コード SRVO-023: Stop error excess(G:%d A:%d)

Cause: When the robot stopped, the servo positional error exceeded a specified value ($PARAM_GROUP.$STOPERLIM). This alarm means that the robot cannot reach a taught point or cannot keep a taught posture. Probable causes: 1. Overload 2. External force to the robot 3. Disconnection or misconnection of the motor power cable or brake cable 4. Incorrect setup for the robot which has 2 axis brake option 5. Insufficient torque by low voltage of power supply 6. Brake failure (includes mis-setting of brake number for auxiliary axis) 7. Aux. brake unit failure for aux. axis 8. Amplifier failure 9. Motor failure 10. Motor power cable or brake cable failure Remedy: 1. Check whether the duty and applied load exceed the rating. If so, reduce the duty or applied load. 2. Check whether the robot is pushed or pulled by an external force. If so, remove the external force to the robot or modify the taught point. 3. Check whether the power line of the robot connection cable or the cable in the mechanical unit are down. 4. Check whether the motor power cable/connector and brake cable/connector are connected correctly. Especially, check whether the power cable/connectors are not connected to other motors. 5. Check whether the robot setup (setting of 2BK or 6BK) is correct, if the used robot has 2BK option. 6. Measure the supplied voltage. Then, check whether the voltage is matched to the controller specification. 7. Check whether the motor brake is released properly when RESET is pressed or the robot moves. First of all, check whether the setting of brake number is correct when this alarm occurs on an auxiliary axis. 8. When this alarm occurs on the auxiliary axis whose brake is controlled by the aux. brake unit, check the fuse on the aux. brake unit. 9. If this alarm cannot be reset, refer to the Controller Maintenance Manual for more information. About auxiliary axis, refer to the Auxiliary Axis Option Maintenance Manual.