What the E0022 alarm means

Position deviation between commanded and feedback exceeded the threshold during or after motion. We have built up many handled cases of this Nachi AW / FD series alarm, and usually the first on-site inspection tells us what is wrong.

Most common causes

  • External force on the robot
  • Mechanical binding
  • Encoder feedback fault
  • Loose coupling or belt
Field note: Confirm or rule out the first cause first — it is the situation we encounter most.

Step-by-step field fix

  1. Look for anything pushing on the robot
  2. Check mechanical components for binding
  3. Inspect encoder cable and connections
  4. Check couplings and belts for looseness
  5. Re-test at low speed
Safety first: For NACHI e0022, this alarm family points at arm motion control: after a reset the arm can move unexpectedly, and anyone inside the working envelope is at strike and pinch risk. On site you may look at after confirming power-off the first step yourself: Look for anything pushing on the robot. Beyond that it is the arm working envelope work - leave it to a professional.

How we diagnose motion alarms on site

NACHI e0022 belongs to the motion & path family. On NACHI e0022 the failing stage is servo amplifier modules in the cabinet, assigned per axis on the AX-series / FD-series controllers - the gap between command and execution: trajectory planning, joint limits, singularities, following error and mechanical resistance. We start reading NACHI e0022 at the pendant error-code screen (E-series codes) with amplifier panel indicators.

The chain involved in NACHI e0022 runs: program command -> trajectory planner -> joint targets -> servo execution -> actual position feedback -> deviation compare.

First check whether NACHI e0022 only appears at one pose - A six-axis arm near wrist extension or near axis-5 zero has a Jacobian approaching singularity: tiny tool moves demand huge joint rates, and the controller either reports following error or the arm snaps through. When the report is alarms at one position and clean on another path, suspect the singular region first. The fix is not raising speed limits but routing around it: move the part, add an intermediate point, or pass the region in joint interpolation.

Field notes on this page cover NACHI e0022 (Deviation Error); written by the Henghuan repair team, updated 2026-10-01.

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Related Motion & Path alarms

E0012 — Robot Cannot Reach Recorded Point E0021 — Servo Follow-Up Error (Following Error) E0025 — Position Jump (Jump Position)
Same family: this code belongs to the Motion & path alarms family - the page collects all Motion & path-family codes we have handled, with the common inspection order and spares.
Other brands: we also keep field-fix libraries for Omron · ESTUN · INOVANCE and more — see the complete alarm code hub.

Frequently asked questions

QWhat does the NACHI e0022 alarm mean?

Position deviation between commanded and feedback exceeded the threshold during or after motion. We have built up many handled cases of this Nachi AW / FD series alarm, and usually the first on-site inspection tells us what is wrong. NACHI e0022 sits in the motion & path family; on our work orders the highest-frequency trigger for this code is "External force on the robot".

QCan I clear a NACHI e0022 alarm myself?

Whether NACHI e0022 clears on its own depends on the outcome of "Look for anything pushing on the robot". Finish the flow with "Re-test at low speed" to confirm NACHI e0022 - do not skip it. If that step is clean, the second most frequent cause on NACHI e0022 is "Mechanical binding". When NACHI e0022 keeps coming back it is not a one-off trigger - especially if Re-test at low speed is where you get stuck. Do not keep producing through NACHI e0022.

QFor motion alarms like NACHI e0022, can you triage remotely first?

The commonest causes we see on NACHI e0022 are "External force on the robot, Mechanical binding, Encoder feedback fault", so we stock the van against those. For NACHI e0022 specifically, we carry mechanical and configuration items: grease, limit switches, drag-chain segments, encoder cables and the parameter sheets for common reducers. For NACHI e0022, motion alarms can often be narrowed remotely first, so an on-site visit is not always immediate. Before we roll, tell us what NACHI e0022 shows on the pendant error-code screen (E-series codes) with amplifier panel indicators and what the machine was doing - phone or video triage is free.

This page on NACHI e0022 was written by the Henghuan Robotics repair team from field service experience. Alarm descriptions are our own summary for troubleshooting reference and may vary by controller and software version — when in doubt, check your Nachi documentation or contact us. Henghuan is an independent service provider, not affiliated with or endorsed by Nachi.