FANUC Teach Pendant E-Stop Alarm: Troubleshooting SRVO-002

When a FANUC robot displays SRVO-002 Teach Pendant E-stop, the controller has detected that the emergency stop circuit associated with the Teach Pendant is active.

The robot may stop operating, and servo power may be unavailable until the emergency stop condition is cleared.

The first thing to check is the emergency stop button on the Teach Pendant. However, if the button has already been released and SRVO-002 remains active, further inspection may be necessary.

The problem may involve the Teach Pendant itself or its emergency stop circuit.

This guide explains what FANUC SRVO-002 means, how to perform the initial checks, and when a Teach Pendant replacement or further electrical diagnosis may be required.

1. What Does FANUC SRVO-002 Mean?

SRVO-002 – Teach Pendant E-stop

This alarm indicates that the emergency stop button on the Teach Pendant has been pressed, or that the controller is detecting the Teach Pendant emergency stop condition as active.

According to FANUC controller maintenance documentation, the initial corrective action is to release the emergency stop button on the Teach Pendant. If the alarm remains, Teach Pendant replacement is listed as a corrective action in the applicable maintenance procedures.

The alarm is specifically associated with the Teach Pendant E-stop function. It should not automatically be treated as an external emergency stop or an operator panel emergency stop fault.

Related FANUC E-Stop and Safety Alarms

Several FANUC alarms are related to emergency stop or enabling functions, but they identify different conditions.

Correctly identifying the alarm is important. For example, SRVO-002 and SRVO-003 both involve the Teach Pendant, but they relate to different safety functions.

2. Common Causes of FANUC SRVO-002

The following conditions should be considered when investigating an SRVO-002 alarm.

2.1 Teach Pendant E-Stop Button Is Pressed

This is the first condition to check.

The Teach Pendant emergency stop button is designed to stop robot operation when activated.

If the button is pressed, the controller reports SRVO-002.

What to check:

• Is the red emergency stop button physically pressed?

• Is the button still locked in its activated position?

• Has the button been released completely?

• Does the alarm clear after the approved reset procedure?

On applicable FANUC pendant designs, the emergency stop button is released by rotating it in the direction indicated on the button.

Do not attempt to reset the alarm until the reason for the emergency stop has been identified and it is safe to resume operation.

2.2 Emergency Stop Button Does Not Release Correctly

A damaged or mechanically stuck emergency stop button may remain in the activated position.

Possible signs include:

• The button does not rotate or release normally.

• The button feels loose or mechanically damaged.

• The button remains depressed after an attempted release.

• The controller continues to report SRVO-002.

If the button is physically damaged or cannot be released normally, stop troubleshooting and arrange inspection by qualified maintenance personnel.

2.3 Teach Pendant Internal E-Stop Circuit Fault

If the emergency stop button has been released but SRVO-002 remains active, the Teach Pendant emergency stop circuit may require further inspection.

Potential areas include:

• Emergency stop switch contacts.

• Internal wiring and connectors.

• Emergency stop board or related circuitry.

• The Teach Pendant assembly itself.

The exact internal arrangement depends on the Teach Pendant model and controller generation.

Do not assume that the emergency stop switch alone is defective. A qualified technician should follow the applicable FANUC maintenance manual to determine the failed component.

2.4 Teach Pendant or Connection Problem

A problem involving the Teach Pendant assembly or its connection may also need investigation when the alarm cannot be cleared through the normal procedure.

Check for:

• Visible damage to the Teach Pendant.

• Damage around the emergency stop button.

• Connector or cable damage.

• Signs of previous repair or improper assembly.

Do not disconnect or reconnect safety-related wiring while the controller is energized. Follow the approved shutdown and maintenance procedure.

3. How to Troubleshoot FANUC SRVO-002

Follow these steps to identify the cause without bypassing the safety system.

Step 1: Confirm the Active Alarm

On the Teach Pendant, open the alarm screen and confirm the exact alarm code.

Check whether the active alarm is:

SRVO-002 – Teach Pendant E-stop

Also review the alarm history to determine whether other alarms appeared before or after SRVO-002.

If SRVO-001, SRVO-007, or another safety-related alarm is also present, investigate those conditions separately.

Step 2: Inspect the Emergency Stop Button

Locate the red emergency stop button on the Teach Pendant.

Check:

• Whether the button is pressed.

• Whether the button is mechanically damaged.

• Whether it can be released normally.

• Whether it returns to its normal released position.

If the button is pressed, identify why the emergency stop was activated before attempting to resume operation.

Step 3: Release the E-Stop Button

If it is safe to do so and the emergency stop condition has been resolved, release the button according to the pendant's operating instructions.

On applicable models, this normally involves rotating the button to release its locking mechanism.

Do not force a button that feels stuck or damaged.

Step 4: Check Whether SRVO-002 Clears

After releasing the button, follow the controller's approved alarm reset procedure.

Observe whether:

• SRVO-002 clears normally.

• The alarm remains active.

• The alarm returns immediately.

• Other safety-related alarms appear.

If the alarm clears and the safety system is functioning normally, follow the site's approved restart procedure.

If SRVO-002 remains active, do not repeatedly reset the controller or attempt to force operation.

Step 5: Arrange Teach Pendant Inspection

When the emergency stop button has been released but the alarm remains, the Teach Pendant may require further inspection.

A qualified technician should use the applicable maintenance documentation to check the emergency stop circuit and related components.

FANUC maintenance documentation for applicable R-30iA and R-30iB Mate controller generations lists Teach Pendant replacement as a corrective action when releasing the emergency stop button does not resolve SRVO-002.

The exact replacement procedure and scope should be confirmed against the controller and pendant model.

Step 6: Verify the Safety Function Before Restarting

After any repair or replacement, the emergency stop function must be tested according to the applicable FANUC maintenance procedure and the site's safety validation requirements.

Confirm that the emergency stop function operates correctly before returning the robot to production.

4. SRVO-002 Troubleshooting: What Should You Replace?

The correct replacement depends on the actual fault.

Important: Do not replace the E-stop switch, board, or complete Teach Pendant based only on the alarm code. First confirm the actual fault and the repair procedure for the specific model.

5. How to Identify the Correct FANUC Teach Pendant Replacement

If the Teach Pendant is confirmed defective, identifying the correct replacement is essential.

FANUC Teach Pendants differ by controller generation, hardware configuration, and part number.

Before sourcing a replacement, collect the following information.

5.1 Original Teach Pendant Part Number

Record the complete part number from the original pendant identification label.

Include all suffixes and revision details.

Do not select a replacement based only on a similar appearance.

5.2 FANUC Controller Model

Identify the controller model, such as:

• R-30iA

• R-30iA Mate

• R-30iB

• R-30iB Mate

• R-30iB Plus

• Other applicable FANUC controller generations

The controller model is important, but it is not sufficient by itself to establish pendant compatibility.

5.3 Teach Pendant Model and Configuration

Check the complete Teach Pendant model and its hardware configuration.

Pay attention to:

• Emergency stop button arrangement.

• Enable switch configuration.

• Display and keypad layout.

• Connector type.

• Hardware revision.

5.4 Photos and Identification Labels

If the original part number is unclear, provide clear photos of:

• Teach Pendant front.

• Rear identification label.

• Emergency stop button.

• Cable connector.

• Any visible part-number markings.

These details help verify the correct replacement.

6. Replace the E-Stop Switch or the Complete Teach Pendant?

The decision depends on the confirmed fault and the pendant's repairability.

For some FANUC Teach Pendant configurations, replacing the complete pendant may be the recommended maintenance action when SRVO-002 cannot be cleared by releasing the E-stop button.

However, this should not be interpreted as proof that every SRVO-002 alarm requires a complete pendant replacement.

7. Important Safety Notes When Troubleshooting E-Stop Alarms

The emergency stop system is a critical robot safety function.

When troubleshooting SRVO-002:

• Never bypass or short-circuit the emergency stop circuit.

• Never jumper safety contacts to clear an alarm.

• Never operate the robot with a defective emergency stop button.

• Do not open or repair energized Teach Pendant equipment.

• Follow the applicable FANUC maintenance manual.

• Have qualified personnel inspect and validate the safety function after repair.

An emergency stop alarm should be treated as a safety-related condition, not simply an inconvenience that needs to be cleared.

8. Frequently Asked Questions

What does SRVO-002 mean on a FANUC robot?

SRVO-002 means Teach Pendant E-stop. The controller has detected that the Teach Pendant emergency stop function is active.

How do I clear FANUC SRVO-002?

First, identify why the emergency stop was activated. If it is safe to do so, release the Teach Pendant emergency stop button according to the operating instructions, then follow the approved alarm reset procedure.

If the alarm remains active, further inspection of the Teach Pendant and its emergency stop circuit is required.

Does SRVO-002 mean the Teach Pendant is broken?

Not necessarily. The alarm may simply indicate that the emergency stop button is pressed. However, if the button has been released and the alarm remains, a Teach Pendant fault may need to be investigated.

Is SRVO-002 the same as SRVO-003?

No.

• SRVO-002: Teach Pendant E-stop.

• SRVO-003: Deadman switch released or an abnormal Deadman switch operating condition, depending on the applicable controller documentation.

They are separate safety-related alarms and require different diagnostic procedures.

Should I replace the E-stop button or the complete Teach Pendant?

It depends on the pendant design and the confirmed fault. Some configurations may support component-level repair, while others may require replacement of the complete Teach Pendant.

Always verify the correct repair procedure and replacement part number.

Can I continue operating the robot if SRVO-002 appears intermittently?

No. An intermittent emergency stop condition must be investigated before returning the robot to normal operation. Do not bypass the safety circuit or continue production with an unresolved E-stop fault.

Source a Replacement FANUC Teach Pendant or E-Stop Component

If your FANUC robot continues to display SRVO-002 after the Teach Pendant emergency stop button has been released, the next step is to identify the faulty component.

InRobots supports sourcing FANUC Teach Pendant assemblies and related repair components.

To help identify the correct replacement, provide:

• FANUC controller model.

• Complete Teach Pendant model.

• Original Teach Pendant part number.

• Photos of the front and rear identification label.

• Description of the SRVO-002 fault and troubleshooting already performed.

• Required quantity.

Request a Quote

You can also explore our Fanuc Teach Pendant Parts for related replacement components.