded a specified value
($PARAM_GROUP.$STOPERLIM). This alarm means that the robot cannot reach a taught point or
cannot keep a taught posture. Probable causes:
1. Overload
2. External force to the robot
3. Disconnection or misconnection of the motor power cable or brake cable
4. Incorrect setup for the robot which has 2 axis brake option
5. Insufficient torque by low voltage of power supply
6. Brake failure (includes mis-setting of brake number for auxiliary axis)
7. Aux. brake unit failure for aux. axis
8. Amplifier failure
9. Motor failure
10. Motor power cable or brake cable failure
Remedy:
1. Check whether the duty and applied load exceed the rating. If so, reduce the duty or applied load.
2. Check whether the robot is pushed or pulled by an external force. If so, remove the external
force to the robot or modify the taught point.
3. Check whether the power line of the robot connection cable or the cable in the mechanical
unit are down.
4. Check whether the motor power cable/connector and brake cable/connector are connected
correctly. Especially, check whether the power cable/connectors are not connected to other
motors.
5. Check whether the robot setup (setting of 2BK or 6BK) is correct, if the used robot has 2BK
option.
6. Measure the supplied voltage. Then, check whether the voltage is matched to the controller
specification.
7. Check whether the motor brake is released properly when RESET is pressed or the robot
moves. First of all, check whether the setting of brake number is correct when this alarm occurs
on an auxiliary axis.
8. When this alarm occurs on the auxiliary axis whose brake is controlled by the aux. brake
unit, check the fuse on the aux. brake unit.
9. If this alarm cannot be reset, refer to the Controller Maintenance Manual for more information.
About auxiliary axis, refer to the Auxiliary Axis Option Maintenance Manual.
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SRVO-024 SERVO Move error excess(G:%d A:%d)
Cause: When the robot moved, the servo positional error exceeded a specified value
($PARAM_GROUP.$MOVER_OFFST). This alarm means that the excessive path deviation occurs.
Probable cause: Same as described above (SRVO-023).
Remedy: Perform the same action as that described for the previous item (SRVO-023). However, it
does not relate to the brake option setting in this case.
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SRVO-025 SERVO Motn dt overflow (G:%d A:%d)
Cause: The motion command is too large.
Remedy:
1. Perform a Cold start
• Turn off the robot.
• On the teach pendant, press and hold the SHIFT and RESET keys.
• While still pressing the SHIFT and RESET keys, turn on the robot.
2. If the error is not cleared, document the events that led to the error and contact your FANUC
technical representative.
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SRVO-026 WARN Motor speed limit(G:%d A:%d)
Cause: An attempt was made to exceed the maximum rated motor speed
($PARAM_GROUP.$MOT_SPD_LIM). The motor speed is clamped to its maximum rated value.
Remedy: This is just a notification. However, you should attempt to eliminate this error and not
repeat the circumstances that led up to it.
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SRVO-027 WARN Robot not mastered(Group:%d)
Cause: An attempt was made to perform calibration, but mastering has not yet been completed.
Remedy: Perform mastering from the calibration screen [6 SYSTEM Master/Cal].
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SRVO-030 SERVO Brake on hold (Group:%d)
Cause: When the Brake On Hold function is enabled, this alarm is issued whenever a hold signal is
input.
Remedy:
1. This is just a notification. You do not have to do anything for this message.
2. If you do not use this function, disable [Brake On Hold] on the general item setting screen [6
SETUP General] and perform a power cycle.
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SRVO-031 SERVO User servo alarm (Group:%d)
Cause: A user servo alarm was issued. This alarm is occurred when system variable
$MCR_GRP[i].$SOFT_ALARM is set to TRUE.
Remedy: Confirm why $MCR_GRP[i].$SOFT_ALARM is set to to TRUE.
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SRVO-033 WARN Robot not calibrated(Grp:%d)
Cause: An attempt was made to set a reference point for quick mastering, but calibration has not
yet been completed.
Remedy: Perform calibration by following the procedure below.
1. Turn on the power.
2. Execute [CALIBRATION] from the calibration screen [6 SYSTEM Master/Cal].
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SRVO-034 WARN Ref pos not set (Group:%d)
Cause: An attempt was made to perform quick mastering, but a required reference point has not
yet been set.
Remedy: Set a reference point for simple mastering from the calibration screen.
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SRVO-035 WARN Joint speed limit(G:%d A:%d)
Cause: A value higher than the maximum axis speed ($PARAM_GROUP.$JNTVELLIM) was
specified. Each actual axis speed is tied to the maximum speed.
Remedy: Decrease the axis speed value to be within limit specified in
($PARAM_GROUP.$JNTVELLIM).
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SRVO-036 SERVO Inpos time over (G:%d A:%d)
Cause: The in-position monitor time ($PARAM_GROUP.$IMPOS_TIME) has elapsed, but the robot
cannot reach a taught point within the specified in-position ($PARAM_GROUP.$STOPTOL).
Remedy: Perform the same action as that described for SRVO-023 (Stop error excess).
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SRVO-037 SERVO IMSTP input (Group:%d)
Cause: The *IMSTP signal, which is a peripheral device I/O signal, is OFF.
Remedy: Turn on the *IMSTP signal.
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SRVO-038 SERVO Pulse mismatch (G:%d A:%d)
Cause: A pulse count detected at power-on differs from one detected at power-off. This could be
due to the following:
1. File (SYSMAST.SV) that saved in the state at an axis position different from a present axis
position was loaded.
2. The software brake setting is incorrect.
3. A incorrect brake type was set to the robot with two-axis brake option.
4. File (SYSMAST.SV) that saved with other robots was loaded.
5. The axis position was changed with a brake release unit while the controller power is off.
6. The axis fell while the controller power is off due to the brake trouble.
Remedy:
1. Refer SRVO-222 when this error occurs with SRVO-222.
2. For the above cause 2 and 3, confirm the setup or brake type setting and correct setting. For
the above cause 4, re-load SYSMAST.SV of the robot. Afterwards, PULSE RESET operation
should be done. There are the following two methods.
• Method 1: Move the cursor to $MCR.$SPC_RESET on the system variable screen, and
select F4 TRUE. It becomes TRUE momentarily, it writes in FALSE at once. Then push the
reset button.
• Method 2: F3 RES_PCA is pushed on the MASTER/CAL screen, and select F4 YES. Then
push the alarm release button. Note) The MASTER/CAL screen is not usually displayed.
The worker who has the operation qualification does. Check whether the robot position on
Teach Pendant is correct. If incorrect, re-mastering is required.
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SRVO-039 SERVO Motor speed excess(G:%d A:%d)
Cause: CMC cannot work because the calculated motor speed exceeded the specification.
Remedy: Reduce the motion speed or disable CMC.
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SRVO-040 WARN Mastered at mark pos(G:%d)
Cause: Zero position master is done with mark position (not with zero position).
Remedy: This message is only for S-420iR. S-420iR has the mark at non-zero position for J2 and
J3. So Zero position master is not done with zero pos for S-420iS. Confirm the position of each
axis to be at mark position. If the robot is not S-420iR, $scr_grp.$robot_model may be wrong.
Set correct $scr_grp.$robot_model.
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SRVO-041 SERVO MOFAL alarm (Grp:%d Ax:%d)
Cause: A value of the internal motion command is too big.
Remedy: Document the events that led to the error, and contact your FANUC technical representative.
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SRVO-042 SERVO MCAL alarm(Group:%d Axis:%d)
Cause: This alarm means that the contacts of the magnetic contactor have stuck together. The alarm
condition occurs if the magnetic contactor is already on when an attempt is made to turn it on. The
alarm condition is detected between the time the contact sticking occurs, and the time an attempt
is made to turn it on.
Remedy:
1. Check the magnetic contactor, and replace it if necessary.
2. If the contacts of the magnetic contactor have stuck to each other, turn off the circuit breaker. If
the power is switched off without turning off the circuit breaker, the servo amplifier might get
damaged, because the stuck contacts keep 3-phase 200 VAC applied to the servo amplifier.
3. Replace the EStop unit.
4. Replace the servo amplifier.
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SRVO-043 SERVO DCAL alarm(Group:%d Axis:%d)
Cause: The energy produced by regenerative discharge is excessive. As a result, all the generated
energy cannot be dissipated as heat.
Remedy:
1. This alarm may occur if the axis is subjected to frequent acceleration/deceleration or if the axis
is vertical and generates a large amount of regenerative energy. If this alarm has occurred,
relax the conditions.
2. If this alarm cannot be reset, refer to the Controller Maintenance Manual for more information.
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SRVO-044 SERVO HVAL alarm(Group:%d Axis:%d)
Cause: The DC voltage (DC link voltage) of the main circuit power supply is abnormally high.
Remedy: Refer to the Controller Maintenance Manual.
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SRVO-045 SERVO HCAL alarm(Group:%d Axis:%d)
Cause: An excessively high current flowed through the main circuit of the servo amplifier.
Remedy: Turn off the controller power, and disconnect the power cable from the servo amplifier
indicated by the alarm message. Also disconnect the brake cable to avoid the axis falling unexpectedly.
1. In the above condition, supply controller power again and check if this alarm occurs again. If
this alarm occurs again, replace the servo amplifier.
2. About the power cable, check the insulation of their U, V, W and the GND lines each other. If
there is a short-circuit, replace the power cable.
3. About the power cable, measure the resistance between their U and V,V and W and W and U
with an ohmmeter that has a very low resistance range. If the resistances at the three places are
different from each other, the motor, the power cable is defective. Check each item in detail and
replace it if necessary. Refer to the Controller Maintenance Manual for more information.
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SRVO-046 SERVO OVC alarm (Group:%d Axis:%d)
Cause: The root-mean-square current value which is calculated internally by the servo system
exceeds the maximum permissible value. This alarm is issued to protect the motor and amplifier from
damage of thermal destruction. Probable cause:
1. Overload
2. External force to the robot
3. Disconnection of the brake cable
4. Insufficient torque by low voltage of power supply
5. Brake failure (includes mis-setting of brake number for auxiliary axis)
6. Aux. brake unit failure for aux. axis
7. Amplifier failure
8. Motor failure
9. Motor power cable or brake cable failure
Remedy:
1. Check whether the duty and applied load exceed the rating. If so, reduce the duty or applied load.
2. Check whether the robot is pushed or pulled by external force. If so, remove the external
force to the robot or modify the taught point.
3. Check whether the brake cable/connector are connected correctly.
4. Measure the supplied voltage. Then, check whether the voltage is matched to the controller
specification.
5. Check whether the motor brake is released properly when Reset or the robot moves. First of all,
check whether the setting of brake number is correct when this alarm occurs on auxiliary axis.
6. When this alarm occurs on the auxiliary axis which brake is controlled by the aux. brake
unit, check the fuse on the aux. brake unit.
7. If this alarm cannot be reset, the troubles of related parts are thought. Refer to the Controller
Maintenance Manual for more information. About auxiliary axis, refer to the Auxiliary Axis
Option Maintenance Manual.
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SRVO-047 SERVO LVAL alarm(Group:%d Axis:%d)
Cause: The control power supply voltage to servo amplifier is excessively low.
Remedy: There is possibly trouble with the servo amplifier and/or the power supply unit. Refer to the
Controller Maintenance Manual for more information.
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SRVO-048 SERVO MOH alarm (Group:%d Axis:%d)
Cause: Never occurs on R-Model J.
Remedy: None applicable.
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SRVO-049 SERVO OHAL1 alarm (Grp:%d Ax:%d)
Cause: The thermostat in the transfer worked. Alternatively, the fuse in the servo amplifier has blown.
Remedy: Refer to the Controller Maintenance Manual.
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SRVO-050 SERVO Collision Detect alarm (G:%d A:%d)
Cause: A collision was detected. (An excessively large disturbance torque was estimated by the
servo software.) Probable causes are:
1. Collision (Tip stick) / External force to the robot
2. Overload / Heavy acceleration
3. Increasing of the friction by low temperature
4. Insufficient torque by low voltage of power supply
5. Brake failure (includes mis-setting of brake number for auxiliary axis)
6. Aux. brake unit failure for aux. axis
7. Amplifier failure
8. Emergency stop unit failure
9. Motor failure
10. Motor power cable or brake cable failure
11. Reducer failure
Remedy:
1. Check whether the robot has collided with an object. To release this alarm, press and hold the
SHIFT and RESET keys. Release only RESET key. Still pressing the SHIFT key, and press any
jog key to the axis away from the collision.
2. Check whether the payload (mass, center of gravity, and inertia) are set correctly.
3. Check whether the applied load exceed the rating. If so, reduce the applied load. If you use the
ACC override more than 100, please reduce the value of ACC override. Allowable disturbance
threshold level can be changed from STATUS/Axis/Disturb screen.
4. If this alarm occurs when the robot is used after long time interval or when the temperature is
very low, run the robot with low speed for a while before running with normal speed.
5. Check whether the motor power cable/connector and brake cable/connector are connected
correctly. Especially, check whether the power cable/connector are not connected to other
motors.
6. Measure the supplied voltage. Then, check whether the voltage is matched to the controller
specification.
7. Check whether the motor brake is released properly when RESET is pressed or the robot
moves. First of all, check whether the setting of brake number is correct when this alarm
occurs on auxiliary axis.
8. When this alarm occurs on the auxiliary axis which brake is controlled by the aux. brake
unit, check the fuse on the aux. brake unit.
9. There might be a failure with the following parts. Replace it or contact your FANUC technical
representative.
• Aux. brake unit (if it is used.)
• Servo amplifier
• Servo motor
• Robot connection cable (power/brake line)
• Cable in the mechanical unit (power/brake line)
• Reducer
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SRVO-051 SERVO CUER alarm(Group:%d Axis:%d)
Cause: The offset of the current feedback value is excessively large. Current detection circuit failure
is in the amplifier.
Remedy: Replace the servo amplifier.
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SRVO-053 WARN Disturbance excess(G:%d A:%d)
Cause: Disturbance estimated in the software exceeds the threshold value. There is a possibility that
SRVO-050 occurs when the robot runs leaving this warning.
Remedy:
1. Check whether the payload (mass, center of gravity, and inertia) are set correctly.
2. Check whether the applied load exceed the rating. If so, reduce the applied load.
3. If this alarm occurs when the robot is used after long time interval or when the temperature is
very low, run the robot with low speed for a while before running with normal speed.
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SRVO-054 SYSTEM DSM memory error (DSM:%d)
Cause: An access to the servo module memory failed. Note: Before you continue to the next step,
perform a complete controller backup to save all of your programs and settings from memory for
this robot. After you complete the next step, restore the saved data to the new main board if the
memory has been lost. Otherwise, you could injure personnel, damage equipment, or lose data.
Refer to the application-specific Setup and Operations Manual for information on how to back up
controller memory.
Remedy: Replace the axis control card on the main board.
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SRVO-055 SERVO FSSB com error 1 (G:%d A:%d)
Cause: A communication error has occurred between the main board and the servo amplifier. (from
main board to servo amplifier.)
Remedy: Refer to the Controller Maintenance Manual. About auxiliary axis, refer to the Auxiliary
Axis Option Maintenance Manual.
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SRVO-056 SERVO FSSB com error 2 (G:%d A:%d)
Cause: A communication error has occurred between the main board and servo amplifier. (from
servo amplifier to main board.)
Remedy: Refer to the Controller Maintenance Manual. About auxiliary axis, refer to the Auxiliary
Axis Option Maintenance Manual.
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SRVO-057 SERVO FSSB disconnect (G:%d A:%d)
Cause: Communication was interrupted between the main board and the servo amplifier.
Remedy:
1. Check whether fuse F3 in the power supply unit has blown.
2. Check whether fuse FS1 in the servo amplifier has blown.
3. Check the communication cable (optical fiber) between the main board and servo amplifier.
Replace it if it is faulty. Note: Before executing the next step, perform a complete controller
backup to save all of your programs and settings. Refer to the Application-specific Setup and
Operations Manual for more information.
4. Replace the axis control card on the main board.
5. Replace the servo amplifier.
6. Check the robot connection cable RP1 (+5V ground fault).
7. Replace the main board.
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SRVO-058 SYSTEM FSSB %d init error (%d)
Cause: FSSB initializing is failed.
Remedy: Refer to the Controller Maintenance Manual. Note: Need power cycle to release this alarm.
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SRVO-059 SYSTEM Servo amp init error
Cause: Servo amplifier initializing has failed.
Remedy: Check the servo amplifier and its wiring. Refer to the Controller Maintenance Manual for
more information. Note: Perform a power cycle to release this alarm.
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SRVO-060 SYSTEM FSSB 2 init error
Cause: Communication between the auxiliary axis board and servo amplifier was interrupted.
Remedy:
1. Check whether the optical cable between the auxiliary axis board and servo amplifier is
connected securely.
2. Replace the auxiliary axis board.
3. Replace the servo amplifier. Before executing the following, perform a complete controller
back-up to save all your programs and settings.
4. Replace the main board.
5. Replace the backplane. Note: Perform a power cycle to release this alarm.
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SRVO-061 SERVO CKAL alarm(Group:%d Axis:%d)
Cause: The clock for the rotation counter in the pulse coder is abnormal.
Remedy: If this alarm occurs along with a SRVO-068 DTERR, SRVO-069 CRCERR, or SRVO-070
STBERR, disregard this alarm and refer to the other three alarm remedies. Replace the pulse coder or
motor and master the robot.
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SRVO-062 SERVO BZAL alarm(Group:%d Axis:%d)
Cause: This alarm is issued when the battery for backing up the absolute position data of the pulse
coder is not connected or is empty. The battery cable inside the robot might have become disconnected.
Remedy: Correct the cause of the alarm, then turn on the power again after doing PULSE RESET
operation. Mastering is required. There are the following two methods for PULSE RESET.
• Method 1: Move the cursor to $MCR.$SPC_RESET on the system variable screen, and select F4
TRUE. It becomes TRUE momentarily, it writes in FALSE at once. Then push the reset button.
• Method 2: F3 RES_PCA is pushed on the MASTER/CAL screen, and select F4 YES. Then press
the alarm release button. Note) The MASTER/CAL screen is not usually displayed.
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SRVO-063 SERVO RCAL alarm(Group:%d Axis:%d)
Cause: The built-in rotation counter on the pulse coder is abnormal.
Remedy: 1. Eliminate the cause of the alarm. Set the system variable $MCR.$SPC_RESET to
TRUE, and turn the power off and then on again. Master the robot. 2. Replace the pulse coder. Master
the robot. NOTE: The RCAL alarm might be displayed when any of the SERVO-068 DTERR,
SERVO-069 CRCERR, or SERVO-070 STBERR alarms is raised. In this case, however, this alarm
can be safely ignored.
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SRVO-064 SERVO PHAL alarm(Group:%d Axis:%d)
Cause: This alarm is issued when the phase of a pulse signal generated by the pulse coder is abnormal.
Remedy: If this alarm occurs along with a SRVO-068 DTERR, SRVO-069 CRCERR, or SRVO-070
STBERR, disregard this alarm and refer to the other three alarm remedies. Replace the pulse coder.
After replacing, perform mastering.
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SRVO-065 WARN BLAL alarm(Group:%d Axis:%d)
Cause: The battery voltage for the pulse coder has dropped below the allowable minimum.
Remedy: Replace the battery. Note: When this alarm is issued, immediately replace the battery while
the system power is turned on. If the BZAL alarm is issued because the battery is not replaced in
time, position data will be lost, thus necessitating robot mastering.
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SRVO-066 SERVO CSAL alarm(Group:%d Axis:%d)
Cause: The pulse coder ROM checksum data is abnormal.
Remedy: If this alarm occurs along with a SRVO-068 DTERR, SRVO-069 CRCERR, or SRVO-070
STBERR, disregard this alarm and refer to the other three alarm remedies. Replace the pulse coder or
motor and master the robot.
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SRVO-067 SERVO OHAL2 alarm (Grp:%d Ax:%d)
Cause: The temperature inside the pulse coder has become too high, causing the built-in thermostat
to actuate.
Remedy:
1. Check the operating conditions of the robot. If any of the rating specified for the robot, such as
its rated duty cycle or load, are exceeded, modify the use of the robot such that the ratings are
not exceeded.
2. If this alarm is issued, even when the power is turned on and the motor has not overheated,
replace the motor.
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SRVO-068 SERVO DTERR alarm (Grp:%d Ax:%d)
Cause: A request signal was sent to the serial pulse coder, but no serial data was returned.
Remedy: Refer to the SRVO-070 Remedy.
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SRVO-069 SERVO CRCERR alarm (Grp:%d Ax:%d)
Cause: Serial data changed during transfer.
Remedy: Refer to the SRVO-070 Remedy.
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SRVO-070 SERVO STBERR alarm (Grp:%d Ax:%d)
Cause: A serial data start bit or stop bit error occurred.
Remedy:
1. Check the connection of the cable between the pulse coder and servo amplifier. (If the alarm
is occurred at robot axes, check the connection of the robot interconnection cable (for the
pulsecoder)).
2. Check the shielding of the above cable is connected securely to the grounding plate.
3. Replace the pulse coder.
4. Replace the servo amplifier.
5. Replace the robot interconnection cable (for the pulse coder).
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SRVO-071 SERVO SPHAL alarm (Grp:%d Ax:%d)
Cause: The excessively large feedback speed was detected.
Remedy:
1. This alarm does not indicate the main cause of the problem if issued together with the PHAL
alarm (SRVO-064).
2. It might be mis-detection by the noise. Check whether the ground/shield is connected correctly.
If possible, enhance the ground/shield.
3. Replace the pulse coder of the motor. Mastering is required.
4. Replace the servo amplifier
5. Replace the robot connection cable
6. Replace the cable in the mechanical unit
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SRVO-072 SERVO PMAL alarm(Group:%d Axis:%d)
Cause: The pulse coder might be faulty.
Remedy: Replace the pulse coder, then perform mastering.
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SRVO-073 SERVO CMAL alarm(Group:%d Axis:%d)
Cause: The pulse coder may be faulty, or noise may be causing the pulse coder to malfunction.
Remedy:
1. Improve the shielding.
2. Replace the pulse coder, then perform mastering.
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SRVO-074 SERVO LDAL alarm(Group:%d Axis:%d)
Cause: The LED on the pulse coder has become disconnected.
Remedy: Replace the pulse coder, then perform mastering.
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SRVO-075 WARN Pulse not established(G:%d A:%d)
Cause: The absolute position of the pulse coder has not yet been established. This alarm appears
normally after BZAL or CMAL.
Remedy: Reset the alarm, and jog the axis on which the alarm has occurred until the same alarm does
not occur again. (Jog one motor revolution). This alarm must be cleared before mastering.
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SRVO-076 SERVO Tip Stick Detection(G:%d A:%d)
Cause: An excessive disturbance was calculated in the servo software at the beginning of motion.
(An abnormal load was detected. The cause might be welding.)
Remedy: Perform the same action as that described for SRVO-050 (CALM alarm). Note: The
threshold level for the tip stick detection cannot be changed from STATUS/Axis/Disturb screen.
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SRVO-077 SERVO Dynamic brake alarm(G:%d A:%d)
Cause: The line tracking pulse count overflowed.
Remedy: Contact your FANUC Robotics technical representative.
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SRVO-078 SERVO Servo param update(G:%d A:%d)
Cause: The servo parameter has been updated.
Remedy: Press RESET and continue.
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SRVO-079 SERVO Stroke exceeded during press(G:%d A:%d)
Cause: The gun tip position during the pressuring operation (SPOT or PRESS_MOTN) exceeded the
stroke limit for the gun. The squeezing operation stopped because the gun axis had over-extended.
Remedy: Check the master position and close stroke limit for the gun. If these values are incorrect,
then update them. If these values are correct, then install new tips so that the gun can operate within
the stroke limits, during pressuring.
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SRVO-081 WARN EROFL alarm (Track enc:%d)
Cause: The pulse count for the line tracking encoder (incremental pulse coder) has overflowed.
Remedy:
1. Reduce the encoder speed (conveyor speed).
2. Replace the incremental pulse coder for the line tracking.
3. Replace the line tracking cable.
4. Replace the line tracking interface board.
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SRVO-082 WARN DAL alarm(Track encoder:%d)
Cause: The line tracking pulse coder has not been connected.
Remedy:
1. Check the connection cable at each end (the line tracking I/F board and the pulse coder)
2. Check whether the shielding of the connection cable is connected securely to the grounding
plate.
3. Replace the line tracking cable.
4. Replace the pulse coder.
5. Replace the line tracking interface board.
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SRVO-083 WARN CKAL alarm (Track enc:%d)
Cause: The clock for the rotation counter in the line tracking pulse coder is abnormal.
Remedy: Refer to the SRVO-061 remedy.
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SRVO-084 WARN BZAL alarm (Track enc:%d)
Cause: This alarm is issued when the battery for backing up the absolute position data for the pulse
coder is not connected.
Remedy: See the description for the SRVO-062 BZAL alarm.
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SRVO-085 WARN RCAL alarm (Track enc:%d)
Cause: The built-in rotation counter on the line tracking pulse coder is abnormal.
Remedy: Refer to SRVO-063.
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SRVO-086 WARN PHAL alarm (Track enc:%d)
Cause: This alarm is issued when the phase of a pulse signal generated by the pulse coder is abnormal.
Remedy: See the description for SRVO-064 PHAL alarm.
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SRVO-087 WARN BLAL alarm (Track enc:%d)
Cause: This alarm is issued when the battery voltage for backing up the absolute position data of the
pulse coder has dropped below the allowable minimum.
Remedy: See the description for SRVO-065 BLAL alarm.
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SRVO-088 WARN CSAL alarm (Track enc:%d)
Cause: The line tracking pulse coder ROM checksum data is abnormal.
Remedy: Refer to SRVO-066 remedy.
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SRVO-089 WARN OHAL2 alarm (Track enc:%d)
Cause: The motor has overheated.
Remedy: See the description for SRVO-067 OHAL2 alarm.
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SRVO-090 WARN DTERR alarm (Track enc:%d)
Cause: An error occurred during communication between the pulse coder and the line tracking
interface board.
Remedy:
1. Check the connection cable at each end (the line tracking I/F board and the pulse coder)
2. Check whether the shielding of the connection cable is connected securely to the grounding
plate.
3. Replace the line tracking cable.
4. Replace the pulse coder.
5. Replace the line tracking interface board.
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SRVO-091 WARN CRCERR alarm (Track enc:%d)
Cause: An error occurred during communication between the pulse coder and the line tracking
interface board.
Remedy:
1. Check the connection cable at each end (the line tracking I/F board and the pulse coder).
2. Check whether the shielding of the connection cable is connected securely to the grounding
plate.
3. Replace the line tracking cable.
4. Replace the pulse coder.
5. Replace the line tracking interface board.
________________________________________________________________
SRVO-092 WARN STBERR alarm (Track enc:%d)
Cause: An error occurred during communication between the pulse coder and the line tracking
interface board.
Remedy:
1. Check the connection cable at each end (the line tracking I/F board and the pulse coder).
2. Check whether the shielding of the connection cable is connected securely to the grounding
plate.
3. Replace the line tracking cable.
4. Replace the pulse coder.
5. Replace the line tracking interface board.
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SRVO-093 WARN SPHAL alarm (Track enc:%d)
Cause: An excessive speed was detected with the line tracking encoder.
Remedy:
1. This alarm does not indicate the main cause of the problem if issued together with the PHAL
alarm(SRVO-086). Refer to SRVO-086.
2. Reduce the encoder speed (conveyor speed).
3. Check whether the shield of the line tracking cable is connected to earth bar in the controller.
4. Replace the absolute pulse coder for the line tracking.
5. Replace the line tracking cable.
6. Replace the line tracking interface board.
________________________________________________________________
SRVO-094 WARN PMAL alarm (Track enc:%d)
Cause: The pulse coder might be faulty.
Remedy: See the description for SRVO-072 PMAL alarm.
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SRVO-095 WARN CMAL alarm (Track enc:%d)
Cause: It is likely that the pulse coder is abnormal or the pulse coder has malfunctioned due to noise.
Remedy:
1. Reinforce the earth of the flange of the motor.
2. Replace the pulse coder.
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SRVO-096 WARN LDAL alarm (Track enc:%d)
Cause: The LED on the pulse coder has become disconnected.
Remedy: See the description for SRVO-074 LDAL alarm.
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SRVO-097 WARN Pulse not established(Enc:%d)
Cause: The absolute position of the pulse coder has not yet been established.
Remedy: See the description for SRVO-075 Pulse not established.
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SRVO-101 SERVO Robot overtravel(Robot:%d)
Cause: A Robot overtravel limit switch has been pressed.
Remedy: Refer to SRVO-005.
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SRVO-102 SERVO Hand broken (Robot:%d)
Cause: The hand broken (*HBK) robot input is asserted.
Remedy: Refer to SRVO-006.
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SRVO-103 SERVO Air pressure alarm(Rbt:%d)
Cause: The pneumatic pressure (PPABN) robot input is asserted.
Remedy: Refer to SRVO-009.
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SRVO-105 SERVO Door open or E.Stop
Cause:
1. The controller door is opened or E.stop signals are detected for a short time.
2. The specification of the teach pendant is not correct compared with the controller.
Remedy:
1. Close the controller door, and press RESET.
2. Check the specification of the teach pendant is not correct compared with the controller. For
instance, the teach pendant of the RIA/CE specification is used in the controller of non-RIA/CE
specification, this alarm might occur. Connect the teach pendant corresponding to the controller.
3. 3. Refer to the Controller Maintenance Manual for more information.
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SRVO-106 SERVO Door open/E.Stop(Robot:%d)
Cause: The controller door has been opened, emergency stop signals have been detected for a short
time, or a hardware connection has been mis-wired.
Remedy: Close controller door and press RESET. If the reset is not effective, correct the hardware
connection.
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SRVO-107 SERVO Ext brake abnormal(Rbt:%d)
Cause: The FET current for brake of an extended axis (brake number 2 or greater) exceeded the
specification.
Remedy: Check the brake for zero or abnormally low impedance. Then check the brake cable. Then
check 200VAC. Then check the servo amplifier or emergency stop control PCB if brake ports are used.
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SRVO-108 SERVO Press RESET to enable robot
Cause: When the enable/disable switch is set to ‘Enable’, it is necessary to press RESET.
Remedy: To enable the robot, press RESET.
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SRVO-111 SERVO Softfloat time out(G:%d)
Cause: Follow-up time is over when softfloat is OFF. (When $SFLT_ERRTYP=0)
Remedy:
1. Check whether external force is not applied to the robot before the softfloat is turned on.
2. Check whether the robot does not move as posture greatly changes during softfloat.
3. If needed, make $SFLT_FUPTIM larger.
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SRVO-112 PAUSE Softfloat time out(G:%d)
Cause: Follow-up time is over when softfloat is OFF. (When $SFLT_ERRTYP=1)
Remedy: Perform the same action as that described for above item (SRVO-111).
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SRVO-113 SERVO Cart. error excess(G:%d %s)
Cause: While Cartesian Softfloat is being executed, the position error on the rectangular coordinates
becomes greater than the tolerance that is set by the user.
Remedy: Find and remove the cause of the position error becoming greater. Or, make the
tolerance larger, turn off and then turn on the controller. The tolerance is the value of the
following system variables. X direction [mm] : $PARAM_GROUP[].$CB_IX Y direction [mm] :
$PARAM_GROUP[].$CB_IY Z direction [mm] : $PARAM_GROUP[].$CB_IZ
________________________________________________________________
SRVO-114 SERVO Singularity Detected
Cause: A singularity was detected during robot motion.
Remedy: Re-teach the program points, use WJNT, or use JOINT MOTYPE.
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SRVO-115 SERVO Limit error (G:%d^2, A:%x^3 Hex)
Cause: The linear path passes outside of the axis limit.
Remedy: Re-teach program points, or use JOINT MOTYPE
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SRVO-116 SERVO Axis Limit Exceeded (G:%d A:%d)
Cause: One or more of the robot axes have exceeded an axis soft limit while executing SOFFLOAT.
Remedy: Jog the robot within the limits to resume. Adjust the program or process to keep robot
axes within limits, or increase the axis limits.
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SRVO-121 SERVO Excessive acc/dec time(G:%d)
Cause: Acceleration time is too long.
Remedy: Document the events that led to the error, and contact your FANUC technical representative.
________________________________________________________________
SRVO-122 SERVO Bad last ang(internal)(G:%d)
Cause: The last angle update request does not match the current angle.
Remedy: Document the events that led to the error, and contact your FANUC technical representative.
________________________________________________________________
SRVO-125 WARN Quick stop speed over (G:%d)
Cause: The quick stop speed is too high.
Remedy: Reduce the speed when a quick stop is executed.
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SRVO-126 SERVO Quick stop error (G:%d)
Cause: The program was over during the process of quick stop.
Remedy: Press RESET.
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SRVO-130 SERVO OHAL1(PSM) alarm (G:%d A:%d)
Cause: The servo amplifier (PMS) overheated.
Remedy: Refer to the maintenance manual.
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SRVO-131 SERVO LVAL(PSM) alarm(G:%d A:%d)
Cause: The control power supply voltage on the power supply module is abnormally low.
Remedy:
1. Check the input power supply.
2. Replace the power supply module.
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SRVO-132 SERVO HCAL(PSM) alarm(G:%d A:%d)
Cause: The current in the main power circuit of the servo amplifier exceeded specification.
Remedy: Refer to the maintenance manual.
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SRVO-133 PAUSE FSAL(PSM) alarm (G:%d A:%d)
Cause: The cooling fan for the Control circuit of the power supply module stopped.
Remedy:
1. Check the status of the cooling fan. And replace it if it was abnormal.
2. Replace the power supply module.
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SRVO-134 SERVO DCLVAL(PSM) alarm (G:%d A:%d)
Cause: The DC voltage (DC link voltage) of the main circuit power supply on the power supply
module is abnormally low.
Remedy: Check the phase voltage of the three-phase input to the power supply module. Refer to
the Mate Controller Maintenance Manual for more information.
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SRVO-135 WARN FSAL alarm (G:%d A:%d)
Cause: The cooling fan for the Control circuit stopped.
Remedy:
1. Replace the internal fan motor of the auxiliary servo amplifier that is indicated by the alarm
message.
2. Replace the servo amplifier that is indicated by the alarm message.
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SRVO-136 SERVO DCLVAL alarm (G:%d A:%d)
Cause: The servo amplifier DC current (DC link voltage) is abnormally low.
Remedy: The case of R-30iA Controller:
• This alarm occurred when robot is moving.
1. Check the input voltage to the controller is within the rated voltage and no phase is lack.
And check the setting of the transformer is correct.
2. It is possible that an instant disconnection of power source causes this alarm. Check
whether an instant disconnection occurred.
3. Replace the Estop unit.
4. Replace the servo amplifier.
• If this alarm occurred before the magnetic contactor is turned on :
5. Check whether the circuit breaker in the emergency stop unit is OFF. If it is OFF, check the
servo amplifier and the wiring between the servo amplifier and the emergency stop unit. If
anything is abnormal, replace it. Else turn on the breaker.
6. Check the input voltage to the controller is within the rated voltage and no phase is lack.
And check the setting of the transformer is correct.
7. Replace the Estop unit.
8. Replace the servo amplifier.
• In an auxiliary axis system and if this alarm occurred right after the EMERGENCY STOP button
was pressed, check whether the auxiliary axis unit is installed correctly.
• In the case of the Mate Controller, refer to the Mate Controller Maintenance Manual.
________________________________________________________________
SRVO-137 SERVO DAL alarm (G:%d A:%d)
Cause: DAL alarm of an amplifier.
Remedy: Refer to the maintenance manual.
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SRVO-138 SERVO SDAL alarm (G:%d A:%d)
Cause: A pulse coder signal error was detected by the software. The probable cause is noise or a
failure (disconnection) in the pulse coder internal circuit.
Remedy:
1. If a normal operation can be resumed by turning the controller power off and on again, it is
likely that the cause is noise. Enhance the shielding of the pulse coder cable.
2. If a normal operation cannot be resumed by cycle power, the pulse coder is defective. Replace
it, and perform mastering.
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SRVO-141 SERVO OHAL1(CNV) alarm (G:%d A:%d)
Cause: A servomotor’s built-in thermostat was actuated.
Remedy: Refer to SRVO-049.
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SRVO-142 SERVO OHAL1(INV) alarm (G:%d A:%d)
Cause: The servo amplifier overheated.
Remedy: If the robot is overloaded or the duty cycle exceeds specification, this alarm occurs. Check
the regenerative discharge transistor. Check the thermostat on the servo amplifier after the servo
amplifier has cooled. It should not be open. If the problem persists, replace the servo amplifier. Check
the controller cabinet fans for blocked filters; clean them if necessary.
________________________________________________________________
SRVO-143 SERVO PSFLAL(CNV) alarm (G:%d A:%d)
Cause: Input power applied to the amplifier has been lost.
Remedy: Check the connections and cables of the input power.
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SRVO-144 SERVO LVAL(INV) alarm (G:%d A:%d)
Cause: The DC voltage of the main circuit power supply is excessively low.
Remedy: Refer to SRVO-047.
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SRVO-145 SERVO LVAL(CNV-DC) alarm(G:%d A:%d)
Cause: This alarm indicates a problem with the back-up charge circuit for the amplifier.
Remedy: Refer to SRVO-147.
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SRVO-146 SERVO LVAL(INV-DC) alarm(G:%d A:%d)
Cause: The DC voltage of the main circuit power supply is too low.
Remedy: Check each interphase voltage of the three-phase voltage (200 VAC) applied to the servo
amplifier. If the applied voltage is found to be 170 VAC or less, check the input power supply voltage.
Replace the servo amplifier.
________________________________________________________________
SRVO-147 SERVO LVAL(DCLK) alarm (G:%d A:%d)
Cause: This alarm indicates a problem with the back-up charge circuit for the amplifier.
Remedy: 1. Check the cable between the servo amplifier (CN1) and the MCC. Replace it if necessary.
2. For a model using the B cabinet, check whether the transformer fuses (F1 and F3) have blown. 3.
Replace the printed circuit board for emergency stop control. 4. Replace the servo amplifier.
________________________________________________________________
SRVO-148 SERVO HCAL(CNV) alarm (G:%d A:%d)
Cause: The current in the main power circuit of the servo amplifier exceeded specification.
Remedy: Disconnect the motor power wires from the servo amplifier and turn on power. If an HCAL
occurs, replace the transistor module or servo amplifier. Measure the resistance between GND and U,
V, W individually on the cable terminals. If shorted, determine if the cable or motor is bad. Check the
resistance between U-V, V-W, and W-U using a measuring instrument sensitive enough to detect small
resistances at the cable terminations. If the resistances are the same, replace the servo amplifier. If the
resistances are different, determine if the cable or motor is bad. If the problem persists, replace the
SIF module on the axis control for the defective axis.
________________________________________________________________
SRVO-149 SERVO HCAL(INV) alarm (G:%d A:%d)
Cause: An excessively high current flowed through the main circuit of a servo amplifier.
Remedy: Refer to SRVO-045.
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SRVO-150 SERVO FSAL(CNV) alarm (G:%d A:%d)
Cause: The cooling fan for the control circuit stopped.
Remedy: Check the fan. Replace it if necessary.
________________________________________________________________
SRVO-151 SERVO FSAL(INV) alarm (G:%d A:%d)
Cause: The cooling fan for the control circuit stopped.
Remedy: Check or replace the fan.
________________________________________________________________
SRVO-152 SERVO IPMAL(INV) alarm (G:%d A:%d)
Cause: The IPM module has trouble.
Remedy: 1. The IPM might be overheated. Reset the emergency stop after approximately ten
minutes. Disconnect the power lines from the terminals on the amplifier, and check the insulation of
PE from U, V, and W. 2. If there are short circuits, disconnect the motor connector power lines and
check the insulation of PE from U, V, and W. 1) Replace the motor if U, V, and W short-circuit with
PE. 2) Replace the power lines if U, V, and W do not short-circuit with PE. 3. Noise on the actual
current (IR, IS) running in the amplifier module might cause this alarm. Remove this noise such as
with taking ground of sealed earth. 4. Replace the amplifier.
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SRVO-153 SERVO CHGAL(CNV) alarm (G:%d A:%d)
Cause: The main circuit could not be charged within the specified time.
Remedy:
1. A short circuit might have occurred in the DC link. Check the connection.
2. The charging current control resistor might be faulty. Replace the E-Stop unit.
3. Replace the servo amplifier.
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SRVO-154 SERVO HVAL(CNV-DC) alarm (G:%d A:%d)
Cause: The DC voltage of the main circuit power supply is abnormally high.
Remedy: Refer to SRVO-044.
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SRVO-155 SERVO DCAL(CNV) alarm (G:%d A:%d)
Cause: The energy produced by regenerative discharge is excessive.
Remedy: Refer to SRVO-043.
________________________________________________________________
SRVO-156 SERVO IPMAL alarm (G:%d A:%d)
Cause: Abnormally high current flowed through the main circuit of the servo amplifier.
Remedy: Refer to the remedy of SRVO-045.
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SRVO-157 SERVO CHGAL alarm (G:%d A:%d)
Cause: The charge of the capacitor of DC link voltage on the servo amplifier could not finish within
specified time.
Remedy: In the case of the R-30iA Controller:
1. Replace the emergency stop unit.
2. Replace the servo amplifier.
3. Replace the auxiliary axis amplifier if in auxiliary axis system.
In the case of Mate Controller: Refer to the Mate Controller Maintenance Manual.
________________________________________________________________
SRVO-160 SERVO Panel/External E-stop
Cause: The emergency stop button on the operator panel was pressed, or the external emergency
stop function was activated. EMGIN1 and EMGINC are not strapped to each other. Or, EMGIN2
and EMGINC are not strapped to each other.
Remedy: Release the emergency stop button. If the external emergency stop function has been
activated, remove the cause. If no cause can be found, and no jumper is installed between EMGIN1
and EMGINC or between EMGIN2 and EMGINC on the terminal block of the emergency stop
control printed circuit board, but cables are connected to the terminals, check the cables.
________________________________________________________________
SRVO-161 SERVO Fence open or Deadman SW
Cause: The teach pendant deadman switch is released or the fence circuit is open.
Remedy: Press teach pendant deadman switch or determine the cause of the fence and then press
RESET.
________________________________________________________________
SRVO-162 SERVO Deadman/Fence or Panel/External E-stop
Cause: The deadman switch is released, the fence circuit is open, the operator panel ESTOP button is
pressed, or the external ESTOP signal is received.
Remedy: Remove the cause then press RESET.
________________________________________________________________
SRVO-163 SYSTEM DSM hardware mismatch
Cause: Different DSM (Digital Servo Module) are mounted on the controller
Remedy: Change the DSM hardware to be same.
________________________________________________________________
SRVO-164 SYSTEM DSM/Servo param mismatch
Cause: The DSM (Digital Servo Module) type is mismatched to the servo parameter version.
Remedy: Change the current DSP-IV module to DSP_V or initialize the robot library again to
load the correct servo parameter file.
________________________________________________________________
SRVO-169 SERVO Ext.E-stop/SVOFF/ServoDisconnect
Cause: The external emergency stop signal or the servo disconnect signal or SVOFF signal is asserted.
Remedy:
1. Release the external emergency stop signal and press RESET.
2. If the servo disconnect signal or SVOFF signal is used, release it and press RESET.
________________________________________________________________
SRVO-171 WARN MotorSpd lim/DVC(G:%d A:%d)
Cause: The motor can not rotate as fast as the calculated speed required for the current motion.
Remedy: None.
________________________________________________________________
SRVO-172 WARN MotorSpd lim/DVC0(G:%d A:%d)
Cause: The motor cannot rotate as fast as the calculated speed required for the current motion.
Remedy: This is just a notification. You do not have to do anything for this warning message.
________________________________________________________________
SRVO-173 WARN MotorSpd lim/DVC1(G:%d A:%d)
Cause: The motor cannot rotate as fast as the calculated speed required for the current motion.
Remedy: This is just a notification. You do not have to do anything for this warning message.
________________________________________________________________
SRVO-174 WARN MotorAcc lim/DVC(G:%d A:%d)
Cause: The motor cannot accelerate as much as the calculated acceleration required for the current
motion.
Remedy: This is just a notification. You do not have to do anything for this warning message.
________________________________________________________________
SRVO-176 SERVO CJ/Illegal Mode %d,%d
Cause: An incorrect CJ mode was used.
Remedy: This is an internal motion error. Document the events that led to the error, and contact
your FANUC technical representative.
________________________________________________________________
SRVO-179 WARN Motor torque limit(G:%d A:%d)
Cause: The torque of the axis has exceeded the limit.
Remedy: None.
________________________________________________________________
SRVO-181 SERVO Mcmd input while estimating(G:%d)
Cause: The robot was going to move while identifying the payload.
Remedy: Press RESET. Be careful not to move the robot while identifying the payload.
________________________________________________________________
SRVO-182 PAUSE Needed init. has not been done
Cause: This is an error internal to the system. A system variable or internal work memory has
not been initialized normally.
Remedy:
1. Turn the power off and on again.
2. If the alarm is still issued, document the events that led to the error, and contact your FANUC
technical representative.
________________________________________________________________
SRVO-183 PAUSE ROBOT isn’t ready
Cause: The servo is off.
Remedy: Remove the factor that turned servo off, and press the RESET button.
________________________________________________________________
SRVO-184 PAUSE Other task is processing
Cause: The data area that this instruction tried to use had been locked by another task.
Remedy:
1. If this alarm is occurred when the Payload Estimation is restarted, execute the Payload
Estimation after it waits for a while.
2. Execute the Payload Estimation after power cycle.
3. If the alarm is still issued, document the events that led to the error, and contact your FANUC
technical representative.
________________________________________________________________
SRVO-185 PAUSE Data is for other group
Cause: This is an error internal to the system.
Remedy:
1. Execute the Payload Estimation after power cycle.
2. If the alarm is still issued, document the events that led to the error, and contact your FANUC
technical representative.
________________________________________________________________
SRVO-186 PAUSE Needed Data has not been got
Cause: This is an error internal to the system.
Remedy:
1. Execute the Payload Estimation after power cycle.
2. If the alarm is still issued document the events that led to the error, and contact your FANUC
technical representative.
________________________________________________________________
SRVO-187 PAUSE Need specfing Mass
Cause: Estimating the load information of this type requires specifying the mass of the load.
Remedy: Specify the mass of the load before Payload Estimation.
________________________________________________________________
SRVO-188 PAUSE Memory is lacking
Cause: The system could not allocate the enough memory area on the DRAM for Payload Estimation.
Remedy:
1. Execute the Payload Estimation after power cycle.
2. If the alarm is still issued, you need to update the memory size of DRAM. Document the events
that led to the error, and contact your FANUC technical representative.
________________________________________________________________
SRVO-191 SYSTEM Illegal Joint Speed (G:%d A:%d)
Cause: The motion command exceeded the specification.
Remedy: This is an internal motion error. Document the events that led to the error, and contact your
FANUC technical representative. Note: You need to cycle power to release this alarm.
________________________________________________________________
SRVO-192 SERVO Fence open/SVON input
Cause: The fence circuit is open or the SVON input circuit is open.
Remedy: Close the fence circuit or SVON input circuit, and then press RESET.
________________________________________________________________
SRVO-193 SERVO SVON input
Cause: The SVON input circuit is open.
Remedy: Close SVON input circuit, and then press RESET. Refer to the maintenance manual for
details.
________________________________________________________________
SRVO-194 SERVO Servo disconnect
Cause: A servo disconnect input signal is turned off.
Remedy:
1. If a servo disconnect switch is connected, release the switch, and then press RESET.
2. If this alarm cannot be reset, refer to the Controller Maintenance Manual for more information.
________________________________________________________________
SRVO-195 SERVO NTED/Servo disconnect
Cause: The Non Teacher Enabling Device is released or servo is disconnected.
Remedy: Press the Non Teacher Enabling Device or connect servo, and then press RESET. Refer to
the maintenance manual for details.
________________________________________________________________
SRVO-196 SYSTEM Fence open/SVON input (SVON abnormal)
Cause: The fence circuit is open or the SVON input circuit is open and mis-wiring on the SVON
is detected.
Remedy: Power off. Correct the wiring on SVON. Close the fence circuit or SVON input circuit,
and then press RESET.
________________________________________________________________
SRVO-197 SYSTEM SVON input (SVON abnormal)
Cause: The SVON input circuit is open and mis-wiring on SVON is detected.
Remedy: Power off. Correct the wiring on SVON. Close the SVON input circuit, and then press
RESET.
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SRVO-199 PAUSE Control Stop
Cause: A Controlled Stop has completed.
Remedy: After this alarm, a Fence open or SVOFF input alarm is detected. See the remedy of
those alarms for more information.
________________________________________________________________

SRVO-200 WARN Control box fan abnormal
Cause: The control box fan motor has failed.
Remedy: Check and/or replace the fan. Refer to the maintenance manual for details.
________________________________________________________________
SRVO-201 SERVO Panel E-stop or SVEMG abnormal
Cause: The EMERGENCY STOP button on the operator’s panel/operation box was pressed, but the
EMERGENCY STOP line was not disconnected.
Remedy:
1. Release the operator panel EMERGENCY STOP button, then press RESET.
2. When the operator panel EMERGENCY STOP button is pushed again, and this alarm
occurs again, refer to the Controller Maintenance Manual for more information. Note: This
alarm might occur when the emergency stop button is pushed slowly. In this case, the above
remedy 2 is unnecessary.
________________________________________________________________
SRVO-202 SERVO TP E-stop or SVEMG abnormal
Cause: The EMERGENCY STOP button on the Teach Pendant was pressed, but the EMERGENCY
STOP line was not disconnected.
Remedy:
1. Release the teach pendant EMERGENCY STOP button, then press RESET.
2. When the teach pendant EMERGENCY STOP button is pushed again, and this alarm occurs
again, refer to the Controller Maintenance Manual for more information. Note: This alarm
might occur when the emergency stop button is pushed slowly. In this case, the above remedy 2
is unnecessary.
________________________________________________________________
SRVO-204 SYSTEM External(SVEMG abnormal) E-stop
Cause: The external emergency stop push button was pressed, but the EMERGENCY STOP line
was not disconnected.
Remedy: Refer to the Controller Maintenance Manual for more information. Note: Need power
cycle to release this alarm.
________________________________________________________________
SRVO-205 SYSTEM Fence open(SVEMG abnormal)
Cause: The fence circuit was opened, but the EMERGENCY STOP line was not disconnected.
Remedy: Refer to the Controller Maintenance Manual for more information. Note: You need to cycle
power to release this alarm.
________________________________________________________________
SRVO-206 SYSTEM Deadman switch (SVEMG abnormal)
Cause: The teach pendant deadman switch was released while the teach pendant was enabled, but the
EMERGENCY STOP line was not disconnected.
Remedy: Refer to the Controller Maintenance Manual for more information. Note: Need power
cycle to release this alarm.
________________________________________________________________
SRVO-207 SERVO TP switch abnormal or Door open
Cause: The EMERGENCY STOP line has been disconnected although there is no e-stop factor.
Remedy:
1. Replace the teach pendant.
2. Replace the teach pendant cable.
3. Replace the operator’s panel/operation box.
4. Replace the Estop unit.
5. Replace the servo amplifier.
________________________________________________________________
SRVO-208 SERVO Extended axis brake abnormal
Cause: The FET current for the brake of an extended axis (brake number 2 or greater) exceeded
the specification.
Remedy: Check the brake for zero or abnormally low impedance. Then check the brake cable.
Then check 200VAC. Then check servo amplifier or emergency stop control PCB if brake ports are
used. Refer to the maintenance manual for details.
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SRVO-209 SERVO Robot-%d SVEMG abnormal
Cause: An abnormality of the emergency stop line of robot 2 was detected.
Remedy:
1. Replace the emergency stop unit of robot 2.
2. Replace the servo amplifier of robot 2.
3. Document the events that led to the error, and contact your FANUC technical representative.
________________________________________________________________
SRVO-210 SERVO EX_robot SVEMG abnormal
Cause: Mis-wiring of SVEMG signal on Extended robot is detected.
Remedy: Power off. Correct the wiring on SVEMG on controller of Extended robot. Close fence
circuit and then press reset.
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SRVO-211 SERVO TP OFF in T1,T2
Cause: The teach pendant was disabled while the mode switch was set in the T1 or T2 position and
robot 1 and 2 were disconnected. Alternatively, there is a failure in the hardware.
Remedy:
1. Set the teach pendant enable/disable switch to on, and press RESET.
2. Document the events that led to the error, and contact your FANUC technical representative.
________________________________________________________________
SRVO-212 SERVO Trans over heat
Cause: The fuse on Panel PCB is blown
Remedy: Replace fuse on 6 Panel PCB
________________________________________________________________
SRVO-213 SERVO Panel Board fuse blown
Cause: The fuse on the panel board has blown.
Remedy: Replace the fuse on the panel board. Refer to the Controller Maintenance Manual for
more information.
________________________________________________________________
SRVO-214 SERVO 6ch amplifier fuse blown(R:%d)
Cause: The fuse in the servo amplifier has blown.
Remedy: Replace the fuse on the servo amplifier. Refer to the Controller Maintenance Manual
for more information.
________________________________________________________________
SRVO-215 SERVO Brake Unit fuse blown(R:%d)
Cause: The fuse FUSE1 on the brake unit has blown.
Remedy: Replace this fuse after replacing the brake cable because it might be defective. (If this fuse
has blown, it may be caused by some defect of the brake cable.)
________________________________________________________________
SRVO-216 SERVO OVC(total) (%d)
Cause: The current flowing through the robot cable has exceeded its limit.
Remedy:
1. Slow the motion of the robot where possible. Check the robot operation conditions. If the
robot is used with a condition exceeding the duty or load weight robot rating, reduce the load
condition value to the specification range.
2. If this alarm cannot be reset, refer to the Controller Maintenance Manual for more information.
________________________________________________________________
SRVO-218 SERVO Ext.E-stop/ServoDisconnect
Cause: The external emergency stop signal or the servo disconnect signal is asserted.
Remedy:
1. Release the external emergency stop signal and press RESET.
2. If the servo disconnect signal is used, release it and press RESET.
________________________________________________________________
SRVO-220 SERVO SDI fuse blown
Cause: The fuse for SDI has blown.
Remedy: Replace the fuse on the main board or main board itself. Refer to the Mate Controller
Maintenance Manual for more information.
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SRVO-221 SERVO Lack of DSP (G:%d A:%d)
Cause: The DSP (servo control CPU) for this axis was not found, though it was specified in the
system variable $AXISORDER.
Remedy:
1. Check that the number of DSPs on the board for DSP is sufficient for the quantity specified
in $SCR_GRP[].$AXISORDER[].
2. Replace the board for the DSP with one having sufficient DSPs if necessary.
3. Alternatively, change the setting of $AXISORDER.
________________________________________________________________
SRVO-222 SERVO Lack of Amp (Amp:%d)
Cause: The servo amplifiers were not found at the power up sequence.
Remedy:
1. When any LED on the servo amplifier does not light with the power supply of the controller
turned on, the power is not supplied to the servo amplifier. Confirm whether there is neither
disconnecting nor loosening in each connector on the servo amplifier and the emergency stop
unit.
2. Turn off the power of the controller, disconnect the pulse coder cable JF1,JF2 from the servo
amplifier and turn on the power of the controller again. If this alarm dose not occur, the pulse
coder cable may have ground fault.(The LED of the servo amplifier may display blinking
‘-‘ in this case.)
3. Replace the servo amplifier for auxiliary axis.
4. Replace the 6-Axis servo amplifier.
5. Replace the optical fiber cable.
6. Replace the servo card or the auxiliary axis servo card.
________________________________________________________________
SRVO-223 SERVO DSP dry run (%d,%d)
Cause: A servo DSP initialization failure occurred and the software entered DSP dry run mode. The
first number indicates the cause of the failure. The second number is extra information.
Remedy: Perform an action according to the first number that is displayed in the alarm message.
1: This is a warning due to $scr.$startup_cnd=12. 2,3,4,7: Replace a servo card. 5,6: Invalid ATR
setting. Specified hardware start axis might be wrong. 8,10: FSSB init error occurs simultaneously.
Follow the remedy of FSSB init error. 9: There is no amplifier that is connected to the servo card.
Check the hardware connection and optical fiber cable. 11: Invalid axisorder setting. Non-existing
axis number is specified. Hardware start axis may be wrong or auxiliary axis board is necessary. 12:
Servo amp init error occurs simultaneously. Follow the remedy of servo amp init error.
________________________________________________________________
SRVO-230 SERVO Chain 1 abnormal %x,%x
Cause:
1. A failure occurred in chain 1 (+24V)/chain2(0V) of emergency stop circuit.
2. There is a possibility that the specification of the teach pendant is incorrect when occurring
immediately after turning on of the power supply. For instance, this might occur if the
teach pendant of non-RIA/CE specification is connected with the controller of the RIA/CE
specification.
Remedy:
1. In the above case 2, connect a correct teach pendant.
2. Confirm the history of the alarm on the Alarm Log screen. If occurring with either ‘Operator
panel E-stop’, ‘Teach pendant E-stop’ or ‘Deadman switch released’, the emergency stop button is
released, and it presses again. For deadman switch, the deadman switch is gripped once and
it released again. Chain abnormal state was released if occurring SRVO-236 ‘Chain failure is
repaired’. Release e-stop button, deadman and press reset button.
3. If this alarm cannot be reset, refer to the Controller Maintenance Manual for more information.
After these measures, the release operation of chain abnormal state is necessary.
a. Press the emergency stop button on the teach pendant or operator panel once and release it.
b. Press F4 ‘RES_1CH’ on the Alarm Active screen.
c. Press RESET.
________________________________________________________________
SRVO-231 SERVO Chain 2 abnormal %x,%x
Cause:
1. A failure occurred in chain 1 (+24V)/chain2(0V) of emergency stop circuit.
2. There is a possibility that the specification of the teach pendant is incorrect when occurring
immediately after turning on of the power supply. For instance, this might occur if the
teach pendant of non-RIA/CE specification is connected with the controller of the RIA/CE
specification.
Remedy:
1. In case of the above cause 2, connect a correct teach pendant.
2. Confirm the history of the alarm on the Alarm Log screen. If occurring with either ‘Operator
panel E-stop’, ‘Teach pendant E-stop’ or ‘Deadman switch released’, the emergency stop button is
released, and it presses again. For deadman switch, the deadman switch is gripped once and
it released again. Chain abnormal state was released if occurring SRVO-236 ‘Chain failure is
repaired’. Release e-stop button, deadman and press RESET.
3. If this alarm cannot be reset, refer to the Controller Maintenance Manual for more information.
After these measures, the release operation of chain abnormal state is necessary.
a. Press the emergency stop button on the teach pendant or operator panel once and release it.
b. Press F4 ‘RES_1CH’ on the Alarm Active screen.
c. Press RESET.
________________________________________________________________
SRVO-232 SERVO NTED input
Cause: The NTED (non-teacher enabling device) was detected.
Remedy:
1. Press the NTED (non-teacher enabling device), and then press the reset key.
2. If this alarm cannot be reset, refer to the Controller Maintenance Manual for more information.
________________________________________________________________
SRVO-233 SERVO TP OFF in T1,T2/Door open
Cause: The mode switch is set in the T1 or T2 position, and the teach pendant is disabled.
Alternatively, the controller door is open. There is also a failure in the hardware.
Remedy:
1. After setting the teach pendant enable/disable switch to on, close the controller door, and
press the reset key.
2. If this alarm cannot be reset, refer to the Controller Maintenance Manual for more information.
________________________________________________________________
SRVO-234 WARN Deadman switch released
Cause: The deadman switch on the teach pendant was released.
Remedy: None.
________________________________________________________________
SRVO-235 SERVO Short term Chain abnormal
Cause: A temporary chain failure was detected.
Remedy:
1. Press the e-stop button on the teach pendant or the operator panel again. If occurring SRVO-236
‘Chain failure is repaired’. Release e-stop button and Press RESET.
2. If this alarm cannot be reset, refer to the Controller Maintenance Manual for more information.
After these measures, the release operation of chain abnormal state is necessary.
a. The emergency stop button on the teach pendant or operator panel is pressed once, and
released.
b. F4 ‘RES_1CH’ is pressed on the Alarm Active screen.
c. The reset button is pressed.
________________________________________________________________
SRVO-236 WARN Chain failure is repaired
Cause: A chain failure was removed.
Remedy: When the system checked for the chain failure again, the chain failure had been removed.
Press RESET.
________________________________________________________________
SRVO-237 WARN Cannot reset chain failure
Cause: An attempt to reset the chain failure failed.
Remedy: Refer to the remedy of SRVO-230.
________________________________________________________________
SRVO-238 SERVO Chain 1 (SVON) abnormal
Cause: A single chain 1 (+24V) failure occurred when the SVON (Servo ON/OFF switch) input
was asserted.
Remedy: Repair the circuit of chain 1 (+24V) on the SVON hardware. Set CHAIN FAILURE
detection to TRUE on the SYSTEM/CONFIG screen. Press RESET on the teach pendant.
________________________________________________________________
SRVO-239 SERVO Chain 2 (SVON) abnormal
Cause: A single chain 2 (0V) failure occurred when a SVON (Servo ON/OFF switch) input was
asserted.
Remedy: Repair the circuit of the chain 2 (0V) on SVON the hardware. Set CHAIN FAILURE
detection to TRUE on the SYSTEM/CONFIG screen. Press RESET on the teach pendant.
________________________________________________________________
SRVO-240 SERVO Chain 1 (FENCE) abnormal
Cause: Although the fence circuit was disconnected, the emergency stop line was not disconnected.
The emergency stop circuit is faulty.
Remedy: A problem exists with either the panel board, the e-stop unit or other related parts. Refer to
the Controller Maintenance Manual for more information. After these measures, the release operation
of chain abnormal state is necessary.
1. Press the emergency stop button on the teach pendant or operator panel once and then release it.
2. Press F4 ‘RES_1CH’ on the Alarm Active screen.
3. Press the RESET button.
________________________________________________________________
SRVO-241 SERVO Chain 2 (FENCE) abnormal
Cause: Although the fence circuit was disconnected, the emergency stop line was not disconnected.
The emergency stop circuit is faulty.
Remedy: A problem exists with either the panel board, the e-stop unit or other related parts are
thought. Refer to the Controller Maintenance Manual for more information. After these measures, the
release operation of chain abnormal state is necessary.
1. Press the emergency stop button on the teach pendant or operator panel once and release it.
2. Press F4 ‘RES_1CH’ on the Alarm Active screen.
3. Press the RESET button.
________________________________________________________________
SRVO-242 SERVO Chain 1 (EXEMG) abnormal
Cause: Although the external emergency stop circuit was disconnected, the emergency stop line was
not disconnected. The emergency stop circuit is faulty.
Remedy: The panel board, the e-stop unit or other related parts might be faulty. Refer to the
Controller Maintenance Manual for more information. After measures, the release operation of
chain abnormal state is necessary. 1) The emergency stop button on the teach pendant or operator
panel is pressed once, and released. 2) F4 ‘RES_1CH’ is pressed on the Alarm Active screen. 3)
The reset button is pressed.
________________________________________________________________
SRVO-243 SERVO Chain 2 (EXEMG) abnormal
Cause: Although the external emergency stop circuit was disconnected, the emergency stop line was
not disconnected. The emergency stop circuit is faulty.
Remedy: The panel board, the e-stop unit or other related parts might be faulty. Refer to the
Controller Maintenance Manual for more information. After these measures, the release operation
of chain abnormal state is necessary.
1. The emergency stop button on the teach pendant or operator panel is pressed once, and released.
2. F4 ‘RES_1CH’ is pressed on the Alarm Active screen.
3. The reset button is pressed.
________________________________________________________________
SRVO-244 SERVO Chain 1 abnormal(Rbt:%d)
Cause: A single chain 1 (+24V) failure occurred.
Remedy: Repair the circuit of the chain 1 (+24V) on the hardware. Set CHAIN FAILURE detection
to TRUE on the SYSTEM/CONFIG screen. Press RESET on the teach pendant.
________________________________________________________________
SRVO-245 SERVO Chain 2 abnormal(Rbt:%d)
Cause: A single chain 2 (0V) failure occurred.
Remedy: Repair the circuit of the chain 2 (0V) on the hardware. Set CHAIN FAILURE detection to
TRUE on the SYSTEM/CONFIG screen. Press RESET on the teach pendant.
________________________________________________________________
SRVO-248 SERVO Deadman switch status abnormal
Cause: The status of two DIs of DEADMAN switch do not match.
Remedy:
1. Release both deadman switches at once. If SRVO-236 Chain failure is repaired occurred, there
is no hardware problem. This alarm could occur when deadman switch is pressed halfway.
2. When SRVO-236 does not occur, please replace hardware in following order. – Teach pendant
– Cable between teach pendant and panel board – Panel board – Cable between panel board
and main board
3. After measures, the release operation of chain abnormal state is necessary.
• The emergency stop button on the teach pendant or operator panel is pressed once, and
released.
• F4 ‘RES_1CH’ is pressed on the Alarm Active screen.
• The reset button is pressed.
________________________________________________________________
SRVO-250 SERVO SVEMG/MAINON1 abnormal
Cause: Status of MAINON1 signal is still OFF even if SVEMG is ON It is abnormal of E.STOP
circuit
Remedy: Repair the circuit of E.Stop hardware Power off/on again
________________________________________________________________
SRVO-251 SERVO DB relay abnormal(G:%d A:%d)
Cause: The dynamic brake relay in the amplifier is abnormal.
Remedy: Replace the amplifier.
________________________________________________________________
SRVO-252 SERVO Current detect abnl(G:%d A:%d)
Cause: The current detection circuit in the amplifier is abnormal.
Remedy: Replace the amplifier.
________________________________________________________________
SRVO-253 PAUSE Amp internal over heat(G:%d A:%d)
Cause: An amplifier internal overheat was detected.
Remedy: Check that the cooling fan is working properly, or replace the amplifier.
________________________________________________________________
SRVO-260 SERVO Chain 1 (NTED) abnormal
Cause: Although the NTED circuit was disconnected, the emergency stop line was not disconnected.
The emergency stop circuit is faulty.
Remedy: Refer to the remedy of SRVO-240.
________________________________________________________________
SRVO-261 SERVO Chain 2 (NTED) abnormal
Cause: Although the NTED circuit was disconnected, the emergency stop line was not disconnected.
The emergency stop circuit is faulty.
Remedy: Refer to the remedy of SRVO-240.
________________________________________________________________
SRVO-262 SERVO Chain 1 (SVDISC) abnormal
Cause: Although the SVDISC circuit was disconnected, the emergency stop line was not
disconnected. The emergency stop circuit is faulty.
Remedy: Refer to the remedy of SRVO-240.
________________________________________________________________
SRVO-263 SERVO Chain 2 (SVDISC) abnormal
Cause: Although the SVDISC circuit was disconnected, the emergency stop line was not
disconnected. The emergency stop circuit is faulty.
Remedy: Refer to the remedy of SRVO-240.
________________________________________________________________
SRVO-264 SYSTEM E.STOP circuit abnormal 1
Cause: The emergency stop unit is abnormal.
Remedy: There is a possibility of the connector loosening or the circuit faults in the emergency stop
unit. Refer to the Controller Maintenance Manual for more information. Note: You need to cycle
power to release this alarm.
________________________________________________________________
SRVO-265 SERVO E.STOP circuit abnormal 2
Cause: The emergency stop unit is abnormal.
Remedy: The emergency stop unit circuitry is faulty. Refer to the Controller Maintenance Manual
for more information.
________________________________________________________________
SRVO-266 SERVO FENCE1 status abnormal
Cause: The fence circuit is abnormal.
Remedy: There is miswiring of the FENCE signal. Refer to the Controller Maintenance Manual for
more information. After these measures, the release operation of chain abnormal state is necessary.
1. The emergency stop button on the teach pendant or operator panel is pressed once, and released.
2. F4 ‘RES_1CH’ is pressed on the Alarm Active screen.
3. The reset button is pressed.
________________________________________________________________
SRVO-267 SERVO FENCE2 status abnormal
Cause: The fence circuit is abnormal.
Remedy: There is miswiring of the FENCE signal. Refer to the Controller Maintenance Manual for
more information. After these measures, the release operation of chain abnormal state is necessary.
1. The emergency stop button on the teach pendant or operator panel is pressed once, and released.
2. F4 ‘RES_1CH’ is pressed on the Alarm Active screen.
3. The reset button is pressed.
________________________________________________________________
SRVO-268 SERVO SVOFF1 status abnormal
Cause: The SVOFF circuit is abnormal.
Remedy: There is miswiring of the SVOFF signal. Refer to the Controller Maintenance Manual for
more information. After these measures, the release operation of chain abnormal state is necessary.
1. The emergency stop button on the teach pendant or operator panel is pressed once, and released.
2. F4 ‘RES_1CH’ is pressed on the Alarm Active screen.
3. The reset button is pressed.
________________________________________________________________
SRVO-269 SERVO SVOFF2 status abnormal
Cause: The SVOFF circuit is abnormal.
Remedy: There are miswiring of the SVOFF signal. Refer to the Controller Maintenance Manual for
more information. After these measures, the release operation of chain abnormal state is necessary.
1. The emergency stop button on the teach pendant or operator panel is pressed once, and released.
2. F4 ‘RES_1CH’ is pressed on the Alarm Active screen.
3. The reset button is pressed.
________________________________________________________________
SRVO-270 SERVO EXEMG1 status abnormal
Cause: The EXEMG circuit is abnormal.
Remedy: The EXEMG signal is miswired. Refer to the Controller Maintenance Manual for more
information. After these measures, the release operation of chain abnormal state is necessary.
1. The emergency stop button on the teach pendant or operator panel is pressed once, and released.
2. F4 ‘RES_1CH’ is pressed on the Alarm Active screen.
3. The reset button is pressed.
________________________________________________________________
SRVO-271 SERVO EXEMG2 status abnormal
Cause: The EXEMG circuit is abnormal.
Remedy: The EXEMG signal is miswired. Refer to the Controller Maintenance Manual for more
information. After these measures, the release operation of chain abnormal state is necessary.
1. The emergency stop button on the teach pendant or operator panel is pressed once, and released.
2. F4 ‘RES_1CH’ is pressed on the Alarm Active screen.
3. The reset button is pressed.
________________________________________________________________
SRVO-272 SERVO SVDISC1 status abnormal
Cause: The SVDISC circuit is abnormal.
Remedy: The SVDISC signal is miswired. Refer to the Controller Maintenance Manual for more
information. After these measures, the release operation of chain abnormal state is necessary.
1. The emergency stop button on the teach pendant or operator panel is pressed once, and released.
2. F4 ‘RES_1CH’ is pressed on the Alarm Active screen.
3. The reset button is pressed.
________________________________________________________________
SRVO-273 SERVO SVDISC2 status abnormal
Cause: The SVDISC circuit is abnormal.
Remedy: The SVDISC signal is miswired. Refer to the Controller Maintenance Manual for more
information. After these measures, the release operation of chain abnormal state is necessary.
1. The emergency stop button on the teach pendant or operator panel is pressed once, and released.
2. F4 ‘RES_1CH’ is pressed on the Alarm Active screen.
3. The reset button is pressed.
________________________________________________________________
SRVO-274 SERVO NTED1 status abnormal
Cause: The NTED circuit is abnormal.
Remedy: The NTED signal is miswired. Refer to the Controller Maintenance Manual for more
information. After measures, the release operation of chain abnormal state is necessary.
1. The emergency stop button on the teach pendant or operator panel is pressed once, and released.
2. F4 ‘RES_1CH’ is pressed on the Alarm Active screen.
3. The reset button is pressed.
________________________________________________________________
SRVO-275 SERVO NTED2 status abnormal
Cause: The NTED circuit is abnormal.
Remedy: The NTED signal is miswired. Refer to the Controller Maintenance Manual for more
information. After these measures, the release operation of chain abnormal state is necessary.
1. The emergency stop button on the teach pendant or operator panel is pressed once, and released.
2. F4 ‘RES_1CH’ is pressed on the Alarm Active screen.
3. The reset button is pressed.
________________________________________________________________
SRVO-276 SERVO Disable on T2 mode
Cause: The robot cannot operate in T2 mode.
Remedy: Set the mode switch to the T1 or AUTO position.
________________________________________________________________
SRVO-277 SYSTEM Panel E-stop(SVEMG abnormal)
Cause: The EMERGENCY STOP button on the operator’s panel/operation box was pressed, but the
EMERGENCY STOP line was not disconnected.
Remedy:
1. Release the operator panel EMERGENCY STOP button, then cycle controller power again.
2. When the operator panel EMERGENCY STOP button is pushed again, and this alarm occurs
again, refer to the Controller Maintenance Manual for more information(SRVO-201). Note: 1.
Cycle power again to release this alarm. 2. This alarm might occur when the emergency stop
button is pushed too slowly. In this case, the above remedy 2 is unnecessary.
________________________________________________________________
SRVO-278 SYSTEM TP E-stop(SVEMG abnormal)
Cause: The EMERGENCY STOP button on the Teach Pendant was pressed, but the EMERGENCY
STOP line was not disconnected.
Remedy:
1. Release the TP EMERGENCY STOP button, then the controller power cycle again.
2. When the TP EMERGENCY STOP button is pushed again, and this alarm occurs again, refer to
the Controller Maintenance Manual for more information(SRVO-202). Note: 1. Cycle power to
release this alarm. 2. This alarm might occur when the emergency stop button is pushed slowly.
In this case, the above remedy 2 is unnecessary.
________________________________________________________________
SRVO-279 SYSTEM Circuit abnormal 3 (%d)
Cause: The Emergency stop circuit is abnormal.
Remedy:
1. Replace the Emergency Stop Unit.
2. Replace the Servo Amplifier.
Note: Cycle controller power to release this alarm.
________________________________________________________________
SRVO-280 SERVO SVOFF input
Cause: The SVOFF (servo off signal) was input.
Remedy:
1. Find out what caused the SVOFF to be input, and remove the cause. Press the RESET button.
2. If this alarm cannot be reset, refer to the Controller Maintenance Manual for more information.
________________________________________________________________
SRVO-281 SYSTEM SVOFF input(SVEMG abnormal)
Cause: When the SVOFF signal was asserted, an SVEMG error was detected. The emergency
stop circuit is faulty.
Remedy:If the RDY LED (green) is lit:
1. Check the switch and cable connected to 9 (EGS1) – 10 (EGS11) and 11 (EGS2) – 12 (EGS21)
on operator panel terminal TBOP4.
2. Replace the panel board.
3. Replace the EStop unit.
4. Replace the servo amplifier.
5. Replace the connection cable between the EStop unit and the panel board.
If the RDY LED (green) is not lit:
1. Replace the cable connecting between the main board (JRS11) and the panel board (JRS11).
2. Replace the panel board. Note: Before executing the next step, perform a complete controller
back-up to save all of your programs and settings. Failure to perform this task could result in
damage to the equipment or lost data.
3. Replace the main board.
Note: If the SYST-067 Panel HSSB disconnect alarm occurs simultaneously or the RDY LED is
turned off, the following alarms are also generated:
• SRVO-001 Operator panel E-Stop
• SRVO-004 Fence open
• SRVO-007 External emergency stop
• SRVO-204 External (SVEMG abnormal) E-Stop
• SRVO-280 SVOFF input
Check the alarm history display on the teach pendant.
________________________________________________________________
SRVO-282 SERVO Chain 1 (SVOFF) abnormal
Cause: Although the SVOFF (servo off signal) circuit was disconnected, the emergency stop line was
not disconnected. The emergency stop circuit is faulty.
Remedy: Refer to the remedy of SRVO-240.
________________________________________________________________
SRVO-283 SERVO Chain 2 (SVOFF) abnormal
Cause: Although the SVOFF (servo off signal) circuit was disconnected, the emergency stop line was
not disconnected. The emergency stop circuit is faulty.
Remedy: Refer to the remedy of SRVO-240.
________________________________________________________________
SRVO-286 SYSTEM E.STOP circuit abnl 1(G:%d)
Cause: The emergency stop unit is abnormal.
Remedy: Refer to the remedy of SRVO-264. Note: Cycle controller power to release this alarm.
________________________________________________________________
SRVO-287 SERVO E.STOP circuit abnl 2(G:%d)
Cause: The emergency stop unit is abnormal.
Remedy: Refer to the remedy of SRVO-265.
________________________________________________________________
SRVO-290 SERVO DClink HC alarm(G:%d A:%d)
Cause: The DC link current of the servo amplifier is abnormally high.
Remedy: Refer to the remedy of SRVO-045.
________________________________________________________________
SRVO-291 SERVO IPM over heat (G:%d A:%d)
Cause: It was detected that the IPM element in the amplifier had overheated.
Remedy:
1. Check whether the amplifier fan rotates normally.
2. Decrease the duty cycle of operation.
3. If this symptom occurs frequently, replace the amplifier.
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SRVO-292 WARN EXT.FAN alarm (G:%d A:%d)
Cause: The external fan for the servo amplifier module (SVM, alpha iSV) is faulty.
Remedy: Replace the cooling fan.
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SRVO-293 SERVO DClink(PSM) HCAL(G:%d A:%d)
Cause: The three-phase input power supply is abnormal or the power supply module is faulty.
Remedy:
1. Check the three-phase input power supply.
2. Replace the power supply module.
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SRVO-294 PAUSE EXT.FAN(PSM) alarm(G:%d A:%d)
Cause: The external fan for the power supply module is faulty.
Remedy: Replace the external fan.
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SRVO-295 SERVO SVM COM alarm(G:%d A:%d)
Cause: A communication error occurred between the power supply module and the servo amplifier
module.
Remedy:
1. Replace the cable between the power supply module and the servo amplifier module.
2. Replace the power supply module.
3. Replace the servo amplifier module. Refer to the Mate Controller Maintenance Manual.
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SRVO-296 SERVO PSM DISCHG alm(G:%d A:%d)
Cause:
1. The cooling fan for the regenerative resistance of the power supply module stops.
2. The use condition is too hard for the regenerative resistance of the power supply module.
Remedy:
1. Check the fan for the regenerative resistor is working. If it stops, replace the fan.
2. Lower the teaching speed in the program.
3. Replace the power supply module.
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SRVO-297 SERVO PSM LowVolt alm(G:%d A:%d)
Cause: The voltage of the PSM control power supply has dropped.
Remedy:
1. Check that the three-phase input voltage is low.
2. Replace the power supply module.
3. Replace the servo amplifier module.
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SRVO-298 SYSTEM SRVO velocity alm(G:%d A:%d)
Cause: The speed calculated in the servo software is abnormal.
Remedy: Document the events that led to the error, and contact your FANUC technical representative.
To reset the alarm condition requires turning the controller power off and on again.
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SRVO-300 SERVO Hand broken/HBK disabled
Cause: When the HBK setting is disabled, a hand-broken signal was detected.
Remedy: To remove the alarm condition, press RESET. Check whether the hand-broken signal circuit
is connected to the robot. If the circuit is connected to the robot, enable the hand-broken setting.
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SRVO-301 SERVO Hand broken/HBK dsbl(Rbt:%d)
Cause: When the HBK setting is disabled, a hand-broken signal was detected.
Remedy: To remove the alarm condition, press REST. Check whether the hand-broken signal circuit
is connected to the robot. If the circuit is connected to the robot, enable the hand-broken setting.
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SRVO-302 SERVO Set Hand broken to ENABLE
Cause: When the HBK setting is disabled, a hand-broken signal was detected.
Remedy: To remove the alarm condition, press RESET. Check whether the hand-broken signal circuit
is connected to the robot. If the circuit is connected to the robot, enable the hand-broken setting.
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SRVO-303 SERVO Set HBK to ENABLE(Rbt:%d)
Cause: When the HBK setting is disabled, a hand-broken signal was detected.
Remedy: To remove the alarm condition, press RESET. Check whether the hand-broken signal circuit
is connected to the robot. If the circuit is connected to the robot, enable the hand-broken setting.
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SRVO-304 SERVO C-flex: manual brake enabled
Cause: The manual brake mode enable signal is detected.
Remedy: Change the manual brake mode to disable. Press RESET key to clear the alarm.
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SRVO-305 SYSTEM Unit Change(G%d,%s)
Cause: The robot model was changed.
Remedy: Turn off and on the controller power supply.
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SRVO-310 SERVO ABC Unexpected Motion(G:%d)
Cause: A current robot position that software calculates is abnormal.
Remedy:
1. Mastering data could be incorrect. Confirm whether incorrect backup data is restored or
mastering has been executed at the wrong position. In that case, execute mastering.
2. Document the events that led to the error, and contact your FANUC technical representative.
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SRVO-315 PAUSE MPDT failed(G:%d A:%d)
Cause: Magnetic Phase Detection (MPDT) for 3rd party motor failed. Probable causes are:
1. The motor power cable is disconnected.
2. The axis falls down by the gravity during performing of MPDT.
3. Other alarm occurs during performing of MPDT.
4. The motor cannot move due to large load or friction.
Remedy:
1. Check whether the motor power cable is connected correctly.
2. MPDT cannot be applied for gravity axis. If possible, change the posture.
3. Remove the reason of other alarms which occurred at same time.
4. Check whether the axis which requires to perform MPDT does not contact with any object.
5. Confirm that brake is not engaged.
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SRVO-316 PAUSE MPDT time is up(G:%d A:%d)
Cause: Magnetic Phase Detection (MPDT) process time is up. Probable cause:
1. The axis fell down because of gravity during performing of MPDT.
2. Other alarms occurred during performing of MPDT.
Remedy:
1. MPDT cannot be applied for gravity axis. If possible, change the posture.
2. Remove the reason of other alarm which occurred at the same time.
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SRVO-317 PAUSE MPDT cannot start(Machine Lock)
Cause: Magnetic Phase Detection (MPDT) process cannot start because machine lock is enabled for
that group.
Remedy: Disable machine lock for that group.
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SRVO-318 PAUSE MPDT cannot start(SRDY Off)
Cause: Magnetic Phase Detection (MPDT) process cannot start because servo ready (SRDY) is off.
Remedy: Remove the reason of servo ready (SRDY) off.
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SRVO-322 SERVO SVOFF input / E.STOP
Cause: The SVOFF (Servo off signal) is input.
Remedy:
1. Release the SVOFF signal and press RESET.
2. Document the events that led to the error, and contact your FANUC technical representative.
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SRVO-330 SERVO Retry count err(G:%d A:%d)
Cause: The retry count of the pulse coder exceeded a limit value of $PLS_ER_LIM when
$PLS_ER_CHK=1.
Remedy: Document the events that led to the error, and contact your FANUC technical representative.
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SRVO-331 SERVO FB comp cnt err(G:%d A:%d)
Cause: The position feedback compensation count of the pulse coder exceeded a limit value of
$PLS_CMP_LIM when $PLS_ER_CHK=1.
Remedy: Document the events that led to the error, and contact your FANUC technical representative.
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SRVO-332 SERVO Power off to reset CMAL
Cause: Power off is required to reset the CMAL alarm.
Remedy: Turn off/on the controller, and then, perform the mastering.
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SRVO-333 SYSTEM Power off to reset
Cause: Power off is required.
Remedy: Turn off/on the controller.
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SRVO-335 SERVO DCS OFFCHK alarm %x,%x
Cause: A failure was detected in the safety signal input circuit.
Remedy: Replace the panel board.
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SRVO-336 SERVO DCS RAMCHK alarm %x,%x
Cause: An error occured in the RAM self test.
Remedy: Replace the CPU card or main board.
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SRVO-337 SERVO DCS PRMCHK alarm %x,%x
Cause: An error occured in the safety parameter self test.
Remedy: Set the modified safety parameter again.
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SRVO-338 SERVO DCS FLOW alarm %x,%x
Cause: An error occured in the software sequence self test.
Remedy: Check the other alarms for more information.
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SRVO-339 SERVO DCS MISC alarm %x,%x
Cause: A software internal error has occurred.
Remedy: Check the other alarms for more information.
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SRVO-340 SERVO DCS T1 TCP speed(G%d) %x,%x
Cause: The TCP speed exceeds 250mm/sec in T1 mode.
Remedy: Make the override lower.
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SRVO-341 SERVO DCS T1 flange speed(G%d) %x,%x
Cause: The flange speed exceeds 250mm/sec in T1 mode.
Remedy: Make the override lower.
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SRVO-342 SERVO DCS Cartesian position(G%d) %x,%x
Cause: An error occurred in the DCS Cartesian position check.
Remedy: Check the program or operation.
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SRVO-343 SERVO DCS Cartesian speed(G%d) %x,%x
Cause: An error occurred in the DCS Cartesian speed check.
Remedy: Check the program or operation.
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SRVO-344 SERVO DCS GRP alarm(G%d) %x,%x
Cause: A software internal error has occurred.
Remedy: Check the other alarms for more information.
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SRVO-345 SERVO DCS Joint position(G%d,A%d) %x,%x
Cause: A error occurred in the DCS Joint position check.
Remedy: Check the program or operation.
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SRVO-346 SERVO DCS Joint speed(G%d,A%d) %x,%x
Cause: An error occurred in DCS Joint speed check.
Remedy: Check the program or operation.
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SRVO-347 SERVO DCS AXS alarm(G%d,A%d) %x,%x
Cause: A software internal error has occurred.
Remedy: Check the other alarms for more information.
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SRVO-348 SERVO DCS MCC OFF alarm %x,%x
Cause: A command was issued to turn off the magnetic contactor, but the magnetic contactor was not
turned off.
Remedy:
1. Replace the Estop unit.
2. Replace the panel board.
3. If a signal is connected to the emergency stop unit CRM72, check whether there is a problem in
the connection destination.
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SRVO-349 SERVO DCS MCC ON alarm %x,%x
Cause: A command was issued to turn on the magnetic contactor, but the magnetic contactor was not
turned on.
Remedy:
1. Replace the Estop unit.
2. Replace the panel board.
3. Replace the servo amplifier.
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SRVO-350 SERVO DCS CPU alarm %x,%x
Cause: An error occurred in the RAM self test.
Remedy: Replace the CPU card or main board.
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SRVO-351 SERVO DCS CRC alarm %x,%x
Cause: An error occurred in the safety software CRC test.
Remedy: Load the system software or replace the FROM/SRAM module.
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SRVO-352 SERVO DCS COUNT1 alarm %x,%x
Cause: The safety software does not run with the proper timing.
Remedy: Check the other alarms for more information.
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SRVO-353 SERVO DCS COUNT2 alarm %x,%x
Cause: The safety software does not run with the proper timing.
Remedy: Check the other alarms for more information.
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SRVO-354 SERVO DCS DICHK alarm %x,%x
Cause: The safety software does not run with the proper timing.
Remedy: Check the other alarms for more information.
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SRVO-355 SERVO DCS ITP_TIME alarm %x,%x
Cause: The safety software does not run with the proper timing.
Remedy: Check the other alarms for more information.
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SRVO-356 SERVO DCS ITP_SCAN alarm %x,%x
Cause: The safety software does not run with the proper timing.
Remedy: Check the other alarms for more information.
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SRVO-357 SERVO DCS ENABLED alarm %x,%x
Cause: – When ‘Position/speed process’ in DCS menu is DISBALED, Cartesian position check,
Cartesian speed check, Joint position check or Joint speed check is ENABLED. – Cartesian position
check, Cartesian speed check, Joint position check or Joint speed check is ENABLED for the group
that does not exist. – Joint position check or Joint speed check is ENABLED for the axis that does
not exist.
Remedy: Disable Cartesian position check, Cartesian speed check, Joint position check or Joint
speed check
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SRVO-358 SERVO DCS INVPRM alarm %x,%x
Cause: – Safety parameter DICHK_LIM1 is greater than 50. – Safety parameter ITP_TIME is less
than 1. – Safety parameter NUM_GRP is less than 0 or greater than 8. – Safety parameter NUM_AXS
is less than 0 or greater than 9. – Safety parameter NUM_ROB_AXS is less than 0 or greater than 9. –
Safety parameter NUM_ROB_AXS is greater than NUM_AXS. – Safety parameter NUM_AXS is
greater than (NUM_ROB_AXS + 4). – Safety parameter ENCSCALES is less than 0.00001.
Remedy: Check the safety parameter.
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SRVO-359 SERVO DCS SYSTEM alarm %x,%x
Cause: A software internal error has occurred.
Remedy: Check the other alarms for more information.
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SRVO-360 SERVO DCS CC_TCP alarm(G%d) %x,%x
Cause: Results of 2 CPU are different.
Remedy: Check the other alarms for more information.
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SRVO-361 SERVO DCS CC_FP alarm(G%d) %x,%x
Cause: Results of 2 CPU are different.
Remedy: Check the other alarms for more information.
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SRVO-362 SERVO DCS CC_TCPS alarm(G%d) %x,%x
Cause: Results of 2 CPU are different.
Remedy: Check the other alarms for more information.
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SRVO-363 SERVO DCS CC_FPS alarm(G%d) %x,%x
Cause: Results of 2 CPU are different.
Remedy: Check the other alarms for more information.
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SRVO-364 SERVO DCS PRMCRC alarm(G%d) %x,%x
Cause: Results of 2 CPU are different.
Remedy: Check the other alarms for more information.
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SRVO-365 SERVO DCS FB_CMP alarm(G%d,A%d) %x,%x
Cause: Results of 2 CPU are different.
Remedy: Check the other alarms for more information.
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SRVO-366 SERVO DCS FB_INFO alarm(G%d,A%d) %x,%x
Cause: Safety parameter FB_INFO is invalid.
Remedy: Set FB_INFO.
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SRVO-367 SERVO DCS CC_JPOS alarm(G%d,A%d) %x,%x
Cause: Results of 2 CPU are different.
Remedy: Check the other alarms for more information.
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SRVO-368 SERVO DCS CC_JSPD alarm(G%d,A%d) %x,%x
Cause: Results of 2 CPU are different.
Remedy: Check the other alarms for more information.
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SRVO-370 SERVO SVON1 status abnormal
Cause: A chain alarm was detected with the panel board internal signal (SVON).
Remedy: Replace the panel board.
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SRVO-371 SERVO SVON2 status abnormal
Cause: A chain alarm was detected with the panel board internal signal (SVON).
Remedy: Replace the panel board.
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SRVO-372 SERVO OPEMG1 status abnormal
Cause: A chain alarm was detected with the emergency stop switch on the operator’s panel.
Remedy:
1. Replace the panel board.
2. Replace the teach pendant cable.
3. Replace the teach pendant.
4. Replace the emergency stop button on the operator’s panel.
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SRVO-373 SERVO OPEMG2 status abnormal
Cause: A chain alarm was detected with the emergency stop switch on the operator’s panel.
Remedy:
1. Replace the panel board.
2. Replace the teach pendant cable.
3. Replace the teach pendant.
4. Replace the emergency stop button on the operator’s panel.
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SRVO-374 SERVO MODE11 status abnormal
Cause: A chain alarm was detected with the mode switch signal.
Remedy:
1. Check the mode switch and its cable. Replace them if a defect is found.
2. Replace the panel board.
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SRVO-375 SERVO MODE12 status abnormal
Cause: A chain alarm was detected with the mode switch signal.
Remedy:
1. Check the mode switch and its cable. Replace them if a defect is found.
2. Replace the panel board.
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SRVO-376 SERVO MODE21 status abnormal
Cause: A chain alarm was detected with the mode switch signal.
Remedy:
1. Check the mode switch and its cable. Replace them if a defect is found.
2. Replace the panel board.
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SRVO-377 SERVO MODE22 status abnormal
Cause: A chain alarm was detected with the mode switch signal.
Remedy:
1. Check the mode switch and its cable. Replace them if a defect is found.
2. Replace the panel board.
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SRVO-378 SERVO OPSFTY11 status abnormal
Cause: A chain alarm was detected with the OPSFTY signal.
Remedy:
1. Check whether the circuitry connected to the dual input signal (OPSFTY) is faulty.
2. Check whether the timing of the dual input signal (OPSFTY) satisfies the timing specification.
3. Replace the panel board.
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SRVO-379 SERVO OPSFTY12 status abnormal
Cause: A chain alarm was detected with the OPSFTY signal.
Remedy:
1. Check whether the circuitry connected to the dual input signal (OPSFTY) is faulty.
2. Check whether the timing of the dual input signal (OPSFTY) satisfies the timing specification.
3. Replace the panel board.
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SRVO-380 SERVO OPSFTY21 status abnormal
Cause: A chain alarm was detected with the OPSFTY signal.
Remedy:
1. Check whether the circuitry connected to the dual input signal (OPSFTY) is faulty.
2. Check whether the timing of the dual input signal (OPSFTY) satisfies the timing specification.
3. Replace the panel board.
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SRVO-381 SERVO OPSFTY22 status abnormal
Cause: A chain alarm was detected with the OPSFTY signal.
Remedy:
1. Check whether the circuitry connected to the dual input signal (OPSFTY) is faulty.
2. Check whether the timing of the dual input signal (OPSFTY) satisfies the timing specification.
3. Replace the panel board.
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SRVO-382 SERVO OPSFTY31 status abnormal
Cause: A chain alarm was detected with the OPSFTY signal.
Remedy:
1. Check whether the circuitry connected to the dual input signal (OPSFTY) is faulty.
2. Check whether the timing of the dual input signal (OPSFTY) satisfies the timing specification.
3. Replace the panel board.
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SRVO-383 SERVO OPSFTY32 status abnormal
Cause: A chain alarm was detected with the OPSFTY signal.
Remedy:
1. Check whether the circuitry connected to the dual input signal (OPSFTY) is faulty.
2. Check whether the timing of the dual input signal (OPSFTY) satisfies the timing specification.
3. Replace the panel board.
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SRVO-384 SERVO OPSFTY41 status abnormal
Cause: A chain alarm was detected with the OPSFTY signal.
Remedy:
1. Check whether the circuitry connected to the dual input signal (OPSFTY) is faulty.
2. Check whether the timing of the dual input signal (OPSFTY) satisfies the timing specification.
3. Replace the panel board.
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SRVO-385 SERVO OPSFTY42 status abnormal
Cause: A chain alarm was detected with the OPSFTY signal.
Remedy:
1. Check whether the circuitry connected to the dual input signal (OPSFTY) is faulty.
2. Check whether the timing of the dual input signal (OPSFTY) satisfies the timing specification.
3. Replace the panel board.
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SRVO-386 SERVO Softfloat stroke lim(G:%d)
Cause: Certain axes reached stroke limit.
Remedy: Use soft float with a wide margin.
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SRVO-387 SERVO Softfloat impossible(G:%d)
Cause: The position or schedule is not proper.
Remedy: Use soft float in the proper position and schedule
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SRVO-388 SERVO Softfloat singularity(G:%d
Cause: Certain axes reached singularity.
Remedy: Use soft float with a wide margin