What the SRVO-024 alarm means

During motion the following error exceeded the limit - the axis could not keep up with the commanded trajectory. This fault appears in a large share of our FANUC R-30iA / R-30iB / R-30iB Plus service tickets, and the first round of on-site checks usually finds the source.

Most common causes

  • Collision or mechanical jam during motion
  • Overload: payload or inertia setting too low vs. actual
  • Mechanical wear causing high friction (reducer, bearings)
  • Servo amplifier or motor degraded
Field note: Most of the time the problem is the first item on the list, so ruling it out saves you half the time.

Step-by-step field fix

  1. Check for collision marks and jammed tooling
  2. Verify payload and inertia settings match the real end-of-arm tooling
  3. Jog the axis at low speed and listen/feel for abnormal resistance or noise
  4. Measure motor current while jogging - abnormally high current points to mechanical load
Safety first: For FANUC srvo-024, servo circuits are live and motor shafts and reducers rotate: measuring current waveforms or winding resistance means contact with live or moving parts. The self-serviceable action is Check for collision marks and jammed tooling; anything past that falls under live servo circuits and rotating parts and needs a certified engineer.

How we diagnose servo alarms on site

FANUC srvo-024 belongs to the servo & drive family. On FANUC srvo-024 the failing stage is alpha-i / beta-i servo amplifiers with PSM supply modules and SVM servo modules (SPM where spindles fit) on the R-30iB Plus / R-30iB Mate Plus / R-30iA - the servo closed loop: current/velocity/position loop misbehaviour, motor-drive matching and load identification. We start reading FANUC srvo-024 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-024 runs: target -> position loop -> velocity loop -> current loop -> power output -> motor -> feedback -> loop compare.

Collision or mechanical jam during motion on FANUC srvo-024 needs two causes separated first: A servo motor whose brake never fully opens runs overloaded and reports overcurrent or overload - it looks like a dead drive. Insufficient coil supply, a sticking lining or a wrong gap all produce this running-on-brake condition. The other case is turn-to-turn winding shorts: one phase reads high current and the motor runs hot. We measure brake coil supply and actuation current first, then winding resistance balance across the three phases; only when both are wrong do we talk about replacing the motor.

Field notes on this page cover FANUC srvo-024 (Move Error Excess (Group / Axis)); written by the Henghuan repair team, updated 2026-10-01.

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Related Servo & Drive alarms

SRVO-021 — SRDY Off (Group / Axis) SRVO-023 — Stop Error Excess (Group / Axis) SRVO-043 — DCAL Alarm - Discharge Alarm SRVO-044 — HVAL Alarm - High Voltage SRVO-045 — HCAL Alarm - High Current SRVO-046 — OVC Alarm - Overcurrent (Average)
Same family: this code belongs to the Servo & drive alarms family - the page collects all Servo & drive-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-024 alarm mean?

During motion the following error exceeded the limit - the axis could not keep up with the commanded trajectory. This fault appears in a large share of our FANUC R-30iA / R-30iB / R-30iB Plus service tickets, and the first round of on-site checks usually finds the source. FANUC srvo-024 sits in the servo & drive family; on our work orders the highest-frequency trigger for this code is "Collision or mechanical jam during motion".

QCan I clear a FANUC srvo-024 alarm myself?

Whether FANUC srvo-024 clears on its own depends on the outcome of "Check for collision marks and jammed tooling". Finish the flow with "Measure motor current while jogging - abnormally high current points to mechanical load" to confirm FANUC srvo-024 - do not skip it. If that step is clean, the second most frequent cause on FANUC srvo-024 is "Overload: payload or inertia setting too low vs. actual". Do not chase takt through a repeating FANUC srvo-024. Left alone, servo & drive faults tend to graduate from repairable to must-replace.

QFor servo alarms like FANUC srvo-024, how do you tell motor from drive?

The commonest causes we see on FANUC srvo-024 are "Collision or mechanical jam during motion, Overload: payload or inertia setting too low vs. actual, Mechanical wear causing high friction (reducer, bearings)", so we stock the van against those. For FANUC srvo-024 specifically, we bring the scope and meter; motors and drives are stocked by type, and most cases are measured before parts are ordered. For FANUC srvo-024, on servo alarms we specifically avoid misjudgement: waveform first, parts second, so customers skip needless swaps. Before we roll, tell us what FANUC srvo-024 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.

This page on FANUC srvo-024 was compiled from actual repair records of the Henghuan Robotics repair team. Alarm notes are our own summary for troubleshooting reference only and may vary with controller and software version — please consult FANUC documentation or contact us if in doubt. Henghuan is an independent service provider, not affiliated with or endorsed by FANUC.