[Cause]
The position deviation of the servo device during stop exceeds the specified value ($PARAM_GROUP[group number].$STOPERLIM[axis number]). Indicates that the target teaching position cannot be reached or the posture cannot be maintained. The numbers in parentheses indicate the action group number and the axis number within the action group. In addition, the position deviation amount can be confirmed through the error amount on the pulse interface [4 Status / Axis / Pulse]. The following possibilities exist:
1. The operating condition exceeds the rated value
2. Overload from outside
3. The motor power cable and brake cable have not been connected or are connected incorrectly.
4. Robot setting error (case of robot with 2 axis brake option)
5. Insufficient torque caused by input power voltage drop
6. Brake failure (setting error)
7. Failure of the additional axis brake unit (in the case of additional axis)
8. Amplifier failure
9. Motor failure
10. Cable failure
11. Balancer failure
[Countermeasures]
1. Check whether the load, load weight, inertia, etc. exceed the rated values.
2. Confirm whether the robot is pushed or pulled by external force.
3. Check whether the connectors of the motor power cord and brake cord from the control device to the robot joint motor are loose, and tighten them if they are loose. Also, if abnormalities such as bends or dents appear on the connector terminals, replace the connector.
4. Confirm whether the motor power cable and brake cable are connected correctly. In particular, check whether the power cables of other axes are connected.
5. On robots with the 2 axis brake option, verify that the robot being used matches the settings.
6. Confirm that the input voltage is the rated voltage of its control device. If the input voltage is set correctly, it may be caused by a brake failure. Replace the motor, or contact FANUC for details when an alarm occurs.
7. Confirm whether the brake of the axis has been released. (When adding an additional axis, first confirm whether the brake number is set correctly.)
8. When using a brake unit on an additional axis, confirm whether the fuse of the brake unit is blown.
9. It may be caused by the failure of related parts. Take appropriate countermeasures according to the "Troubleshooting based on alarm code" in the control device maintenance manual corresponding to the control device used. For additional shafts, refer to the additional shaft service instructions.
10. Please confirm whether there is any abnormal noise inside the balancer. If there is an abnormal sound, it may be that the spring of the balancer is broken. Please replace the balancer unit, or inform the service center of the details when abnormal noise occurs.