代碼 CPMO-130: T1 speed > 250 (G: %d^2)

Cause: T1 speed exceeds 250 mm/sec for this group. Remedy: In case that robot moves with very short acceleration and deceleration time, when robot moves from small speed to high speed motion sentence with CNT, it is possible that T1 speed limit process cannot regulate robot speed during acceleration and deceleration time and robot speed exceeds T1 speed limitation for a moment and causes this alarm. In this case, this alarm can be avoided by switching T1 speed limitation from every interpolation interval method to every motion sentence method. Please try following countermeasure. 1. Set $CP_T1_MODE.$ENABLE FALSE and confirm. (This setup switches T1 speed limitation to every motion sentence method.) 2. If the error is not cleared, document the events that led to the error and execute saving diagnostic log and save image backup, then contact your local FANUC representative.Document the events that led to the error, and call your local FANUC representative.