[Cause]
An axle velocity exceeding the security allowed value was detected. i, j indicates the group number, the axle number of each axis detected.
[Countermeasure]
The response can be as follows:
(1) When at least one of the following conditions is met in a straight-line or arc-action motion, the axle speed is increased and this alarm is likely to occur.
- Motion passing near a singularity.
- Motion involving a large change in the tool center point orientation. As a countermeasure, correct the taught motion using one of the following methods so that the detected axis moves more slowly.
1. Set an intermediate point away from the singularity and split the motion into 2 motion statements passing through that point.
2. Reduce the taught speed.
3. Change to joint action.
(2) If the above measures do not resolve the problem, 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.