SRVO-023: Stop error excess
At a stop, the axis settled farther from the commanded position than the allowed limit - the robot can't reach or can't hold the taught point.
What it means
At a stop, the axis settled farther from the commanded position than the allowed limit - the robot can't reach or can't hold the taught point. Something is physically resisting the axis, the brake isn't cooperating, or the drive can't deliver. The PULSE screen (STATUS > Axis > Pulse) shows the actual error.
Common causes
Ranked by what technicians most often find, most likely first.
- Overload - payload or duty beyond rating.
- External force pushing or pulling the robot (tooling snagged, part interference).
- Brake not releasing (failure, mis-set brake number on aux axes, or aux brake unit fuse).
- Cabling: motor power or brake cable loose, damaged, or cross-connected to the wrong motor.
- Low supply voltage.
- Deeper hardware: amplifier, motor, or a broken balancer spring (listen for noise from the balancer).
How to fix it
- Confirm payload and duty are within rating; reduce if not.
- Check nothing is physically loading the robot at the stop position; re-teach if the point itself jams tooling against the work.
- Listen for the brake release click at RESET; on aux axes verify the brake number setting and the aux brake unit fuse.
- Inspect motor power and brake connectors - including the classic error of two motors' cables swapped.
- Verify supply voltage to spec.
- Abnormal noise from the balancer means a broken spring - replace the balancer, and keep people clear of gravity axes throughout.
Quick facts
- Category
- Servo
- Affected series
- R-30iB; R-30iB Mate; R-30iB Plus; R-30iB Mate Plus
- Alarm family
- SRVO