Having a few issues with a FANUC robotic packer. It stopped operation and I cant seem to drive it home. I have the alarm SRVO-073 CMAL alarm (group:1 Axis:4) and cant clear it, so thinking this is stopping me from being able to manually home the arm. Any ideas what the issue could be, from reading a few posts on here I got the impression that it is most likely the encoder. I have checked the earthing arrangements of the cable shielding and segregated the power and signal cables as best I could encase of any interference. I cant even find any reference to axis 4 in any of the documents we have, so not sure which motor it is referring to.
Any help would be much appreciated.