Servo Lag Limit Exceeded on Axis 5

bob865

Hello all.  I have a robot that keeps giving me a Servo Lag Limit Exceeded on Axis 5 which also makes it lose safety sync.  It always does it in the same position, but it doesn't always throw the fault.  Recovery is relatively simple, drive the robot home and re-sync and re-start the robot, but this shouldn't be happening.  It is a 7600 robot on and IRC5 controller.  We have tried changing the upper belly pack (axis 5 and 6) but that didn't solve the problem.  It wasn't long before it faulted again.  I see there is an option for changing the servo lag limit for external axis motors in the safe move configuration, but nothing for the robot axis.  Has anyone seen this or have an insight as to what may be causing this or a possible solution?

Thanks!