コード CPMO-095: Too Large Jnt Cmd (G: i A: j)
問題の説明と安全警告
Fanuc R-30i Series Robot Controller は重大な Too Large Jnt Cmd (G: i A: j) アラームをトリガーしました。製造サイクル中に機器への二次的損傷や部品の破損を防ぐために、資格のあるオペレーターまたはメンテナンス技術者による直ちの対応が必要です。電気キャビネットにアクセスする前に、必ず標準の安全およびLOTO手順が遵守されていることを確認してください。
公式トラブルシューティング手順
Cause: A very large axis speed which may exceed the safety limit was detected. i indicates the group number and j indicates the axis number in which this error was detected. Remedy: (1) Axis speed can become very high during linear or circular motion which satisfies at least one of the following conditions; - TCP travels near singular point. - Tool posture changes largely. For a remedy, modify the motion instruction as below so that this axis gets slower during this motion; 1. Divide the motion into two instructions using a mid point which is away from the singular point, or/and 2. Decrease the speed (feed rate) of the motion instruction, or 3. Change the motion format to J (Joint motion). (2) If the remedy (1) does not resolve this alarm, please get a diagnostic log and image backup just after the alarm occurred, document the events that led to the error, and call your local FANUC representative.
Source: FANUC Robot R-30iA Alarm Code List Operator's Manual
Last reviewed: 2026-07-01 · Verified against the manufacturer’s official documentation.
Fanuc R-30i Series Robot Controller のアラームについて
Fanuc によって構築された産業用コントローラーは、内部回路と機械的リンケージを保護するための広範な診断システムで設計されています。R-30i Series Robot Controller が CPMO-095 のようなエラーコードをスローする場合、通常、指令値と実際のセンサーフィードバック間の不一致を示します。
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