What the SRVO-006 alarm means

The hand breakage detection signal (HBK) activated - the system believes the gripper/hand is damaged or its sensor line is broken. Our engineers run into this alarm every week on FANUC R-30iA / R-30iB / R-30iB Plus controllers, and a single on-site inspection usually identifies the problem.

Most common causes

  • Actual gripper damage from collision
  • HBK sensor or wiring broken (very common at the wrist)
  • HBK input configured but no sensor connected
Field note: In our repair stats the first cause has the highest hit rate, so confirm it first before digging further.

Step-by-step field fix

  1. Inspect the gripper for real damage first
  2. Check the HBK sensor wiring at the wrist - flex fatigue is common
  3. If no HBK sensor is used, set the HBK function to disable properly rather than bypassing with jumpers
Safety first: For FANUC srvo-006, this alarm is the safety circuit itself: jumpering a door switch or forcing a contactor removes the protection entirely - no protective action when something happens, and no defensible account of responsibility. What you can check yourself first is Inspect the gripper for real damage first; the e-stop chain and safety circuit handling is not a DIY job.

How we diagnose safety-chain faults on site

FANUC srvo-006 belongs to the safety chain & e-stop family. On FANUC srvo-006 the failing stage is Dual Check Safety (e-stop board plus dual-channel safety circuit) on the R-30iB Plus / R-30iB Mate Plus / R-30iA - continuity of one series loop: e-stop buttons, door switches, light curtains, safety relays and the enabling device. We start reading FANUC srvo-006 at the iPendant ALARM screen (SRVO / MOTN / SYST / INTF prefixes) together with the amplifier's 7-segment status code.

The chain involved in FANUC srvo-006 runs: e-stop / door / curtain -> safety relay (dual channel) -> controller safety input -> motor-off and brake apply.

On FANUC srvo-006 (field clue usually Actual gripper damage from collision) we have one hard rule: On this family we have a hard rule: no bypassing the safety loop, no forcing contactors closed, ever. Some sites jumper the door switch to keep running - that removes the entire protection function, and when something happens there is no protective action and no defensible account of responsibility. We have seen a crush injury caused by exactly that jumper, so we would rather wait for parts than do it. If a customer has already jumpered it, we restore the circuit first and then diagnose the real fault.

Field notes on this page cover FANUC srvo-006 (Hand Broken (HBK)); written by the Henghuan repair team, updated 2026-10-01.

Not sure? Don't force it — contact an engineer

Share the alarm code, machine model and the operating condition at the moment of the alarm. Our engineers are highly experienced with FANUC srvo-006, and remote diagnosis (phone/video) is completely free.

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Related Safety Chain & E-Stop alarms

SRVO-105 — Door Open or E.Stop SRVO-201 — Panel E-Stop SRVO-202 — TP E-Stop SRVO-204 — External E-Stop (SVEMG Abnormal) SRVO-230 — Chain 1 (+24V) Abnormal SRVO-231 — Chain 2 (0V) Abnormal
Same family: this code belongs to the Safety chain & e-stop alarms family - the page collects all Safety chain & e-stop-family codes we have handled, with the common inspection order and spares.
Other brands: see our KUKA, ABB, Yaskawa and Universal Robots field-fix libraries — or the full 10-brand hub.

Frequently asked questions

QWhat does the FANUC srvo-006 alarm mean?

The hand breakage detection signal (HBK) activated - the system believes the gripper/hand is damaged or its sensor line is broken. Our engineers run into this alarm every week on FANUC R-30iA / R-30iB / R-30iB Plus controllers, and a single on-site inspection usually identifies the problem. FANUC srvo-006 sits in the safety chain & e-stop family; on our work orders the highest-frequency trigger for this code is "Actual gripper damage from collision".

QCan I clear a FANUC srvo-006 alarm myself?

Whether FANUC srvo-006 clears on its own depends on the outcome of "Inspect the gripper for real damage first". Finish the flow with "If no HBK sensor is used, set the HBK function to disable properly rather than bypassing with jumpers" to confirm FANUC srvo-006 - do not skip it. If that step is clean, the second most frequent cause on FANUC srvo-006 is "HBK sensor or wiring broken (very common at the wrist)". Do not chase takt through a repeating FANUC srvo-006. Left alone, safety chain & e-stop faults tend to graduate from repairable to must-replace.

QA safety-chain fault like FANUC srvo-006 stops the line - how fast can you be here?

The commonest causes we see on FANUC srvo-006 are "Actual gripper damage from collision, HBK sensor or wiring broken (very common at the wrist), HBK input configured but no sensor connected", so we stock the van against those. For FANUC srvo-006 specifically, we stock along the loop: safety relays, common door switches, e-stop buttons, light-curtain pairs and terminal blocks. For FANUC srvo-006, a safety-chain fault stops the whole line, so we rank it top priority and pre-triage by phone: door switch, e-stop or relay. Before we roll, tell us what FANUC srvo-006 shows on the iPendant ALARM screen (SRVO / MOTN / SYST / INTF prefixes) together with the amplifier's 7-segment status code and what the machine was doing - phone or video triage is free.

The content on FANUC srvo-006 was written by Henghuan Robotics service engineers from hands-on repair experience. Alarm descriptions are our own reference summary and may differ by controller or software version — defer to FANUC documentation, or contact us to confirm. Henghuan is an independent service provider with no affiliation or endorsement by FANUC.