Code SRVO-152: IPMAL(INV) alarm (G:%d A:%d)
Issue Description & Safety Warning
The Fanuc R-30i Series Robot Controller has triggered a critical IPMAL(INV) alarm (G:%d A:%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: The IPM module has trouble. Remedy: 1. The IPM might be overheated. Reset the emergency stop after approximately ten minutes. Disconnect the power lines from the terminals on the amplifier, and check the insulation of PE from U, V, and W. 2. If there are short circuits, disconnect the motor connector power lines and check the insulation of PE from U, V, and W. 1) Replace the motor if U, V, and W short-circuit with PE. 2) Replace the power lines if U, V, and W do not short-circuit with PE. 3. Noise on the actual current (IR, IS) running in the amplifier module might cause this alarm. Remove this noise such as with taking ground of sealed earth. 4. Replace the amplifier. 4.ERROR CODES B-83124EN-6/02
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-152 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.
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