Excess Servo Error in Joint X

Fanuc Robotics Robot Critical Robot

Model: Fanuc LR Mate 200iD Robot | Code: SRVO-050

Applicable Systems
LR Mate 200iD M-710iC M-20iA M-1iA R-2000iC

Symptoms

Servo position error exceeds allowable deviation; robot cannot maintain programmed position; motion stopped.

Possible Causes

  • Collision or payload snagging
  • Payload exceeding rated capacity
  • Servo motor or amplifier degradation

Troubleshooting Steps

  1. Step 1: Check for collision or obstruction at robot
    No collision or obstruction
  2. Step 2: Verify payload within rated capacity (7kg for LR Mate 200iD/7L)
    Payload within spec
  3. Step 3: Inspect end-effector for binding or jamming
    End-effector moves freely
  4. Step 4: Check servo amplifier status
    Amplifier normal
  5. Step 5: Reset alarm and test at reduced speed
    No position error at reduced speed

How to Reset

Reset via teach pendant: RESET alarm; if recurring, reduce speed or payload.

Frequently Asked Questions

  • Q: What is servo position error?

    Difference between commanded position and actual position. Small error is normal during motion. Large error indicates motor cannot keep up (overload, jam, or amplifier issue).

Related Fanuc Robotics Fault Codes

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Source: doc.eleok.com Fanuc manual

Category: Robot

Published: 2026-11-03