Excessive Position Error at Stop

What does SRVO-023 mean?

When the servo is commanded to stop, the actual position error is abnormally large. This can occur if the motor brake fails to release properly, or if there is a physical obstacle preventing the robot from maintaining its commanded stop position.

• Excessive position deviation from commanded path during motion hold.
• Mechanical binding or external load exceeding servo torque capacity.
• Incorrect servo tuning parameters (e.g., P gain, velocity gain).
• Inaccurate encoder counts or resolution causing position discrepancies.
• Motor encoder feedback signal noise or intermittent connection.

Click steps to track your progress.

1. 1

   If the brake is not released (check for absence of clack sound or vibration), check the continuity of the brake line in the robot connection cable and the mechanical unit cable.

2. 2

   If no disconnection is found and the brake is still not released, replace the 6-Axis servo amplifier or the servo motor.

3. 3

   If the brake is released, check whether an obstacle is disturbing the robot's motion.