J4 Move Error Excess

    Fanuc Robot Alarm SRVO-024 Move error excess(G:1 A:4)


    This is the alarm I'm getting. I think it's obvious that J4 is moving harder when it does this, but I already am going as slow as I can for my process which is around 300mm p/sec. It's an ARC move when it occurs.



    Let me know if you have any tips. I've already checked payload. I weighed the tool and then used Ident in the payload. Talking to Fanuc they just said i've reached the capacity of the robot. I think that's BS, because I'm only at 1.2KG of 7kg robot. The tool is 50mm below j6 and extends out 200mm forward and 100mm Side to side. Not a very large tool in my opinion.




    Thanks in advance

    Few reasons for this
    1. Problem in pulse coder/power cable/ connector at the robot base (I have had this issue with new robot: reason was pin bend while connecting the cable to manipulator base)
    2. Noise in the feedback
    3. Damage on the mechanical unit parts (motors/brake)


    Hope this helps!

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