SRVO-020

Clear the alarm and restore servo power

Press the RESET button on the teach pendant to clear SRVO-020. Then press and hold the SHIFT button and press FWD (deadman switch) to restore servo power. Alternatively, turn the mode switch to AUTO and back to T1/T2 if deadman is unavailable.

Check current servo-off timeout setting

Navigate to MENU → SYSTEM → Variables on the teach pendant. Press F1 [TYPE] and select 'System Variables'. Scroll to find $MISC_DIS.$SVOFTIME. This value shows the current timeout in minutes. Default is typically 5-10 minutes depending on controller configuration.

Write down the current value before making changes so you can restore it after your debugging session is complete.

Increase the servo-off timeout value

While viewing $MISC_DIS.$SVOFTIME, move the cursor to the value field and press ENTER. Input a larger timeout value (e.g., 30 or 60 minutes) to allow more time between single steps. Press ENTER to confirm. The change takes effect immediately without requiring a controller restart.

Increasing this timeout means the robot will remain energized longer during pauses. Ensure proper safety procedures are followed and never leave the robot unattended with servo power on.

Resume single-step operation

Return to your program (SELECT → your program). Ensure you are in T1 or T2 mode with single-step enabled (STEP button indicator lit). Press and hold the deadman switch and press FWD to continue stepping through the program at your own pace.

If you need to pause for extended periods frequently, consider setting $MISC_DIS.$SVOFTIME to 0, which disables auto servo-off entirely during your session.

Clear alarm and check pause status

Press RESET to clear SRVO-020. Check the teach pendant status line for 'PAUSE' indication. If servo power drops immediately upon pausing, auto servo-off on pause is likely enabled.

This feature is distinct from the time-based timeout and may require different configuration changes to address.

Access system configuration variables

Navigate to MENU → SYSTEM → Variables. Press F1 [TYPE] and select 'System Variables'. Look for $SCR.$SVOFFPAUSE or similar pause-related servo-off variables. The exact variable name may vary by controller version and application software package.

System configuration variables may be password-protected. Do not attempt to change these settings without proper authorization and understanding of safety implications.

Disable auto servo-off on pause (if permitted)

If you have appropriate access, change $SCR.$SVOFFPAUSE to FALSE or 0 to disable immediate servo-off during pause states. Consult your facility's safety documentation before modifying this setting, as it may be required for compliance with safety regulations.

Disabling this feature may violate safety requirements in your facility. Coordinate with your safety officer and document any temporary changes for debugging purposes.

Alternative: Use HOLD instead of PAUSE

Instead of letting the program pause naturally, use the HOLD button (cycle stop) between steps. HOLD maintains servo power differently than PAUSE and may not trigger the auto servo-off feature. Press FWD to advance to the next step after examining the current position.

In some configurations, HOLD is treated as an active user input and does not trigger auto servo-off timers as quickly as automatic PAUSE states.

Reset and identify delay source

Press RESET to clear SRVO-020 and restore servo power using SHIFT+FWD. Identify what activities are causing extended delays between steps (position verification, measurements, consulting prints, etc.). Time how long typical pauses last to compare against your $SVOFTIME setting.

Keep a stopwatch or check the teach pendant clock when you start a pause to become aware of how long you typically spend between steps.

Adjust workflow to minimize pause time

Prepare measurements, tools, and documentation before entering single-step mode. If verification tasks take longer than the timeout allows, complete the step, let servo power drop, perform your checks with the robot de-energized, then restore power and continue.

This approach is actually safer for tasks like measuring tool positions or checking clearances, as the robot is de-energized during manual intervention.

Use position register logging instead of manual pausing

Navigate to MENU → SYSTEM → Registers → Position Reg. Record critical positions to position registers using program statements (PR[x]=LPOS) rather than pausing to manually record positions. Review the registers after the program completes, avoiding extended pauses during execution.

You can log up to 100 position registers (more with extended memory). Add PR[x]=LPOS statements at critical points, run through in single-step, then review all captured positions afterward.

Enable conditional monitoring with WAIT statements

For debugging specific conditions, insert WAIT statements with appropriate conditions rather than pausing manually. The robot maintains servo power during WAIT execution, and you can monitor I/O status via MENU → I/O → Digital or Analog without timing out.

Temporary WAIT UI[1]=ON statements allow you to control program flow from a user input, giving you unlimited pause time at specific points while maintaining servo power.