This is what the manual says:
SRVO–050 SVAL1 CLALM alarm (Group : i Axis : j)
(Explanation) The disturbance torque estimated by the servo software
is abnormally high. (A collision has been detected.)
(Action 1) Check that the robot has collided with anything. If it
has, reset the robot and jog–feed it to recover from the
collision.
(Action 2) Check that the load weight is within the rating. If it
is higher than the rating, reduce it to within the rating.
(If the robot is used out of its usable range, the
estimated disturbance torque becomes abnormally
high, possibly resulting in this alarm being detected.)
(Action 3) Check the phase voltage of the three–phase input
power (200 VAC) to the servo amplifier. If it is 170
VAC or lower, check the line voltage.
(Action 4) Check motor power cables, replace if necessary.
(Action 5) Replace the servo amplifier.