Description
The safety controller for drive module arg has detected an excessive difference between the specified and actual position on axis arg.
Consequences
The safety controller will stop all robot movements.
Possible causes
- A collision occurs.
- The load definition in the manipulator program is incorrect.
- The external axis is not configured correctly.
- Features that cause increased servo latency are activated, such as soft servo or force control.
- Safety controller synchronization error.
- Revolution counter error in robot controller.
Recommended actions
- If a collision occurs, check the manipulator and perform a new synchronization if necessary.
- Make sure the manipulator payload is defined correctly.
- Check that the servo delay in the external axis safety configuration is set correctly.
- Check that the contact application tolerance is activated correctly.
- If necessary, activate service mode and jog the robot. Check that the safety controller is correctly synchronized and that the revolution counters in the robot controller are correct.