FANUC Alarm SRVO-050 — SERVO Collision Detect alarm

Description

An excessively large disturbance torque is estimated by the servo software. A collision was detected.

Remedy

1. Check whether the robot has collided with an object. If so, reset the system, then move the robot away from the location of the collision by jogging. 2. Check that the applied load does not exceed the maximum rating. If the rated load is exceeded, reduce the applied load. If the robot is used with an excessive load applied, the estimated disturbance might become excessively large, resulting in this alarm being output. 3. Check each interphase voltage of the three-phase voltage (200 VAC) applied to the servo amplifier. If the applied voltage is found to be 170 VAC or less, check the input power supply voltage. 4. Replace the servo amplifier.

Field diagnosis

The disturbance torque estimated by the servo exceeds the threshold: actual impact, external force, incorrectly declared payload, friction when cold, low voltage or brake not releasing.

What to check

• Reset while holding SHIFT and jog the axis clear in the direction opposite to the impact.
• Check the declared payload, the cycle rate, the workshop temperature and the brakes.
• Adjust the sensitivity only after ruling out mechanical causes.
• Note: At dawn in winter, an SRVO-050 on the first cycle is almost always cold grease, not an impact.

Related codes

Same hardware involved