SRVO-111: Softfloat time out ($SFLT_ERRTYP=0)
Softfloat alarm: the follow-up processing that lets the robot yield to external force took longer than its time limit, so softfloat switched off.
What it means
Softfloat alarm: the follow-up processing that lets the robot yield to external force took longer than its time limit, so softfloat switched off. Usually means the robot was being pushed, or moving through big posture changes, while softfloat engaged.
Common causes
Ranked by what technicians most often find, most likely first.
- External force applied to the robot before softfloat turned on.
- Large posture change during softfloat motion.
- Follow-up time limit ($SFLT_FUPTIM) too short for the application.
How to fix it
- Ensure no external force is loading the robot at softfloat engagement.
- Restructure motion so posture doesn't change drastically during softfloat.
- If the application legitimately needs more time, increase $SFLT_FUPTIM.
Quick facts
- Category
- Servo
- Affected series
- R-30iB; R-30iB Mate; R-30iB Plus; R-30iB Mate Plus
- Alarm family
- SRVO