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

The nozzle motor has stuck in the given direction (clockwise or counter-clockwise), 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 nozzle motor is working
• Check that the nozzle parking position is correct, pointing downwards when arm is parallel to boom
• Check that the nozzle zero position sensor is working
• Check that nothing is bent in arm
• Check condition of nozzle turning gear