Answered SRVO-310

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Dear Dimitry,

As you said you have encountered the alarm after mastering, most probably its because of the incorrect mastering.

SRVO-310 Unexpected Motion(G:%d)

Cause: A current robot position that software calculates is abnormal.

Remedy:

1. Mastering data could be incorrect. Confirm whether incorrect backup data is restored or mastering has been executed at the wrong position. In that case, execute mastering.
2. Document the events that led to the error, and contact your FANUC technical representative.

Good Luck!

If the problem is caused by using wrong insertet actual positions while mastering and calibrating, the robot becomes problems inside his calculations of positions and movements. The robot is just not able to calculate correct without errors.

Therefore you must "kill" his, in this case "wrong", mastering.

There are two ways of doing this.

1. Set parameter " $DMR_GRP[1].$master_done = false ", so the robot knows he isn´t mastered now, and do the mastering again in the correct way..

2. Also you could take out the batteries on the robot sockets for a few minutes while the robots main switch is off to let him forget his mastering data and do the mastering again in the correct way.

Hope I could help you