I am having this alarm occasionally in a handling R-2000ib. It happens when it is in home position and he has to enter to make a pick. The robot stops and causes an emergency in all the line. In the DCS manual say:
Diference between position command and position feedback exceeds position tolerance. The same cause as SRVO-023 Stop error Excess.
Speaking with FANUC, they said that is a comunication problem. I´ve checked all the Profinet connections and seem OK.
Another solution they offer is to change the axis motor 4 or change the Profinet card.
But before I to do this I would like to know if someone has lived this situation.
Thanks in advanced.