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FANUC Alarm SRVO-021 — SERVO SRDY off (Group:%d Axis:%d)

Description

The HRDY signal is on and the SRDY signal is off, although there is no other cause for an alarm. (HRDY is a signal with which the main board directs the servo system whether to turn on or off the servo amplifier magnetic contactor. SRDY is a signal with which the servo system informs the main board whether the magnetic contactor is turned on.)

Remedy · Remède

1. Make sure that connectors CP2 and CRM73 of the E-stop unit and CNMC2 and CNMC3 of the E-stop unit are connected tightly. 2. Check whether an outage has occurred on an emergency stop line (teach pendant EMERGENCY STOP, teach pendant enable/disable switch, teach pendant DEADMAN switch, operator panel EMERGENCY STOP, external emergency stop input, fence input, servo-off input, or door switch). This alarm occurs if the software cannot detect the alarm cause because of a short signal break and because the magnetic contactor is off. 3. Replace the servo amplifier. 4. Replace the E-stop unit. 5. Replace the cable between the E-stop unit and the panel board. 6. Replace the cable between the E-stop unit and the servo amplifier. 7. Verify that the battery is securely connected to the Main CPU board before removing the board. Replace the axis control card on the Main CPU board.

Related codes / Codes liés

SRVO-019SERVO SVON inputSRVO-020SERVO SRDY off (TP)SRVO-022SERVO SRDY on (Group:%d Axis:%d)SRVO-023SERVO Stop error excess(G:%d A:%d)

Indicative field information — the robot manufacturer's manual and safety procedures always prevail. Never bypass a safety device; apply lockout/tagout (LOTO) before any physical intervention. · Informations indicatives issues du terrain — le manuel du constructeur et ses procédures de sécurité font foi. Ne shuntez jamais un organe de sécurité ; consignez (LOTO) avant toute intervention physique.