FANUC Alarm SRVO-038 — SERVO Pulse mismatch (G:%d A:%d)

Description

A pulse count detected when the controller was turned off differs from that detected when the controller was turned on. This alarm is asserted after exchange of the pulse coder or battery for backup of the pulse coder data, or loading backup data to the main board.

Remedy · Remède

First perform an APC reset and remaster the robot: 1. Press MENUS. 2. Select SYSTEM. 3. Press F1, [TYPE]. 4. Select MASTER/CAL. 5. Press F3, [RES-PCA]. 6. Press RESET. 7. Perform a Cold start. 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. Otherwise, you could injure personnel or damage equipment. 8. Remaster the robot if needed. If remastering is performed, you must verify all of your robot paths to prevent damage to equipment. If the pulse mismatch is not reset: 1. Check the pulse coder cable from the motor. 2. Check the internal cable set next. 3. Check the P1 cable from the robot to the controller, verify that there are no pins damaged at the robot base connection and that there is not damage to the cable. 4. Replace the pulse coder and remaster as stated in the APC RESET procedure above.

Related codes / Codes liés