Code TOOL-020: Calibrate motion is failed.

Cause: The detection condition (touch torque or the detection signal) was not satisfied during calibration. Remedy: Check the detection condition on the Tool Change SETUP screen. REMEDY 1 1. The tool pulse values and mastering data are lost. So, move the tool by manual feed to cancel the “SRVO-075 Pulse not established” alarm. 2. Carry out tool 0 position mastering and calibration manually. The tool 0 position may be an approximate position. 3. Execute the detach instruction to temporarily detach the tool. Also, physically detach the tool from the robot. Otherwise, the tool will not be calibrated at the next attach operation. 4. Execute the attach instruction again to attach the tool. Calibration this time is carried out at the reference position to restore the position. REMEDY 2 1. Directly change the system variable to detach the tool. To do this, set the following system variable to 0: $SCR_GRP[servo tool operation group No. (normally, 2)].$AXISORDER[all 1 to 9] = 0 2. Turn the controller power OFF then back ON. 3. The robot starts up with the tool in a detached state. Move the robot by manual feed to physically attach the robot and tool. 4. Execute the attach instruction to attach the tool.