FANUC Alarm SRVO-024 — SERVO Move error excess(G:%d A:%d)

Description

When the robot moved, the servo positional error exceeded a previously specified value ($PARAM_GROUP.$MOVER_OFFST or $PARAM_GROUP.$TRKERRLIM). For example, this error will occur if the feedrate of the robot differs from that specified.

Remedy · Remède

1. Check whether the applied load exceeds the rating. If so, reduce the applied load. If an excessive load is applied, the torque required for acceleration, deceleration, and so forth exceeds the max imum available torque of the motor. Therefore, it prove impossible to respond to an issued command correctly , causing this alarm to occur. 2. Check each interphase voltage of the three-phase voltage (200 VAC) applied to the servo amplifier. If the voltage is found to be 170 VAC or below, check the input power supply voltage. A sub-standard voltage, applied to a servo amplifier, results in a lower-than-normal torque. Therefore, it might prove impossible to correctly respond to an issued command, thus resulting in the output of this alarm. Check the phase-to-phase voltage across the three pins of connector CRM38A of the servo amplifier. 3. If the input power supply voltage is found to be 170 VAC or higher, replace the servo amplifier. 4. Check the motor power cables (RM1, RM2, RM3) for damage, to cable or pins, and that the connector is securely connected. WARNING: By completing the next step you will be altering the positional reference for the robot since you are replacing hardware. You must slowly verify all positional data and touch-up any paths or points that have changed. Failure to perform this could result in injury to personnel, damage to equipment, or lost data. 5. Replace the motor, and remaster the robot.

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