SRVO-120: SFIVAL abnml
Softfloat alarm: the integrator torque measured just before softfloat execution differed too much from the stored reference value ($SFLT_IVAL) - the robot's load state at softfloat start doesn't match what SFIGET captured.
What it means
Softfloat alarm: the integrator torque measured just before softfloat execution differed too much from the stored reference value ($SFLT_IVAL) - the robot's load state at softfloat start doesn't match what SFIGET captured.
Common causes
Ranked by what technicians most often find, most likely first.
- Load conditions changed since SFIGET captured the reference (different part, tooling, or posture).
- Comparison limit ($SFIVALLIM) too tight for normal variation.
How to fix it
- Re-run the SFIGET program to capture fresh reference values under current conditions.
- If variation is legitimate, increase $SFLT_GRP[schedule].$SFIVALLIM for the axis.
Quick facts
- Category
- Servo
- Affected series
- R-30iB; R-30iB Mate; R-30iB Plus; R-30iB Mate Plus
- Alarm family
- SRVO