代碼 PALL-148: Approach Posn out of range
問題描述與安全警告
Fanuc R-30i Series Robot Controller 觸發了嚴重的 Approach Posn out of range 警報。需要由合格的操作員或維修技師立即處理，以防止在製造週期中對設備造成二次損壞或導致零件報廢。在接觸電氣控制箱之前，請務必確保遵循標準安全和停機掛牌 (LOTO) 程序。
官方故障排除步驟
Cause: The approach position the robot is trying to go to is not reachable. The preceding error should be : 'Error: Pallet=x Unit=y'. This means that the robot was working with pallet x and box y when the error occurred. Remedy: Verify that the value of $UTOOL and/or $MNUTOOL are correct. If the robot stopped while heading towards the pallet, then check the value of Pallet approach length and width in Optimal path setup. You might have specified large pallet offsets or you may need to specify a correct pallet offset in the Optimal path setup.
Source: FANUC Robot R-30iA Alarm Code List Operator's Manual
Last reviewed: 2026-07-01 · Verified against the manufacturer’s official documentation.
關於 Fanuc R-30i Series Robot Controller 警報
由 Fanuc 製造的工業控制器具有廣泛的診斷系統，用於保護內部電路和機械連桿。當 R-30i Series Robot Controller 出現類似 PALL-148 的錯誤代碼時，通常表示指令值與實際感測器回饋之間存在不匹配。
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