This is a soft alarm. However, the alarm will be accompanied by a robot stuck alarm.

The boom motor has stuck in the given direction (upwards or downwards), i.e. no significant movement has been detected for a couple of seconds when the motor was expected to move. The motor is stuck due to a physical obstacle (bad programming with too small margins or other environmental changes).

• Check that the robot has not run into anything. Keep in mind that the function that has set of the alarm does not necessarily need to be the function causing the trouble originally.
• Check that the margins to the surroundings are sufficient
• Check that the boom motor is working
• Check that the boom position is initialized correctly with zero in the bottom position