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FANUC Robot Controller
Servo/Axis · Intermediate · 15-60 minutes
Fanuc Robot SRVO-024 - Move error excess
SRVO-024 Move error excess occurs when the actual servo position deviates from the commanded position beyond the threshold defined in $PARAM_GROUP.$MOVER_OFFST during motion. This indicates the axis cannot follow the programmed trajectory due to mechanical resistance, insufficient motor torque, or excessive speed/acceleration relative to payload. The alarm protects against potential mechanical damage or uncontrolled motion.
SRVO-024
Fanuc Robot SRVO-024 - Move error excess
Move error excess
During motion, the servo positional error exceeded the allowable limit ($PARAM_GROUP.$MOVER_OFFST). The robot could not follow the commanded trajectory, indicating overload, binding, or servo drive issues.
Root Cause Summary
SRVO-024 Move error excess occurs when the actual servo position deviates from the commanded position beyond the threshold defined in $PARAM_GROUP.$MOVER_OFFST during motion. This indicates the axis cannot follow the programmed trajectory due to mechanical resistance, insufficient motor torque, or excessive speed/acceleration relative to payload. The alarm protects against potential mechanical damage or uncontrolled motion.
Safety
- Always verify robot is in a safe stopped state before entering the work envelope
- Use T1 (low speed) mode when testing after clearing motion or servo alarms
Causes and Fixes
- 1
Reduce override and retest motion
From the teach pendant, reduce the override to 25-50% using the OVRD slider on the main screen. Re-execute the motion. If the alarm clears at lower speed, this confirms speed/acceleration is too high for the current load condition.
If the alarm only occurs at specific positions (e.g., extended reach), use PAYLOAD SCHEDULE feature to switch payload configs mid-program rather than reducing overall speed.
- 2
Verify payload configuration
Navigate to MENU → SETUP → Payload. Check that Payload Number matches your program's active payload (shown in $PAYLD). Verify Weight, X, Y, Z center of gravity values match actual tooling. Weigh the end effector if uncertain. Incorrect CoG values cause calculated torque errors even if weight is correct.
Never estimate payload on robots handling >50% rated capacity. Always measure actual weight and CoG.
- 3
Review motion programming for acceleration demands
Examine the motion statement before the alarm. Check for: high CNT values (CNT100 with heavy loads), FINE motions requiring deceleration/acceleration cycles, or small segmented moves with direction changes. Reduce CNT values or add intermediate points to smooth acceleration profile.
Check $SCR.$NUM_GROUP[grp].$MOVE_OFFST in Menu → NEXT → SYSTEM → Variables for the current position error at fault time. Values near $MOVER_OFFST confirm acceleration limits.
- 4
Verify programmed speed against payload capacity
Check motion speed (mm/sec for LINEAR, deg/sec for JOINT). Cross-reference with Load Capacity Curve in robot maintenance manual for your model. Extended reach positions significantly reduce allowable payload and speed. Reduce speed by 25-50% in first instance.
For R-30iB, enable DCS (Dynamic Control of Speed) in $SCR_GRP.$DCS_SCL to automatically reduce speed when approaching torque limits rather than faulting.
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