[Cause]
During T1 mode motion, the robot TCP speed exceeded 250mm/sec.
[Countermeasure]
On robots with very short acceleration/deceleration times, a smooth transition from low to high speed may not allow T1 speed limiting to complete within the acceleration/deceleration time. This alarm may then occur when the speed momentarily exceeds the T1 limit. In this case, switching T1 speed limiting from processing every interpolation cycle to processing every motion statement may prevent the alarm. Take the following measures:
(1) Please set to $CP_T1_MODE.$ENABLE = FALSE. (Move through this setting to execute T1 speed limit processing with action statements)
(2) If the alarm persists after the above action, use the error state recording function (Error State Recording in the auxiliary menu) and obtain an image backup before performing other operations, such as turning off power or jogging, after this alarm occurs. Then contact the FANUC service center. If the recording function is unavailable, record the conditions and operating steps leading up to the alarm, obtain an image backup, and contact the service center.