Code SRVO-073: CMAL alarm(Group:%d Axis:%d)
Issue Description & Safety Warning
The Fanuc R-30i Series Robot Controller has triggered a critical CMAL alarm(Group:%d Axis:%d) alarm. Immediate attention from a qualified operator or maintenance technician is required to prevent secondary damage to the equipment or spoiled parts during the manufacturing cycle. Always ensure standard safety and LOTO procedures are followed before accessing electrical cabinets.
Official Troubleshooting Steps
Cause: It is likely that the Pulsecoder is abnormal or the Pulsecoder has malfunctioned due to noise. Remedy: 1. Check whether the connection of the controller earth is good. Check the earth cable connection between controller and robot connection cables are connected securely to the grounding plate. 2. Reinforce the earth of the motor flange. (In case of Auxiliary axis) 3. Do PULSE RESET operation. 4. Replace the Pulsecoder, then perform mastering. Refer to the Controller Maintenance Manual for more information. Note1: You need to cycle power to release this alarm. Note2: If this alarm is shown along with a SRVO-068 DTERR alarm, SRVO-069 CRCERR alarm, or SRVO-070 STBERR alarm, actually this alarm might not be occurred. Then refer to the other three alarm remedies.
Source: FANUC Robot R-30iA Alarm Code List Operator's Manual
Last reviewed: 2026-07-01 · Verified against the manufacturer’s official documentation.
About Fanuc R-30i Series Robot Controller Alarms
Fanuc controllers include extensive self-diagnostics that flag or halt the machine when a fault is detected. Error code SRVO-073 on the R-30i Series Robot Controller identifies one specific fault condition — its documented cause and the official corrective steps are listed above, sourced from Fanuc's service documentation. Always confirm against the manual for your exact machine configuration and follow LOTO procedures before servicing.
Complete Alarm List: 6553 Fanuc R-30i Series Robot Controller codes.
Have a better solution?
Help the industrial community by sharing your repair experience for code SRVO-073.
Need a searchable reference for more Fanuc R-30i Series Robot Controller manuals?
We structure equipment manuals into searchable code, title, cause, solution, safety note, and source-reference data. Send a PDF and example searched codes when you need public pages, private search, or structured exports.
Space reserved for Google AdSense / Industrial Affiliate Links
Monetization target for 2026