83421405 FANUC Robotics SYSTEM R J3 Troubleshooting and Maintenance Manual

FANUC Robotics SYSTEM R-J3 i-size, B-size, and Paint Controller Electrical Connection and Maintenance Manual MARM3CONM10801E REV. A Back to Main | Table of Contents | Previous Section | Next Section | Search 3.5 TROUBLESHOOTING USING THE ERROR CODE  (1) SRVO-001 SVAL1 Operator panel E-stop o (Explanation) The emergency stop button on the operation box or operator's panel or is pressed. o (Action 1) Release the emergency stop button pressed on the operator's box. o (Action 2) Check the wires connecting the emergency stop switch connector CRT8 for continuity. If an open wire is found replace the entire harness. o (Action 3) With the emergency stop in the released position, check for continuity across the terminals of the switch. If continuity is not found, replace the switch. If continuity is found replace the operator panel PCB. o (Action 4) Replace the Main Board.  (2) SRVO-002 SVAL1 Teach pendant E-stop o (Explanation) The emergency stop button on the operator's Teach Pendant was pressed. o (Action 1) Release the emergency stop button on the teach pendant. o (Action 2) Replace Teach Pendant.  (3) SRVO-003 SVAL1 Deadman switch released o (Explanation) The teach pendant is enabled, but the deadman's switch is not pressed. o (Action 1) Press the deadman switch to run the robot. o (Action 4) Replace the teach pendant.  (4) SRVO-004 SVAL1 Fence open o (Explanation) On the terminal block TBOP1of the panel board, no connection is made between 3 (FENCE1) and 4 (FENCE2). If a safety fence is connected between 3 (FENCE1) and 4 (FENCE2), the door of the safety fence is open. o (Action 1) If a safety fence is connected, close the door. o (Action 2) Check the switch and cable connected to 3 (FENCE1) and 4 (FENCE2). o (Action 3) When this signal is not used, make a connection between 3 (FENCE1) and 4 (FENCE2). o (Action 4) Replace the panel PC board. WARNING Do NOT short-circuit, or disable, this signal in a system in which the Fence signal is in use, as it is very dangerous. If it is necessary to run the robot by short-circuiting the signal even temporarily, an additional safety provision must be provided.  (5) SRVO-005 SVAL1 Robot overtravel o (Explanation) The robot has moved beyond a hardware limit switch on the axes. It is factory-placed in the overtravel state for packing purposes. If the Overtravel signal is not in use, it may have been disabled by short-circuiting CRM37B on the servo amplifier. o (Action 1) 1) Select [System OT release] on the overtravel release screen to release each robot axis from the overtravel state. 2) Hold down the shift key, and press the alarm release button to reset the alarm condition. 3) Still hold down the shift key, and jog to bring all axes into the movable range. o (Action 2) Check the overtravel connection cable (one-piece i -cabinet/robot type) and robot connection cable (RP1) for a ground fault. If no limit switch is in use, a jumper connector must be attached to the CRM37B connector of the servo amplifier. Check for the jumper connector. o (Action 3) Replace the servo amplifier. . the HBK signal on the robot connection cable might be a ground fault or a cable disconnection. (6) SRVO-006 SVAL1 Hand broken o (Explanation) The safety joint (if in use) might have been broken. o (Action 2) Check the robot connection cable (RP1) for a ground fault or a cable disconnection. If the Hand broken signal is not in use. and jog the tool to the work area. o (Action 1) Hold down the shift key. o (Action 3) Replace the servo amplifier. Alternatively. Still hold down the shift key. 2) Check the safety joint cable. and press the alarm release button to reset the alarm condition. 1) Replace the safety joint. it may have been disabled by shortcircuiting CRM37A on the servo amplifier. o (Action 3) When this signal is not used. an additional safety provision must be provided. make a connection between 1 (EMGIN1) and 2 (EMGIN2). releases the switch. this signal in a system in which the External emergency stop input signal is in use. as it is very dangerous. o (Action 4) Replace the PC board. the switch is pressed. no connection is made between 1 (EMGIN1) and 2 (EMGIN2). . WARNING Do NOT short-circuit. (7) SRVO-007 SVAL1 External E-stop o (Explanation) On the terminal block TBOP1 of the panel board. If it is necessary to run the robot by short-circuiting the signal even temporarily. o (Action 1) If an external emergency stop switch is connected. or disable. o (Action 2) Check the switch and cable connected to 1(EMGIN1) and 2 (EMGIN2). If an external emergency stop switch is connected between 1 (EMGIN1) and 2 (EMGIN2). Replace them if necessary. o (Action) Check the fan motor and its cables. check the cause. o (Action 1) If an abnormal air pressure is detected. o (Action 2) Replace the servo amplifier. If the peripheral device are normal. . check the robot cable and if the peripheral device are abnormal. (8) SRVO-009 SVAL1 Pneumatic pressure alarm o (Explanation) An abnormal air pressure was detected.  (9) SRVO-014 WARN Fan motor abnormal o (Explanation) A fan motor in the backplane unit is abnormal. replace the device. Replace them if necessary. (10) SRVO-015 SVAL1 SYSTEM OVER HEAT (Group : i Axis : j) o (Explanation) The temperature in the control unit exceeds the specified value. cool down ambient temperature using the air conditioning unit. check it and its cables. o (Action 1) If the ambient temperature is higher than specified (45 C). o (Action 2) If the fan motor is not running. replace the backplane unit. . o (Action 3) If the thermostat on the main board is defective. . (11) SRVO-018 SVAL1 Brake abnormal o (Explanation) An excessive brake current is detected. o (Action 1) Check the robot connection cable (RM1) and cables internal to the mechanical section for a short-circuit and connection to the ground. o (Action 2) Replace the servo amplifier. The seven-segment LED on the servo amplifier indicates 1. although there is no other cause of an alarm. If a switch is connected between 5 (SVOFF1) and 6 (SVOFF2). as it is very dangerous. o (Action 4) Replace the panel board. WARNING Do NOT short-circuit.  (13) SRVO-021 SVAL1 SRDY off (Group : i Axis : j) o (Explanation) The HRDY is on and the SRDY is off. o (Action 2) Check the switch and cable connected to 5 (SVOFF1) and 6 (SVOFF2). releases the switch. make a connection between 5 (SVOFF1) and 6 (SVOFF2). no connection is made between 5 (SVOFF1) and 6 (SVOFF2). the switch is pressed. (HRDY is a signal with which the host directs the servo system whether to turn on or off the servo amplifier magnetic contactor. (12) SRVO-019 SVAL1 SVON input o (Explanation) On the terminal block TBOP1 of the panel board. o (Action 3) When this signal is not used. this signal in a system in which the Servo off emergency stop signal input is in use. If it is necessary to run the robot by short-circuiting the signal even temporarily. or disable. an additional safety provision must be provided. o (Action 1) If a switch is connected. SRDY is a signal with which the servo system informs the host whether the magnetic contactor is . external emergency stop input. the host will not issue this alarm (SRDY off). teach pendant deadman switch. (Action 4) Replace the emergency stop control PCB. (Action 5) Replace axis control card on the main board. or door switch). o (Action 2) Replace the servo amplifier. If it is bad replace it. (Action 6) Replace the servo amplifier.o o o o o o o turned on. operator box emergency stop. the SRDY is already on. This alarm occurs if the alarm cause cannot be detected by software because of a short break and magnetic contactor off. servo-off input. teach pendant enable/disable switch. it is most likely that a servo amplifier alarm has occurred. . this alarm indicates that the magnetic contactor cannot be turned on for an unknown reason.  (14) SRVO-022 SVAL1 SRDY on (Group : i Axis : j) o (Explanation) When the HRDY is about to go on.) If the servo amplifier magnetic contactor cannot be turned on when directed so. SRDY is a signal with which the servo system informs the host whether the magnetic contactor is turned on. (Action 1) Check whether an outage has occurred on an emergency stop line (teach pendant emergency stop. If a servo amplifier alarm has been detected. Therefore. (Action 2) Check the magnetic contactor for continuity. fence input. (Action 3) Replace the cable between the emergency stop board and the magnetic contactor. (Action 7) Replace the main board. o (Action 1) Replace the axis control board on the main board. (HRDY is a signal with which the host directs the servo system whether to turn on or off the servo amplifier magnetic contactor. o (Action 6) Replace the motor. RM3).o (Action 3) Replace the main board. (If the load is too greater. . the position error is abnormally large.) o (Action 3) Check each phase voltage of the three-phase power (200 VAC) input to the servo amplifier. the torque required for acceleration / deceleration becomes higher than the capacity of the motor. (If the voltage input to the servo amplifier becomes low. As a result the motor may become unable to follow the command. and an alarm is issued. RM2. As a result. the motor becomes unable to follow the command. check the line voltage. reduce it to within the rating. If greater. replace the servo amplifier. o (Action 1) Check whether the motor brake has been released.) o (Action 4) If the line voltage is 170 VAC or higher. o (Action 5) Check disconnection of motor power cable (RM1.  (15) SRVO-023 SVAL1 Stop error excess (Group : i Axis : j) o (Explanation) When the servo is at stop. If it is 170 VAC or lower. hence possibly an alarm. the torque output also becomes low. o (Action 2) Check to see if the load is greater than the rating. (21) SRVO-031 SVAL1 User servo alarm (Group : i) o (Explanation) An user servo alarm occurred.$MOT_SPD_LIM) was specified. (17) SRVO-025 SVAL1 Motn dt overflow (Group : i Axis : j) o (Explanation) The specified value is too great.        (16) SRVO-024 SVAL1 Move error excess (Group : i Axis : j) o (Explanation) When the robot is running. but the robot had not been calibrated. but the necessary adjustment had not been completed. It is likely that the robot cannot follow the speed specified by program. $MOVER _ OFFST or $PARAM _ GROUP. The actual motor speed is clamped to the maximum speed. (20) SRVO-030 SVAL1 Brake on hold (Group : i) o (Explanation) This alarm occurs when the robot pauses. o (Action) Make the adjustment on the positioning menu select System positioning. its position error is greater than a specified value ($PARAM _ GROOP. $TRKERRLIM). 1. if the brake on hold function has been enabled ($SCR. o (Action) Disable [Servo-off during pause] on the general setting menu (Select Setting general). (23) SRVO-034 WARN Ref pos not set (Group : i) . $BRKHOLD _ ENB = 1). (19) SRVO-027 WARN Robot not mastered (Group : i) o (Explanation) An attempt was made to calibrate the robot. o (Action) Calibrate the robot. (18) SRVO-026 WARN2 Motor speed limit (Group : i Axis : j) o (Explanation) A value higher than the maximum motor speed ($PARAM_GROUP. Disable the function if it is not necessary. (22) SRVO-033 WARN Robot not calibrated (Group : i) o (Explanation) An attempt was made to set up a reference point for simplified adjustment. Supply power. 2. o (Action) Take the same actions as described for the above alarm. Set up a simplified adjustment reference point using [Positioning] on the positioning menu. but the reference point had not been set up. It might be necessary to remaster the robot. o (Action) Cold start the controller.$JNTVELLIM) was specified. Each actual axis speed is clamped to the maximum speed. Select MASTER/CAL. Press MENUS. (25) SRVO-036 SVAL1 Inpos time over (Group : i Axis : j) o (Explanation) The robot did not get to the effective area ($PARAM _ GROUP. (29) SRVO-042 MCAL alarm (Group : i Axis : j) o (Explanation) This alarm means that the contacts of the magnetic contactor have stuck to each other.  4. Press RESET. and replace it if necessary. Press F3. If the power is switched off without turning off the circuit breaker. cold start the controller. o (Action 1) Check the magnetic contactor. (26) SRVO-037 SVAL1 Imstp input (Group : i) o (Explanation) The *IMSTP signal for a peripheral device interface was input. This alarm is represented by "2" on the 7segment LED indicator of the servo amplifier. $INPOS _ TIME) elapsed. PES-PCA. o (Action) Perform APC reset and remaster robot (RES-PCA)  1. o (Action) Turn on the *IMSTP signal.  1.  6. Turn off the controller. The fault condition should reset.      (Explanation) An attempt was made to perform simplified adjustment. The alarm condition is detected between the time contact sticking occurs and the time an attempt is made to turn on the magnetic contactor. o (Action) Take the same actions as for SRVO-23 (large position error at a stop). (28) SRVO-041 SVAL2 MOFAL alarm (Group : i Axis : j) o (Explanation) The servo value was too high. turn off the circuit breaker. the servo amplifier may get damaged. because the stuck contacts keep three-phase 200 V applied to the servo amplifier.  2. Cold start the controller. o . The alarm condition occurs if the magnetic contactor turns out to be already on when an attempt is made to turn it on. Select SYSTEM.$ STOPTOL) even after the position check monitoring time ($PARAM _ GROUP. (27) SRVO-038 SVAL2 Pulse mismatch (Group : i Axis : j) o (Explanation) The pulse count obtained when power is turned off does not match the pulse count obtained when power is applied. Press F1 [TYPE].  3.  2. o (Action 2) Replace the emergency stop board. (24) SRVO-035 WARN2 Joint speed limit (Group : i Axis : j) o (Explanation) A value higher than the maximum axis speed ($PARAM_GROUP. If the controller is still faulted with additional servo-related errors.  5. o (Action) Set up a simplified adjustment reference point on the positioning menu. If the contacts of the magnetic contactor have stuck to each other. the robot operates from the potential energy. CRR45B. at deceleration on a horizontal axis. If a reduction in the potential energy is higher than the energy needed for acceleration. o (Action 5) Replace the servo amplifier. If there is no continuity between the pins. the servo amplifier receives energy from the motor. The servo amplifier dissipates this energy as heat. the servo amplifier supplies energy to the robot. o (Action 3) Detach the cable from CRR43A on the emergency stop board. If the regenerative energy is higher than the energy dissipated as heat. and check for continuity between pins 1 and 2 of the cable-end connector. ROT. When going down the vertical axis. and check the resistance between pins 1 and 2 of each cable-end connector. the difference is stored in the servo amplifier. o (Action 2) Check fuse FU1 in the servo amplifier. The energy that the servo amplifier receives from the motor is called the regenerative energy. o (Action 1) This alarm may occur if the axis is subjected to frequent acceleration/deceleration or if the axis is vertical and generates a large amount of regenerative energy. and CRR45C on the servo amplifier. If this alarm has occurred. (To run the robot. and replace the fuse. replace the regenerative resistance.) "8" is display on the servo segment LED of the servo amplifier. o (Action 4) Detach the cables from CRR45A. causing an alarm.o (Action 3) Replace the servo amplifier. or HBK signal. . If the resistance is not 9 . A similar phenomenon occurs even when no gravity is applied. remove the cause. replace the regenerative resistance. If it has blown. for example.  (30) SRVO-043 SVAL1 DCAL alarm (Group : i Axis : j) o (Explanation) The regenerative discharge energy was too high to be dissipated as heat. One of the probable causes of a blown fuse is a ground fault in the end effecter (RDI/RDO). relax the service conditions. the accumulation of regenerative energy might result in the HVAL alarm even when the three-phase input voltage is within the rating. (If the three-phase input voltage is higher than 253 VAC. high acceleration/deceleration can result in this alarm. . If it is 253 VAC or higher. The servo amplifier LED indicates 7. reduce it to within the rating. If it is higher than the rating. o (Action 3) Replace the servo amplifier. o (Action 1) Check the three-phase input voltage at the servo amplifier. (If the machine load is higher than the rating. (31) SRVO-044 SVAL1 HVAL alarm (Group : i Axis : j) o (Explanation) The DC voltage (DC link voltage) of the main circuit power supply is abnormally high. check the line voltage.) o (Action 2) Check that the load weight is within the rating. and W and U with a ohmmeter with a very low resistance range. replace the servo amplifier. The servo amplifier 7-segment LED indicates -. Check them and replace them if necessary. and measure the resistance between the U and V. o (Action 1) Disconnect the motor power lines from the servo amplifier terminals. (32) SRVO-045 SVAL1 HCAL alarm (Group : i Axis : j) o (Explanation) Abnormally high current flowed in the main circuit of the servo amplifier. and check the insulation of each motor power line (U. robot interconnection cable. If there is a short-circuit. or intra-robot cable is defective. o (Action 3) Disconnect the motor power lines from the servo amplifier terminals. or intrarobot cable is defective. V. robot interconnection cable. If the resistances at these three places are different from each other. the motor. a red LED (HC1 to HC6) corresponding to the HCAL alarm on the side of 7-segment LED. and see if the alarm occurs again. supply power. or W) and the GND line. the motor. If the alarm occurs. Check each item in detail and replace it if necessary. o (Action 2) Disconnect the motor power lines from the servo amplifier terminals. V and W. . At the same time. OVL. reduce it to within the rating. o (Action 4) Replace the motor. If it is 170 VAC or lower. Reference Relationships among the OVC. o (Action 3) Replace the servo amplifier. and HC alarms . (33) SRVO-046 SVAL2 OVC alarm (Group : i Axis : j) o (Explanation) This alarm is issued to prevent the motor from thermal damage that might occur when the root meant square current calculated within the servo system is out of the allowable range. check the line voltage. If the technical data of the robot such as duty cycle or load weight is higher than the rating. o (Action 1) Check the operating conditions for the robot. o (Action 2) Check each phase voltage of the three-phase input power (200 VAC for the servo amplifier. the temperature rise in the motor is steeper than that in the thermal relay.  2) OVC and OVL alarms (overcurrent and overload alarms) The OVC and OVL alarms are intended to prevent overheat that may lead to the burnout of the motor winding. thus causing the motor to burn before the thermal relay detects an abnormally high temperature. . because these two components are different in material. which has a large mass. the thermal time constant of the motor. this method is not necessarily perfect to prevent these failures. and HC alarms and describes the purpose of each alarm. However. becomes higher than the time constant of the thermal relay. 1. the power transistor and rectifier diodes might be damaged. OVL. For example. if the motor repeats to start and stop within a short time as shown in Fig. structure. The HC alarm is intended to prevent such failures. The OVL alarm occurs when each built-in thermal relay detects a temperature higher than the rated value. if the motor frequently repeats to start and stop. and dimension. Therefore. Alarm detection section Abbreviation OVC OVL Designation Overcurrent alarm Servo software Overload alarm High current alarm Thermal relay in the motor OHAL2 Thermal relay in the servo amplifier OHAL1 Thermal relay in the separate regenerative dis charge unit DCAL Servo amplifier Detection section HC Purpose of each alarm  1) HC alarm (high current alarm) If high current flow in a power transistor momentarily due to abnormality or noise in the control circuit. the breakdown of the servo amplifier transistor. and the separate regenerative resistor. or the magnet of the motor might be degaussed.Overview This section points out the differences among the OVC. The motor might not be hot even if the OVC alarm has occurred. the OVC alarm is used for protection from a short-time overcurrent. do not change the parameters to relax protection. software is used to monitor the current in the motor constantly in order to estimate the temperature of the motor.Fig. The relationship between the OVC and OVL alarms is shown in Fig 2. and the OVL alarm is used for protection from long-term overload. Fig.1 Relationship between the temperatures of the motor and thermal relay on start/stop cycles To prevent the above defects. The OVC alarm is issued based on this estimated temperature. This method estimates the motor temperature with substantial accuracy.  (34) SRVO-047 SVAL1 LVAL alarm (Group : i Axis : j) . In this case.2 Relationship between the OVC and OVL alarms NOTE The relationship shown in Fig. To sum up. so it can prevent the failures described above. 2 is taken into consideration for the OVC alarm. a double protection method is used. ) is abnormally low. . Alternatively. The servo amplifier LED indicates "3". (Action 2) Replace the power supply unit. o (Action 3) Replace the transformer. If the technical data of the robot such as duty cycle or load weight is higher than the rating. o (Action 2) If fuses F1 and F2 have blown. replace the servo amplifier. The servo amplifier seven segment LED indicates "6". etc. (Action 1) Replace the servo amplifier.  (35) SRVO-049 SVAL1 OHAL1 alarm (Group : i Axis : j) o (Explanation) The thermostat in the transformer worked.o o o (Explanation) The control power supply voltage (+5 V. fuse F1 or F2 in the servo amplifier has blown. o (Action 1) Check the operating conditions for the robot. reduce it to within the rating. o (Action 4) Replace the servo amplifier. (If the robot is used out of its usable range. the estimated disturbance torque becomes abnormally high. check the line voltage. If it has. o (Action 2) Check that the load weight is within the rating. (A collision has been detected. reset the robot and jog-feed it to recover from the collision.) o (Action 1) Check that the robot has collided with anything. If it is higher than the rating. possibly resulting in this alarm being detected. (36) SRVO-050 SVAL1 CLALM alarm (Group : i Axis : j) o (Explanation) The disturbance torque estimated by the servo software is abnormally high. . If it is 170 VAC or lower.) o (Action 3) Check the phase voltage of the three-phase input power (200 VAC) to the servo amplifier. reduce it to within the rating. o (Action) Replace the servo amplifier. .  (38) SRVO-054 DSM Memory Error o (Explanation) An access to the servo module memory fails. (37) SRVO-051 SVAL2 CUER alarm (Group : i Axis : j) o (Explanation) The offset of the current feedback value is abnormally high. o (Action) Replace the axis control card. . o (Action 3) Replace the servo amplifier. o (Action 4) Replace the main board. (39) SRVO-055 SVAL2 FSSB com error 1 (Group : i Axis : j) o (Explanation) A communication error has occurred between the main board and servo amplifier. o (Action 2) Replace the axis control card on the main board. o (Action 1) Check the communication cable (optical fiber) between the main board and servo amplifier. Replace it if it is faulty. Replace it if it is faulty.5. o (Action 5) Replace the main board. (40) SRVO-056 SVAL2 FSSB com error 2 (Group : i Axis : j) o (Explanation) A communication error has occurred between the main board and servo amplifier. If it has. take a measure according to the explanation in Section 3. o (Action 2) Replace the axis control card on the main board. o (Action 2) Check the communication cable (optical fiber) between the main board and servo amplifier. o (Action 4) Replace the main board. o (Action 4) Replace the servo amplifier. o (Action 3) Replace the axis control card on the main board. o (Action 1) Check whether fuse F3 in the power supply unit has blown. . o (Action 1) Check the communication cable (optical fiber) between the main board and servo amplifier. Replace it if it is faulty.  (41) SRVO-057 SVAL2 FSSB disconnect (Group : i Axis : j) o (Explanation) Communication was interrupted between the main board and servo amplifier. o (Action 3) Replace the servo amplifier. take a measure according to the explanation in Section 3. . o (Action 2) Check the communication cable (optical fiber) between the main board and servo amplifier. o (Action 4) Replace the servo amplifier. o (Action 5) Replace the main board. o (Action 1) Check whether fuse F3 in the power supply unit has blown. If it has. (42) SRVO-058 SVAL2 FSSB init error (Group : i Axis : j) o (Explanation) Communication was interrupted between the main board and servo amplifier. Replace it if it is faulty. o (Action 3) Replace the axis control card on the main board.5.  (43) SRVO-061 SVAL2 CKAL alarm (Group : i Axis : j) o (Explanation) This alarm occurs if the rotation speed count in the pulse coder is abnormal (abnormal count clock).$SPC_RESET to TRUE. mastering is required. CRCERR. . NOTE This alarm might accompany the DTERR. o (Action) Remove the cause of the alarm. (45) SRVO-063 SVAL2 RCAL alarm (Group : i Axis : j) o (Explanation) This alarm occurs if the rotation speed count in the pulse coder is abnormal (abnormal counter). CRCERR. After this. A probable cause is a broken battery cable in the robot. there is no actual condition for this alarm. NOTE This alarm might accompany the DTERR. o (Action) Replace the pulse coder. o (Action) Replace the pulse coder. however. however. or STBERR alarm. and set the system variable $MCR. then supply power again. there is no actual condition for this alarm. or STBERR alarm.   (44) SRVO-062 SVAL2 BZAL alarm (Group : i Axis : j) o (Explanation) This alarm occurs if no battery for pulse coder absolute-position backup is connected. In this case. In this case. o (Action) Replace the pulse coder.     (49) SRVO-067 SVAL2 OHAL2 alarm (Group : i Axis : j) o (Explanation) The temperature inside the pulse coder or motor is abnormally high. and the built-in thermostat has operated. A delay in battery replacement may result in the BZAL alarm being detected. In this case. o (Action) Replace the battery.   (47) SRVO-065 WARN BLAL alarm (Group : i Axis : j) o (Explanation) The battery voltage for the pulse coder is lower than the rating.See actions on SRVO-070 (52) SRVO-070 SVAL2 STBERR alarm (Group : i Axis : j) o (Explanation) The start and stop bits of the serial data are abnormal.  . (50) SRVO-068 SVAL2 DTERR alarm (Group : i Axis : j) o (Explanation) The serial pulse coder does not return serial data in response to a request signal. In this case. NOTE This alarm might accompany the DTERR. Once the position data is lost. o (Action 1) Check the operating conditions for the robot.See actions on SRVO-070 (51) SRVO-069 SVAL2 CRCERR alarm (Group : i Axis : j) o (Explanation) The serial data has disturbed during communication. reduce it to within the rating. o (Action) Replace the pulse coder. if the alarm still occurs. If the technical data of the robot such as duty cycle or load weight is higher than the rating. o (Action 2) When power is supplied to the motor after it has become sufficiently cool. or STBERR alarm. o (Action 1) Check that the shielding of the robot interconnection cable (for the pulse coder) and the peripheral equipment cable is connected securely to the grounding plate. (46) SRVO-064 SVAL2 PHAL alarm (Group : i Axis : j) o (Explanation) This alarm occurs if the phase of the pulses generated in the pulse coder is abnormal. there is no actual condition for this alarm. or STBERR alarm.  . . however. (If this alarm occurs. the position data will be lost. In this case. CRCERR. turn on the AC power and replace the battery as soon as possible. however. (48) SRVO-066 SVAL2 CSAL alarm (Group : i Axis : j) o (Explanation) The ROM in the pulse coder is abnormal. mastering will become necessary. there is no actual condition for this alarm. CRCERR. replace the motor. NOTE This alarm might accompany the DTERR. o (Action) Make a simplified adjustment and enhance the shielding. o (Action) Replace the pulse coder. (55) SRVO-073 SVAL2 CMAL alarm (Group : i Axis : j) o (Explanation) It is likely that the pulse coder is abnormal or the pulse coder has malfunctioned due to noise. (56) SRVO-074 SVAL2 LDAL alarm (Group : i Axis : j) o (Explanation) The LED in the pulse coder is broken. (Action 3) Replace the servo amplifier. (Action 4) Replace the pulse coder. o (Action) Replace the pulse coder and remaster the robot. (57) SRVO-075 WARN Pulse not established (Group : i Axis : j) o (Explanation) The absolute position of the pulse coder cannot be established. (Jog one motor revolution) (58) SRVO-081 WARN EROFL alarm (Track enc : i) o (Explanation) The pulse counter for line tracking has overflowed. and jog-feed the robot along the axis on which the alarm has occurred until the same alarm will not occur again.        (53) SRVO-071 SVAL2 SPHAL alarm (Group : i Axis : j) o (Explanation) The feedback speed is abnormally high. o (Action) Contact the FANUC service center. and remaster the robot. o (Action 1) Check the pulse coder connection cable. and replace it if necessary. o (Action) Reset the alarm. 064). o (Action 2) Replace the pulse coder. (54) SRVO-072 SVAL2 PMAL alarm (Group : i Axis : j) o (Explanation) It is likely that the pulse coder is abnormal.o o o o (Action 2) Check that each unit is grounded securely. (Action 5) Replace the robot interconnection cable (for the pulse coder). o (Action 1) If this alarm occurs together with the PHAL alarm (No. this alarm does not correspond to the major cause of the failure. (59) SRVO-082 WARN DAL alarm (Track ebc : i) o (Explanation) The line tracking pulse coder has not been connected. o (Action 2) Replace the pulse coder. . See the description about the STBERR alarm (SRVO-070).             (60) SRVO-083 WARN CKAL alarm (Track ebc : i) o (Explanation) This alarm occurs if the rotation speed count in the pulse coder is abnormal (abnormal count clock). See the description about the BZAL alarm (SRVO-062). o (Action) See the description about the SRVO-061 CKAL alarm. (68) SRVO-091 WARN CRCERR alarm (Track enc : i) o (Explanation) Communication between the pulse coder and line tracking interface board is abnormal. See the description about the BLAL alarm (SRVO-065). (63) SRVO-086 WARN PHAL alarm (Track enc : i) o (Explanation) This alarm occurs if the phase of pulses generated in the pulse coder is abnormal. See the description about the PMAL alarm (SRVO-072). (72) SRVO-095 WARN CMAL alarm (Track enc : i) . (70) SRVO-093 WARN SPMAL alarm (Track enc : i) o (Explanation) This alarm occurs if the current position data from the pulse coder is higher than the previous position data. o (Action) See the description about the SRVO-066 CSAL alarm. (66) SRVO-089 WARN OHAL2 alarm (Track enc : i) o (Explanation) The motor has overheated. (62) SRVO-085 WARN RCAL alarm (Track ebc : i) o (Explanation) This alarm occurs if the rotation speed count in the pulse coder is abnormal (abnormal counter). o (Action) See the description about the SRVO-063 RCAL alarm. (61) SRVO-084 WARN BZAL alarm (Track enc : i) o (Explanation) This alarm occurs if the backup battery for the absolute position of the pulse coder has not been connected. (71) SRVO-094 WARN PMAL alarm (Track enc : i) o (Explanation) It is likely that the pulse coder is abnormal. (69) SRVO-092 WARN STBERR alarm (Track enc : i) o (Explanation) Communication between the pulse coder and line tracking interface board is abnormal. See the description about the OHAL2 alarm (SRVO-067). See the description about the PHAL alarm (SRVO-064). (65) SRVO-088 WARN CSAL alarm (Track ebc : i) o (Explanation) The ROM in the pulse coder is abnormal. (67) SRVO-090 WARN DTERR alarm (Track enc : i) o (Explanation) Communication between the pulse coder and line tracking interface board is abnormal. See the description about the SPHAL alarm (SRVO-071). See the description about the DTERR alarm (SRVO068). See the description about the CRCERR alarm (SRVO-069). (64) SRVO-087 WARN BLAL alarm (Track enc : i) o (Explanation) This alarm occurs if the voltage of the backup battery for the absolute position of the pulse coder is low. but the software failed to identify the cause. by referencing the general connection diagram in the appendix. Check whether the emergency stop line is abnormal. o -This alarm occured in the robot operation. o (Action 2) Replace the emergency stop board. o (Action 3) Replace the servo amplifier. See the description about the CMAL alarm (SRVO073). If the input is not higher than 170 VAC. o (Action 4) Replace the servo amplifier. o (Action 2) Replace the servo amplifier. . Stop o (Explanation) The door of the i -cabinet is open. (75) SRVO-105 SVAL1 Door open or E. See the description about the LDAL alarm (SRVO-074). o (Action 1) Check the phase voltage of the three-phase input power (200 VAC) to the servo amplifier.   (Explanation) It is likely that the pulse coder is abnormal or the pulse coder has malfunctioned due to noise. If it is 170 VAC or lower. (73) SRVO-096 WARN LDAL alarm (Track enc : i) o (Explanation) The LED in the pulse coder is broken. o (Action 1) Close the door if open. Replace any abnormal component. o -If this alarm occurs before the magnetic contactor is turned on: o (Action 1) Check each phase-to-phase voltage of the three-phase input (200 VAC) on the primary side of the magnetic contactor. check the line voltage. Pulse not established. the servo amplifier LED indicates "4". check the input power supply voltage. See the description about (SRVO-075). o (Action 2) Check the door switch and door switch contact cable. o (Action 3) This alarm occurs also if the emergency stop line was broken. (74) SRVO-097 WARN Pulse not established (enc : i) o (Explanation) The absolute position of the pulse coder cannot be established. o  (76) SRVO-136 SVAL1 DCLVAL alarm (Group : i Axis : j) o (Explanation) The servo the DC current of amplifier (DC link voltage) of the main power supply is abnormally low. robot connection cable. If a motor power line is short-circuited to a ground. and switch on the power. and check for isolation between each motor power line (U. o (Action 1) Detach the motor power lines from the respective terminals on the servo amplifier. If the alarm occurs. o (Action 3) Detach the motor power lines from the respective terminals on the servo amplifier. Check each of them. This LED is beside the 7-segment LED indicator. the LED (red) corresponding to the axis (IPM1 to IPM6) for which the IPMAL alarm has occurred lights. V and W. the motor. and check the resistance between each motor power line pair (U and V. Check each of them. . or robot internal cable is likely to be defective. then check to see if the alarm occurs again. replace the servo amplifier. V. or W) and a ground potential (GND). or robot internal cable is likely be defective. o (Action 2) Detach the motor power lines from the respective terminals on the servo amplifier. and replace it if necessary. robot connection cable. or W and U) using a meter that is capable of measuring a very low resistance. the motor. The hyphen "-" appears in the servo amplifier 7-segment LED indicator. At the same time. (77) SRVO-156 SVAL1 IPMAL alarm (Group : i Axis : j) o (Explanation) Abnormally high current flowed through the main circuit of the servo amplifier. and replace it if necessary. If the measured three resistances are different. NOTE This alarm might occur if the EMERGENCY STOP button is pressed slowly. replace them. o (Action 1) Check the EMERGENCY STOP button on the operation panel. o (Action 3) Replace the servo amplifier.  (79) SRVO-201 SVAL1 Panel E-stop or SVEMG abnormal o (Explanation) The EMERGENCY STOP button on the operation panel was pressed. but the EMERGENCY STOP line was not disconnected. (78) SRVO-200 WARN Control box fan abnormal o (Explanation) The fan motor (option) in the operation box is abnormal. and replace it if necessary. o (Action 2) Replace the panel board. . o (Action) Check the fan motor and fan motor connection cable. If they turn out to be defective. and replace it if necessary. o (Action 3) Replace the panel board. o (Action 4) Replace the servo amplifier. but the EMERGENCY STOP line was not disconnected. . (80) SRVO-202 SVAL1 TP E-stop or SVEMG abnormal o (Explanation) The EMERGENCY STOP button on the operation box was pressed. o (Action 2) Replace the teach pendant. NOTE This alarm might occur if the EMERGENCY STOP button is pressed slowly. o (Action 1) Check the teach pendant connection cable. o (Action 2) Replace the servo amplifier. but the emergency stop line was not disconnected. (81) SRVO-203 SVAL1 SVON input (SVEMG abnormal) o (Explanation) The switch connected across SVOFF1 and SVOFF2 on the TBOP1 terminal board on the panel board was pressed. o (Action 1) Replace the panel board. . . but the EMERGENCY STOP line was not disconnected. o (Action 2) Replace the servo amplifier. o (Action 1) Replace the panel board. (82) SRVO-204 SVAL1 External (SVEMG abnormal) E-stop o (Explanation) The switch connected across EMGIN1 and EMGIN2 on the TBOP1 terminal board on the panel board was pressed. o (Action 2) Replace the servo amplifier. o (Action 1) Replace the panel board. but the EMERGENCY STOP line was not disconnected. . (83) SRVO-205 SVAL1 Fence open (SVEMG abnormal) o (Explanation) The switch connected across FENCE1 and FENCE2 on the TBOP1 terminal board on the panel board was pressed. Replace it if necessary. (84) SRVO-206 SVAL1 Deadman switch (SVEMG abnormal) o (Explanation) The DEADMAN switch was released when the teach pendant was operable. o (Action 1) Check the teach pendant connection cable. o (Action 4) Replace the servo amplifier. but the EMERGENCY STOP line was not disconnected. o (Action 2) Replace the teach pendant. . o (Action 3) Replace the panel board. Alternatively. (85) SRVO-207 SVAL1 TP switch abnormal or door open o (Explanation) The teach pendant is operable. o (Action 6) Replace the servo amplifier. o (Action 5) Replace the panel board. but the EMERGENCY STOP line is kept disconnected. the control unit door is open. . if open. (In case of i -cabinet) o (Action 1) Close the control unit door. and replace it if necessary. (In case of i cabinet) o (Action 3) Check the teach pendant connection cable. (In case of i -cabinet) o (Action 2) Check the door switch. and replace it if necessary. o (Action 4) Replace the teach pendant. and the deadman switch has been grasped. Back to Main | Table of Contents | Previous Section | Next Section | Search Copyright © 1998 by FANUC Robotics North America. . Inc.