fanuc R-30iB Mini Plus CONTROLLER User Manual

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R-30+B Mini Plus CONTROLLER

MAINTENANCE MANUAL

B-84175EN/03

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Important notices B-84175EN/03

Important notices

Thank you very much for purchasing FANUC Robot. Before using the Robot, be sure to read the "FANUC Robot series SAFETY HANDBOOK (B-80687EN)" and

understand the content.

 No part of this manual may be reproduced in any form.  The appearance and specifications of this product are subject to change without notice.

The products in this manual are controlled based on Japan's “Foreign Exchange and Foreign Trade Law". The export

from Japan may be subject to an export license by the government of Japan. Further, re-export to another country may be subject to the license of the government of the country from where the product is re-exported. Furthermore, the product may also be controlled by re-export regulations of the United States government. Should you wish to export or re-export these products, please contact FANUC for advice.

The products in this manual are manufactured under strict quality control. However, when using any of the products in a facility in which a serious accident or loss is predicted due to a failure of the product, install a safety device.

In this manual, we endeavor to include all pertinent matters. There are, however, a very large number of operations that must not or cannot be performed, and if the manual

contained them all, it would be enormous in volume. It is, therefore, requested to assume that any operations that are not explicitly described as being possible are "not

possible".

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B-84175EN/03 SAFETY PRECAUTIONS

iii

SAFETY PRECAUTIONS

This chapter describes the precautions which must be followed to enable the safe use of the robot. Before using the robot, be sure to read this chapter thoroughly.

For detailed functions of the robot operation, read the relevant operator's manual to understand fully its specification.

For the safety of the operator and the system, follow all safety precautions when operating a robot and its peripheral equipment installed in a work cell.

For safe use of FANUC robots, you must read and follow the instructions in the "FANUC Robot series SAFETY HANDBOOK"(B-80687EN) .

User

Personnel can be classified as follows.

 Operator

 Turns the robot controller power ON/OFF  Starts the robot program from operator panel

 Programmer or Teaching operator

 Operates the robot  Teaches the robot inside the safeguarded space

 Maintenance technician

 Operates the robot  Teaches the robot inside the safeguarded space  Performs maintenance (repair, adjustment, replacement)

The operator is not allowed to work in the safeguarded space. The programmer or teaching operator and maintenance technician are allowed to work in the safeguarded space. Work carried out in the safeguarded space include transportation, installation, teaching, adjustment, and

maintenance. To work inside the safeguarded space, the person must be trained on proper robot operation.

Following table lists the work outside the safeguarded space. In this table, the symbol “○” means the work allowed to be carried out by the specified personnel.

Table 2.1-1 List of work outside the Safeguarded Space

Operator

Programmer

/Teaching

operator

Maintenance

technician

Turn power ON/OFF to Robot controller

〇〇〇

Select operating mode (AUTO/T1/T2)

〇

Select remote/local mode

〇

Select robot program with teach pendant

〇

Select robot program with external device

〇

Start robot program with operator’s panel

〇〇〇

Start robot program with teach pendant

〇

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SAFETY PRECAUTIONS B-84175EN/03

Operator

Programmer

/Teaching

operator

Maintenance

technician

Reset alarm with operator’s panel

〇

Reset alarm with teach pendant

〇

Set data on teach pendant

〇

Teaching with teach pendant

〇

Emergency stop with operator’s panel

〇〇〇

Emergency stop with teach pendant

〇〇〇

Operator’s panel maintenance

〇

Teach pendant maintenance

〇

During robot operation, programming and maintenance, the operator, programmer, teaching operator and maintenance technician take care of their safety using at least the following safety protectors

 Use clothes, uniform, overall adequate for the work  Safety shoes  Helmet

WARNING AND CAUTION LABEL

Step-on prohibitive label

Figure 2.2-1 Step-on prohibitive label

Description Do not step on or climb the robot or controller as it may adversely affect the robot or controller and you may get hurt if

you lose your footing as well.

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B-84175EN/03 SAFETY PRECAUTIONS

High-temperature warning label

Figure 2.2-2 High-temperature warning label

Description Be cautious about a section where this label is affixed, as the section generates heat. If you have to inevitably touch

such a section when it is hot, use a protective provision such as heat-resistant gloves.

High-voltage warning label

Figure 2.2-3 High-voltage warning label

Description A high voltage is applied to the places where this label is attached. Before starting maintenance, turn the power to the controller off, and turn the circuit breaker off to avoid electric shock

hazards. Take additional precautions with the servo amplifier and other equipment, because high-voltage remains in these

units for a certain amounts of time

Caution label

Figure 2.2-4 Caution label

Description See related contents of this manual.

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SAFETY PRECAUTIONS B-84175EN/03

WARNING AND CAUTION REGARDING USE OF CONTROLLER

1. The R-30iB Mini Plus controller has an enclosed structure, and is designed to keep out surrounding dust, oil mist, conductive foreign material, and other substances. Whether or not the controller is in operation, if the door is not locked with the key, the original sealing capacity of the controller cannot be secured. In this case, failure may occur due to internal contamination, and there is the risk of electric shock, electric leakage, and fire due to insulation deterioration.

2. Be sure to lock the controller securely with the key to prohibit any person other than a trained maintenance worker from opening the door of the controller.

3. In order to prevent electrical shocks, do not turn on the controller's power when the door is open.

4. After connecting the input power cable, in order to avoid turning on the main breaker, a padlock can be installed on the breaker handle.

5. Install one or more necessary quantity of EMERGENCY STOP button(s) within the operator's reach in appropriate location(s) based on the system layout.

6. Be sure to connect the ground wire according to Section 2.4.2 of II CONNECTION when connecting power supply to the controller.

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B-84175EN/03 PREFACE

vii

PREFACE

This manual describes the following models (R-30iB Mini Plus CONTROLLER)

Model

Abbreviation

FANUC Robot CRX-5iA

CRX-5iA

FANUC Robot CRX-10iA

CRX-10iA

CRX-10iA FANUC Robot CRX-10iA/L

CRX-10iA/L

FANUC Robot CRX-20iA/L

CRX-20iA/L

CRX-20iA

FANUC Robot CRX-25iA

CRX-25iA

Name and content of hazardous substances in products based on the "Restriction of the Use of Certain Hazardous Substances in Electrical and Electronic Equipment (Chinese RoHS2)"

The hazardous substances contained in the R-30iB Mini Plus CONTROLLER are listed in the table below.

The names and contents of hazardous substances in the product

Part name

Hazardous substances

Lead

(Pb)

Mercury

(Hg)

Cadmium

(Cd)

Hexavalent

Chromium

(Cr (VI))

Polybromin

-ated

biphenyls

(PBB)

Polybromin-ated

diphenyl ethers

(PBDE)

Mechanical unit

Mechanical unit main body

○ ○ ○ ○ ○

○

Motor × ○ ○ ○ ○ ○

Cables × ○ ○ ○ ○ ○

Control unit Teach pendant

× ○ ○ ○ ○

○

Control unit main body

× ○ ○ ○ ○

○

Cables × ○ ○ ○ ○ ○

This table is prepared in accordance with the provisions of SJ/T 11364. ○: Indicates that said hazardous substance contained in all of the homogeneous materials for this part is below the

limit requirement of GB/T 26572. ×: Indicates that said hazardous substance contained in at least one of the homogeneous materials used for this

part is above the limit requirement of GB/T 26572.

Environmental Protection Use Period In the following proper usage environment conditions, the environmental protection use period is 20 years after

manufacture. The pollution prevention label, which indicates the environmental protection use period, is attached to the door as shown in the following figure.

Installation location: Indoor Ambient temperature: 0°C to 45°C Ambient humidity: 75%RH or less Vibration: 4.9 m/s2 (0.5G) or less Atmosphere: When there is no corrosive gas

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PREFACE B-84175EN/03

viii

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B-84175EN/03 Table of contents

Important notices ............................................................................................................. ii

SAFETY PRECAUTIONS ................................................................................................. iii

User iii

WARNING AND CAUTION LABEL ..................................................................................................................... iv

WARNING AND CAUTION REGARDING USE OF CONTROLLER ................................................................... vi

PREFACE ........................................................................................................................ vii

I Maintenance ................................................................................................................... 1

1. Overview .................................................................................................................................................... 3

2. CONFIGURATION ..................................................................................................................................... 4

2.1. EXTERNAL VIEW OF THE CONTROLLER ................................................................................ 4

2.2. COMPONENT FUNCTIONS ....................................................................................................... 8

2.3. CHECKS AND MAINTENANCE .................................................................................................. 9

3. TROUBLESHOOTING ............................................................................................................................. 11

3.1. POWER CANNOT BE TURNED ON ........................................................................................ 11

3.1.1. When the Teach Pendant Cannot be Powered on (The LEDs of the Teach Pendant Cannot be

Turned on) ................................................................................................................................. 11

3.1.2. When the Teach Pendant does not Change from the Initial Screen ......................................... 12

3.2. ALARM OCCURRENCE SCREEN ........................................................................................... 12

3.3. STATUS Stop Signal ................................................................................................................. 15

3.4. MASTERING ............................................................................................................................. 16

3.5. TROUBLESHOOTING USING THE ALARM CODE ................................................................. 18

3.6. FUSE-BASED TROUBLESHOOTING ...................................................................................... 55

3.7. TROUBLESHOOTING BASED ON LED INDICATIONS ........................................................... 58

3.7.1. Troubleshooting Using the LEDS on the Main Board ................................................................ 58

3.7.2. Troubleshooting by LEDs on the Servo Amplifier Unit .............................................................. 64

3.7.3. Troubleshooting Using the LEDS on the Side Board ................................................................ 65

3.8. MANUAL OPERATION IMPOSSIBLE ...................................................................................... 66

3.9. LEDS ON UNITS SUPPORTING I/O Link i ............................................................................... 67

3.9.1. Meanings of LEDs on Units Supporting I/O Link i ..................................................................... 67

4. PRINTED CIRCUIT BOARDS ................................................................................................................. 69

4.1. MAIN BOARD ........................................................................................................................... 69

4.2. Input unit ................................................................................................................................... 71

4.3. BACKPLANE BOARD ............................................................................................................... 72

4.4. Side board ................................................................................................................................. 72

5. Servo amplifier unit .................................................................................................................................. 74

5.1. LEDS OF SERVO AMPLIFIER UNIT ........................................................................................ 75

5.2. SPECIFICATIONS TABLE ........................................................................................................ 75

6. Power ....................................................................................................................................................... 76

6.1. BLOCK DIAGRAM OF THE POWER SUPPLY ......................................................................... 76

7. REPLACING UNITS ................................................................................................................................ 77

7.1. PROCEDURE BEFORE REPLACEMENT ................................................................................ 77

7.1.1. Removing the Side Board.......................................................................................................... 78

7.1.2. Replacing the Main Board ......................................................................................................... 78

7.2. REPLACING CARD BOARD, MODULE AND BACKPLANE ON THE MAIN BOARD .............. 79

7.3. REPLACING THE INPUT UNIT ................................................................................................ 85

7.4. REPLACING THE SERVO AMPLIFIER UNIT ........................................................................... 87

7.5. REPLACING THE DISCHARGE RESISTOR UNIT .................................................................. 88

7.6. REPLACING THE TEACH PENDANT (OPTION) ..................................................................... 89

7.7. REPLACING THE FAN UNIT .................................................................................................... 90

7.7.1. REPLACING THE HEAT EXCHANGER AND DOOR FAN UNIT ............................................. 90

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Table of contents B-84175EN/03

7.8. REPLACING THE BATTERY .................................................................................................... 91

7.8.1. Battery for Memory Backup (3 VDC) ......................................................................................... 91

II Connections ................................................................................................................ 93

1. Overview .................................................................................................................................................. 95

1.1. SYSTEM CONFIGURATION .................................................................................................... 95

1.2. EXTERNAL INTERFACE .......................................................................................................... 96

2. CONNECTIONS WITH EQUIPMENT ...................................................................................................... 97

2.1. CONNECTION TO FANUC I/O Link and FANUC I/O Link i ...................................................... 97

2.1.1. Connection of I/O Link and I/O Link i by using JRS26 connector .............................................. 97

2.1.2. Connection of I/O Link i by Using JD1A Connector ................................................................. 101

2.2. Robot Connection Cables ....................................................................................................... 103

2.2.1. Robot Connection Cables........................................................................................................ 103

2.2.2. Robot connection extension .................................................................................................... 105

2.3. TEACH PENDANT CABLE AND SWITCH BOX (OPTION) .................................................... 107

2.4. HOW TO CONNECT INPUT POWER .................................................................................... 109

2.4.1. Input Power Cable ................................................................................................................... 109

2.4.1.1. IF POWER SUPPLY IS 100V ............................................................................ 109

2.4.1.2. If Power Supply is 200V ..................................................................................... 110

2.4.2. Connecting the Input Power Cable .......................................................................................... 111

2.4.3. Leakage Breaker ..................................................................................................................... 111

2.4.4. ON/OFF Timing by the Breaker ............................................................................................... 112

2.5. CONNECTING THE EXTERNAL EMERGENCY STOP ......................................................... 112

2.5.1. External Emergency Stop Output ............................................................................................ 114

2.5.2. External Emergency Stop Input (Emergency Stop Input, Fence Input) ................................... 119

3. Peripheral device ................................................................................................................................... 122

3.1. PERIPHERAL DEVICE INTERFACE ...................................................................................... 123

3.1.1. Peripheral Device interface (JRM18) ...................................................................................... 123

3.1.2. Connection between the Main Board (JRM18) and Peripheral Devices ................................. 126

3.1.3. Connection between the main board (JRM18) and peripheral devices (for terminal conversion

module) .................................................................................................................................... 130

3.2. CONNECTION OF THE PERIPHERAL DEVICES .................................................................. 135

3.2.1. Peripheral Device Cable Connector ........................................................................................ 135

3.2.2. Connecting Terminal Conversion Module ............................................................................... 138

3.2.3. Connecting Additional Safety I/O Terminal Conversion Board ................................................ 143

3.2.4. Digital I/O signal specifications of Peripheral Device .............................................................. 144

3.3. CONNECTION OF HDI ........................................................................................................... 146

3.3.1. Connecting HDI ....................................................................................................................... 146

3.3.2. Input Signal Rules for the High-speed Skip (HDI) ................................................................... 148

3.4. CONNECTING THE COMMUNICATION UNIT ....................................................................... 149

3.4.1. RS232C Interface .................................................................................................................... 149

3.4.1.1. Interface ............................................................................................................. 149

3.4.1.2. RS232C interface signals .................................................................................. 149

3.4.1.3. Connection between RS232C interface and I/O device .................................... 150

3.4.2. LVC Line Tracking Encoder 2ch .............................................................................................. 152

3.4.3. Ethernet Interface .................................................................................................................... 153

3.4.3.1. Connection to Ethernet ...................................................................................... 153

3.4.3.2. Ethernet cable path ............................................................................................ 155

3.4.3.3. Twisted-pair cable specification ......................................................................... 155

3.4.3.4. Electrical noise countermeasures ...................................................................... 158

3.4.3.5. Check items at installation ................................................................................. 161

3.4.4. Camera Interface ..................................................................................................................... 162

4. TRANSPORTATION AND INSTALLATION ........................................................................................... 164

4.1. TRANSPORTATION PROCEDURE ....................................................................................... 164

4.2. NOTES REGARDING PACKAGING AND SHIPMENT ........................................................... 164

4.3. INSTALLATION ....................................................................................................................... 165

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B-84175EN/03 Table of contents

4.3.1. Installation Procedure .............................................................................................................. 165

4.3.2. Assembly During Installation ................................................................................................... 169

4.4. INSTALLATION CONDITION .................................................................................................. 169

4.5. ADJUSTMENT AND CHECKS AT INSTALLATION ................................................................ 171

Appendix ....................................................................................................................... 173

A. SPECIFICATION LIST ........................................................................................................................... 175

B. TOTAL CONNECTION DIAGRAM......................................................................................................... 182

C. SPECIFICATIONS OF PERIPHERAL DEVICE INTERFACE ................................................................ 194

C.1. SIGNAL ................................................................................................................................... 194

C.2. I/O SIGNALS ........................................................................................................................... 195

C.2.1. Input Signals ............................................................................................................................ 195

C.2.2. Output Signals ......................................................................................................................... 198

D. REPLACING THE PROTECTION SHEET ............................................................................................. 202

E. REMOTE MODE SWITCH ASSEMBLY INSTRUCTION ....................................................................... 203

E.1. Configuration ........................................................................................................................... 203

E.2. CONNECTION ........................................................................................................................ 203

E.3. MOUNTING HOLE / CHARACTER PRINTED LABEL ............................................................ 206

E.3.1. Mounting Hole ......................................................................................................................... 206

E.3.2. Character Printed Label........................................................................................................... 206

F. TEACH PENDANT DISCONNECT FUNCTION (OPTION) ................................................................... 209

F.1. Configuration ........................................................................................................................... 209

F.2. PROCEDURE OF TEACH PENDANT DISCONNECT............................................................ 210

F.2.1. Teach Pendant Disconnect ..................................................................................................... 210

F.2.2. Teach Pendant Connect .......................................................................................................... 211

G. DUST-PROOFING THE CABLE PATH OPENING ................................................................................ 213

G.1. CABLE PATH OPENING OF THE MINI PLUS CABINET ....................................................... 213

G.2. PACKING SHAPE OF CABLE PATH OPENING .................................................................... 213

G.3. SUITABLE CABLE OUTER DIAMETER ................................................................................. 214

G.4. HOW TO ADJUST THE CABLE OUTER DIAMETER ............................................................. 214

H. Brake release unit .................................................................................................................................. 216

H.1. SAFETY PRECAUTIONS ....................................................................................................... 216

H.2. CONFIRMATIONS BEFORE OPERATION ............................................................................ 216

H.3. OPERATION ........................................................................................................................... 217

H.3.1. In Case of Operating to the Robot ........................................................................................... 217

H.4. How to Connect Input Power ................................................................................................... 218

H.5. DIMENSION ............................................................................................................................ 219

H.6. FUSE....................................................................................................................................... 219

H.7. SPECIFICATIONS .................................................................................................................. 220

Revision record ............................................................................................................ 221

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Page 13

I Maintenance

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B-84175EN/03 Overview

1. Overview

This manual is applied to R-30iB Mini Plus controller (called R-30iB Mini Plus).

R-30iB Mini Plus meets the UL/CSA standard as described in Table 1-1 and Machinery Directive, Low voltage Directive, EMC Directive to cover the requirement of CE marking as shown in Table 1 (a).

Table 1-1 Applied standards

Functional Safety

EMC Standard

Robot Standard

Electrical Standard

ISO 13849-1 IEC 61508

EN 55011 EN 61000-6-2 EN 61000-6-4

EN/ISO 10218-1 UL1740 (NFPA79) CAN/CSA Z434 CAN/CSA C22.2 IEC/EN 60204-1

This manual describes the maintenance and connection of R-30iB Mini Plus.

Maintenance: Troubleshooting, and the setting, adjustment, and replacement of units Connections: Connection of R-30iB Mini Plus to the robot mechanical unit and peripheral devices, and installation

of the controller

Install one or more necessary quantity of EMERGENCY STOP button(s) within the operator's reach in appropriate location(s) based on the system layout. Before you enter the robot working area, be sure to turn off the power to the controller or press the EMERGENCY STOP button.

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CONFIGURATION B-84175EN/03

2. CONFIGURATION

2.1. EXTERNAL VIEW OF THE CONTROLLER

The appearance and components might slightly differ depending on the controlled robot, application, and options used.

Figure 2.1-1 shows the external view of the R-30iB Mini Plus. Figure 2.1-2 to Figure 2.1-3 show the construction diagram of the R-30iB Mini Plus. Figure 2.1-4 to Figure 2.1-7 show the external views of the switch box and the teach pendant.

Figure 2.1-1 External view of the R-30iB Mini Plus

(upper: Not for the CRX-25iA, lower: For the CRX-25iA)

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B-84175EN/03 CONFIGURATION

Before using the controller, be sure to lock the door. See “WARNING AND CAUTION REGARDING USE OF

CONTROLLER(P.vi)” in the “SAFETY PRECAUTIONS(P.iii)” and I.2.3. CHECKS AND MAINTENANCE(P.9).

Figure 2.1-2 R-30iB Mini Plus cabinet interior construction diagram

Figure 2.1-3 R-30iB Mini Plus cabinet interior construction diagram (rear)

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CONFIGURATION B-84175EN/03

Figure 2.1-4 Switch box

Symbol

Description

"TP" symbol of the TP disconnect switch. Please turn the disconnect switch to the "TP" position when the teach pendant cable is

connected. For details, see F. TEACH PENDANT DISCONNECT FUNCTION (OPTION)(P.209).

"Connect/disconnect" symbol of the TP disconnect switch. The teach pendant cable can be disconnected by setting the disconnect switch to the

"Connect/Disconnect" position. For details, see F. TEACH PENDANT DISCONNECT FUNCTION (OPTION)(P.209).

Enables the user to select operation mode suitable to the robot operation conditions or the status of its use.

Automatic operation mode ( ) Teach mode ( )

Release the alarm state.

Starts the currently selected program. Lit while the program is being started.

Indicates that the power of the controller is ON.

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B-84175EN/03 CONFIGURATION

Symbol

Description

Indicates the alarm state. Press the alarm release button to release the alarm state.

Figure 2.1-5 Mode switch

Figure 2.1-6 Teach pendant (iPendant) (Option)

Figure 2.1-7 Teach pendant (tablet TP) (Option)

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CONFIGURATION B-84175EN/03

2.2. COMPONENT FUNCTIONS

Figure 2.2-1 Block diagram of the R-30iB Mini Plus

 MAIN BOARD

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B-84175EN/03 CONFIGURATION

The main board sends control signals to the servo amplifier unit, controls peripheral device and communicate by network. The main board contains a CPU card, a FROM/SRAM module and connectors. (USB, Ethernet, I/O, emergency stop, I/O Link, camera, line tracking)

 Input unit

This unit contains the input board, the main power supply unit, the brake power supply unit, and the breaker. The input board contains a surge absorber, EMC filter and magnetic contactor for input power. The main power supply unit supply 24V input power to the main board etc. The brake power supply unit supply 24V input power to brakes.

 Teach pendant (iPendant, tablet TP)

All operations, including robot programming, are performed with this unit. The controller status and data are indicated on the liquid-crystal display (LCD) on the pendant.

 Servo amplifier unit

The servo amplifier unit drives the servomotors of a robot. This unit contains the 4-axis servo amplifier unit, the 2axis servo amplifier unit, the heat sink and the rectifier diodes.

 Fan unit and heat exchanger

For cooling the inside of the controller.

 Discharge resistor

Connected to the servo amplifier in order to discharge electricity from the servo motor's counter-electromotive force.

 Side board

This board connects the main board and the servo amplifier unit. The CRX-10iA sensor I/F circuit is mounted on this board.

 Option (mini) slots

Two option boards can be installed in these slots.

 BACKPLANE BOARD

This board connects the main board and the option (mini) slot.

 Switch box

The switch box contains emergency stop button, LEDs, TP disconnect switch and the connector for TP.

2.3. CHECKS AND MAINTENANCE

Daily maintenance and periodic maintenance/inspection ensure reliable robot performance for extended periods of time.

1. Daily maintenance Before operating the system each day, clean each part of the system and check the system parts for any damage

or cracks. Also, check the following:

 Before operation

Check the cable connected to the teach pendant for excessive twisting. Check the controller and peripheral devices for abnormalities.

 After operation

At the end of operation, return the robot to the specified position, and then turn off the controller. Clean each part, and check for any damage or cracks. If the ventilation port of the controller is dusty, clean it.

 Check that the door is securely locked.

2. Check after one month Check that the fan is rotating normally. If the fan has dirt and dust built up, clean the fan according to step (3)

described below for inspection to be performed every 6 months.

3. Periodic inspection performed every six months

 Remove any dirt and dust from the inside of the cabinet. Wipe off dirt and dust from the fan and

transformer.

 To confirm that the safety function can work correctly, please check the alarm detection by inputting

emergency stop, or please check the system operation by cycling power (refer to the following CAUTION).

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CONFIGURATION B-84175EN/03

 Open the door and check to make sure the door's gasket has not been damaged or crushed.  Check the inside of the controller for unusual levels of dirt.  If there is dirt, take measures to discover the cause, and then clean the dirt.  With the door locked, check the area around the gasket for gaps.  Check the path of the cable for gaps as described in G. DUST-PROOFING THE CABLE PATH

OPENING(P.213).

4. Battery daily check Replace the battery on the front panel of the main board every 4 years. Please refer to I.7.8. REPLACING THE

BATTERY(P.91).

5. Maintenance tools The following maintenance tools are recommended:

 Measuring instruments

AC/DC voltmeter (A digital voltmeter is sometimes required. ) Oscilloscope with a frequency range of 5 MHz or higher, two channels

 Tools

Cross-head screwdrivers: Large, medium, and small Straight-head screwdrivers: Large, medium, and small Box-head screwdrivers: Large, medium, and small Pliers Cutting pliers Diagonal cutting pliers

6. Automatic backup When the automatic backup area (FRA:) of F-ROM in the controller is specified as a backup copy destination and

automatic backup is performed frequently, F-ROM may be damaged. If automatic backup is performed frequently, use the external storage device.

R-30iB Mini Plus is evaluated as a system with the high demand mode of operation defined in IEC61508. To confirm that the safety function can work correctly, please check the alarm detection by inputting emergency stop twice or more in a year, or please check the system operation by cycling power twice or more in a year.

1. The R-30iB Mini Plus controller has an enclosed structure, and is designed to keep out surrounding dust, oil mist, conductive foreign material, and other substances. Regardless of whether or not the controller is operating, if the door is not securely locked, it will lose its sealing performance. This can cause the controller to malfunction, or result in an electric shock, leakage current, or even fire due to insulation deterioration.

2. Securely lock the cabinet door of the controller so that only a maintenance technician can open it.

3. In order to prevent electrical shocks, do not turn on the controller's power when the door is open.

4. After connecting the input power cable, in order to avoid turning on the main breaker, a padlock can be installed on the breaker handle.

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B-84175EN/03 TROUBLESHOOTING

3. TROUBLESHOOTING

This chapter describes the checking method and corrective action for each alarm code indicated if a hardware alarm occurs. Refer to the "OPERATOR'S MANUAL(Alarm code list) "(B-83284EN-1) to release program alarms.

3.1. POWER CANNOT BE TURNED ON

Inspection and action

Illustration

(Inspectio n 1)

Check the circuit breaker.

(Action 1)

(a) If circuit breaker is OFF, turn on the circuit breaker.

(b) If the circuit breaker has tripped, find the cause by referencing the total connection diagram presented in the appendix.

3.1.1. When the Teach Pendant Cannot be Powered on (The LEDs of the Teach

Pendant Cannot be Turned on)

Inspection and action

Illustration

(Inspection

Confirm that the fuse (FUSE6) on the main board is not blown. When the fuse is blown, carry out action 1 and replace the fuse.

Figure 3.1.1-1 Teach pendant

(Inspection

When the fuse (FUSE6) is not blown, carry out Action 2.

(Action 1)

(a) Check the cable of the teach pendant for failure and replace it as necessary.

(b) Check the teach pendant for failure and replace it as necessary.

Before executing the (Action 1 (c)), perform a complete controller back-up to save all your programs and settings.

(Action 2)

When the LED on the main board lights up, carry out action 1. When the LED on the main board does not light, carry out inspection 2 in I.3.1.2. When

the Teach Pendant does not Change from the Initial Screen(P.12).

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3.1.2. When the Teach Pendant does not Change from the Initial Screen

Inspection and action

Illustration

(Inspection

Check that the status display LED and alarm LED on the interface unit operate normally.

(Action 1)

Carry out an action according to the LED status. For details, see "TROUBLESHOOTING USING THE LEDS ON THE MAIN BOARD".

Inspection and action

Illustration

(Inspection

When the LED on the interface plate does not light in inspection 1, check if the fuse (FUSE8) on the main board is blown.

(a) When fuse (FUSE8) is blown See Action 1. (b) When fuse (FUSE8) is not blown See Action 2.

(Action 1)

(a) Check the cable of the input unit for failure and replace it as necessary.

(b) Replace the input unit. Before executing the (Action 1 (c)),

perform a complete controller back-up to save all your programs and settings.

in the mini slot, replace the option board.

(e) Replace the backplane board.

(Action 2)

Before executing the (Action 1 (c)), perform a complete controller back-up to save all your programs and settings.

(a) Replace the main board.

3.2. ALARM OCCURRENCE SCREEN

The alarm occurrence screen displays only the alarm conditions that are currently active. If an alarm reset signal is input to reset the alarm conditions, the alarm occurrence screen displays the message "PAUSE or more serious alarm has not occurred."

The alarm occurrence screen displays only the alarm conditions (if any) that occur after the most recently entered alarm reset signal. To erase all alarm displays from the alarm occurrence screen. Press the CLEAR key (+ shift) on the alarm history screen.

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The alarm occurrence screen is intended to display PAUSE or alarms that are more serious. It will not display WARN, NONE, or a reset. It is possible to disable PAUSE and some of more serious alarms from being displayed by setting the $ER NOHIS and other system variables appropriately.

If two or more alarms have occurred, the display begins with the most recent alarm. Up to 100 lines can be displayed. If an alarm has a cause code, it is displayed below the line indicating the alarm.

Figure 3.2-1 Alarm occurrence screen and alarm history screen display procedure

Displaying the alarm active/ alarm history/alarm detail information Step

Press the [MENU] key to display the screen menu. Select [4 ALARM]. You will see a screen similar to the following. If an alarm has occurred,

however, the alarm screen appears automatically.

To display the alarm history screen, press F3 [HIST].

Press F3 [ACTIVE] again, the alarm screen appears.

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NOTE

The latest alarm is assigned number 1. To view messages that are currently not on the screen, press the F5, DETAIL, and then press the right arrow key.

To display the alarm detail screen, press F5 [DETAIL].

To return to the alarm history screen, press the [PREV] key. To delete all the alarm histories, press and hold down the SHIFT key, then press F4 [CLEAR].

NOTE

When system variable $ER NOHIS = 1, NONE alarms or WARN alarms are not recorded. When $ER NOHIS = 2, resets are not recorded in the alarm history. When $ER NOHIS = 3, resets, WARN alarms, and NONE alarms are not recorded.

The following map indicates teach pendant operations used to check an alarm.

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3.3. STATUS Stop Signal

The stop signal screen indicates the state of signals related to stop. To be specific, the screen indicates whether each stop signal is currently on. On this screen, it is impossible to change the state of any stop signal.

Table 3.3-1 STATUS Stop Signal

STATUS Stop Signal

Description

Operator's panel emergency stop

This item indicates the state of the emergency stop button on the switch box. If the EMERGENCY STOP button is pressed, the state is indicated as "TRUE".

Teach pendant emergency stop

This item indicates the state of the emergency stop button on the teach pendant. If the EMERGENCY STOP button is pressed, the state is indicated as "TRUE".

External emergency stop

This item indicates the state of the external emergency stop signal. If the EMERGENCY STOP signal is asserted, the state is indicated as "TRUE".

Fence open

This item indicates the state of the safety fence. If the safety fence is open, the state is indicated as "TRUE".

Enabling device (Deadman switch)

This item indicates whether the enabling device (the deadman switch) on the teach pendant is grasped. If the teach pendant is operable, and the enabling device (the deadman switch) is grasped correctly, the state is indicated as "TRUE". If the enabling device (the deadman switch) is released or is grasped tightly when the teach pendant is operable, an alarm occurs, causing the servo power to be switched off.

Teach pendant enabled signal

This item indicates whether the teach pendant is operable. If the teach pendant is operable, the state is indicated as "TRUE".

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Displaying the signal name screen Step

Press the [MENU] key to display the screen menu. Select [4 STATUS] on the next page. Press F1 [TYPE] to display the screen switching menu. Select Stop Signal. You will see a screen similar to the following.

3.4. MASTERING

Mastering is needed if:

1. The SRVO-062 BZAL or SRVO-038 pulse mismatch alarm occurs, or

2. The Pulsecoder is replaced. Item (1) requires quick mastering, while item (2) requires single axis or fixture position mastering. The mastering procedure is described below. For details, refer to the applicable maintenance manual of the

mechanical unit or the Mastering chapter of Appendix B of the "OPERATOR’S MANUAL(Basic Function)"(B-83284EN)

Condition

■ System variable $MASTER ENB must be set to 1 or 2.

Step

As an example, the following describes the procedures for fixture position mastering.

Press the [MENU] key to display the screen menu. Select [6 SYSTEM] on the next page. Press F1 [TYPE] to display the screen switching menu. Select Master/Cal. You will see a screen similar to the following.

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Move the robot by jog feed to the mastering position. Release the brake on the manual brake control

screen if necessary.

NOTE

Mastering cannot be performed until the axis is rotated enough to establish a pulse.

Select [1 FIXTURE POSITION MASTER] and press F4 [Yes]. Mastering data is set.

Select [7 CALIBRATE] and press F4 [Yes]. Calibration is performed.

Alternatively, to perform positioning, turn the power off, and then turn it on again. Calibration is performed whenever the power is turned on.

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Press F5 [DONE] after mastering. Restore the brake condition to its original condition.

3.5. TROUBLESHOOTING USING THE ALARM CODE

SRVO - 001 Operator panel E-stop

[Explanation]

The emergency stop button on the switch box is pressed.

[Action 1]

Release the emergency stop button pressed on the switch box.

[Action 2]

Check the voltage between EXT24V and EXT0V. When the voltage becomes low, confirm that fuse (FUSE3) on the front board is not blown.

[Action 3]

Check the wires connecting the switch box and the main board (JRT3) for continuity. If an open wire is found, replace the entire harness.

[Action 4]

Check the wires connecting the teach pendant and the main board (CRS36) for a ground fault. If a ground fault is found, replace the entire harness.

[Action 5]

With the emergency stop in the released position, check for continuity across the terminals of the switch. If continuity is not found, the emergency stop button is broken. Replace the emergency stop button or the switch box.

[Action 6]

Replace the teach pendant.

Before executing the [Action 7], perform a complete controller back up to save all your programs and settings.

[Action 7]

Replace the main board.

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Figure 3.5-1 SRVO-001 Operator panel E-stop

SRVO - 002 Teach pendant E-stop

[Explanation]

The emergency stop button on the teach pendant was pressed.

[Action 1]

Release the emergency stop button on the teach pendant.

[Action 2]

Replace the teach pendant.

SRVO - 003 Enabling device (Deadman switch)

[Explanation]

The teach pendant is enabled, but the enabling device (the deadman switch) is not pressed. Alternatively, the enabling device (the deadman switch) is pressed strongly.

[Action 1]

Check the intermediate position of the enabling device (the deadman switch) on the teach pendant.

[Action 2]

Check that the mode switch on the switch box is at the correct position.

[Action 3]

Replace the teach pendant.

[Action 4]

Check the mode switch connection and operation. If trouble is found, replace the mode switch.

Before executing the [Action 5], perform a complete controller back-up to save all your programs and settings.

[Action 5]

Replace the main board.

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Figure 3.5-2 SRVO-002 Teach pendant E-stop/SRVO-003 Enabling device (Deadman switch)

SRVO - 004 Fence open

[Explanation]

In the automatic operation mode, the safety fence contact connected to EAS1 - 24V-2 or EAS2 - 0V of the JRM18 connector is open.

[Action 1]

When a safety fence is connected, close the safety fence.

[Action 2]

Check the cables and switches connected between EAS1 and 24V-2 and between EAS2 and 0V of the JRM18 connector on the main board.

[Action 3]

If the safety fence signal is not used, make a connection between EAS1 and 24V-2 and between EAS2 and 0V of the JRM18 connector on the main board.

[Action 4]

Check the mode switch. If trouble is found, replace the mode switch.

Before executing the [Action 5], perform a complete controller back-up to save all your programs and settings.

[Action 5]

Replace the main board.

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Figure 3.5-3 SRVO-004 Fence open

In a system using the safety fence signal, it is very dangerous to disable the signal when a connection is made between EAS1 and 24V-2 and between EAS2 and 0V. Never make such an attempt. If a temporary connection is needed for operation, separate safety measures must be taken.

SRVO - 007 External emergency stops

[Explanation]

On the JRM18 connector of the main board, no connection of the external emergency stop is made between EES1 and 24V-2, EES2 and 0V.

[Action 1]

If an external emergency stop button is connected, release the switch.

[Action 2]

Check the switch and cable connected to EES1-24V-2 and EES2-0V on the JRM18 connector of the main board.

[Action 3]

When this signal is not used, make a connection between EES1 and 24V-2, EES2 and 0V of JRM18 connector.

Before executing [Action 4], perform a complete controller backup to save all your programs and settings.

[Action 4]

Replace the main board.

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Figure 3.5-4 SRVO-007 External emergency stops

In a system using the external emergency stop signal, it is very dangerous to disable the signal when a connection is made between EES1 and EES1－24V-2 and between EES2－0V and 0V. Never make such an attempt. If a temporary connection is needed for operation, separate safety measures must be taken.

SRVO - 014 Fan motor abnormal (n), CPU STOP

[Explanation]

When a fan motor stops on fan unit, the teach pendant shows the following warning message. One minute later, the robot stops and cannot be operated from TP. The robot can be recovered by replacing a fan motor.

[Action 1]

Confirm the fuse (FUSE 9) is not blown. When the fuse (FUSE 9) is blown, carry out action2~action 5 and replace the fuse.

[Action 2]

Replace the fan unit.

Before executing the [Action 3], perform a complete controller backup to save all your programs and settings.

[Action 3]

Replace the main board.

[Action 4]

Replace the servo amplifier unit.

[Action 5]

Replace the side board.

NOTE

The controller will stop operation after 1 minutes of this alarm.

SRVO - 015 System over heat

[Explanation]

The temperature in the controller exceeds the specified value.

[Action 1]

If the ambient temperature is higher than specified (45°C), cool down the ambient temperature.

[Action 2]

If the fan motor is not running, check the fan unit. Replace it if necessary.

Before executing the [Action 3], perform a complete controller backup to save all your programs and settings.

[Action 3]

Replace the main board. (The thermostat on the main board may be faulty. )

[Action 4]

Replace the servo amplifier unit.

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NOTE

The controller will stop operation after 1 minutes of this alarm.

Figure 3.5-5 SRVO-014 Fan motor abnormal/SRVO-015 System over heat

SRVO - 018 Brake abnormal (Group:i Axis:j)

[Explanation]

An abnormal brake circuit is detected.

[Action 1]

Check the robot connection cable (RMP) and the internal cable of the robot and motor brakes connected to the side of the controller. If a short-circuit or grounding fault is found, replace the failed part.

[Action 2]

Check FUSE12 in the servo amplifier unit. If it has blown, replace the fuse.

[Action 3]

Make sure that the cables between input unit connector CN2 and servo amplifier unit connectors CRRA43 and CRRA44 are securely attached, and connect the connectors if they are disconnected.

[Action 4]

Replace the input unit.

Before executing the [Action 5], perform a complete controller back-up to save all your programs and settings.

[Action 5]

Replace the servo amplifier unit.

[Action 6]

Replace the main board.

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This error can be caused by the brake release unit option if the on/off switch is left in on position while the operator attempts to jog the robot. To recover, turn the brake release unit off and cycle the controller power.

SRVO - 021 SRDY off (G:i A:j)

[Explanation]

The servo power cannot be turned on although no alarm has been detected.

[Action 1]

Check the alarm history. If any other alarms occur at the same time, refer to their causes/actions.

[Action 2]

When this occurred after an axis setting was added or changed, check the setting and make corrections if necessary.

In particular, check if the FSSB line number, hardware start axis number, amplifier number, and amplifier type are correct in the auxiliary axis/independent auxiliary axis setting.

[Action 3]

It is possible that an instant disconnection of power source causes this alarm. Check whether an instant disconnection occurred.

Before executing [Action 4], perform a complete controller backup to save all your programs and settings.

[Action 4]

Replace the main board.

SRVO - 022 SRDY on (G:i A:j)

[Explanation]

The main board is mistakenly recognized as being in the servo-on state when servo is off during an emergency stop, etc.

Before executing the [Action], perform a complete controller back-up to save all your programs and settings.

[Action]

Replace the main board.

SRVO - 023 Stop error excess (G:i A:j)

[Explanation]

When the servo is at stop, the position error is abnormally large.

Check whether the brake is released through the clack sound of the brake or vibration.

In case that the brake is not released.

[Action 1]

If the brake is not released, check the continuity of the brake line in the robot connection cable and the mechanical unit cable.

Before executing the [Action 2], perform a complete controller back up to save all your programs and settings.

[Action 2]

Replace the servo amplifier unit.

[Action 3]

Replace the main board.

[Action 4]

Replace the side board.

[Action 5]

Replace the input unit.

In case that the brake is released.

[Action 1]

Check whether the obstacle disturbs the robot motion.

[Action 2]

Check the continuity of the robot connection cable and the internal robot power cable.

[Action 3]

Check to see if the load is greater than the rating. If greater, reduce it to within the rating. (If the load is too great, the torque required for acceleration / deceleration becomes higher than the capacity of the motor. As a result, the motor becomes unable to follow the command, and an alarm is issued.)

[Action 4]

Check that the input voltage to the controller is within the rated voltage. (If the input voltage to the servo amplifier unit is low, the output torque also becomes low. As a result, the motor may not be able to follow the command, hence possibly causing an alarm. )

Before executing the [Action 5], perform a complete controller back-up to save all your programs and settings.

[Action 5]

Replace the servo amplifier unit.

[Action 6]

Replace the motor of the alarm axis.

[Action 7]

Replace the main board.

[Action 8]

Replace the side board.

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NOTE

Incorrect setting of the brake number causes this alarm.

Figure 3.5-6 SRVO-023 Stop error excess

SRVO - 024 Move error excess (G:i A:j)

[Explanation]

When the robot is running, its position error is greater than the specified value ($PARAM GROUP.$MOVER OFFST). It is likely that the robot cannot follow the speed specified by program.

[Action]

Take the same actions as SRVO-023.

SRVO - 027 Robot not mastered (Group:i)

[Explanation]

An attempt was made to calibrate the robot, but the necessary adjustment had not been completed.

[Action]

Check whether the mastering is valid. If the mastering is invalid, master the robot.

If the position data is incorrect, the robot or additional axis can operate abnormally, set the position data correctly. Otherwise, you could injure personnel or damage equipment.

SRVO - 030 Brake on hold (Group:i)

[Explanation]

If the temporary halt alarm function is enabled ($SCR.$BRKHOLD ENB=1), SRVO-030 is issued when a temporary halt occurs. When this function is not used, disable the setting.

[Action]

Disable [Servo-off in temporary halt] on the general item setting screen [6 General Setting Items].

SRVO - 033 Robot not calibrated (Group:i)

[Explanation]

An attempt was made to set up a reference point for quick mastering, but the robot had not been calibrated.

[Action]

Calibrate the robot.

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SRVO - 033 Robot not calibrated (Group:i)

1. Supply power.

2. Set up a quick mastering reference point using [Positioning] on the positioning menu.

SRVO - 034 Ref pos not set (Group:i)

[Explanation]

An attempt was made to perform quick mastering, but the reference point had not been set up.

[Action]

Set up a quick mastering reference point on the positioning menu.

SRVO - 036 Inpos time over (G:i A:j)

[Explanation]

The robot did not get to the effective area ($PARAM GROUP.$STOPTOL) even after the position check monitoring time ($PARAM GROUP.$INPOS TIME) has elapsed.

[Action]

Take the same actions as for SRVO-023 (large position error at a stop).

SRVO - 037 IMSTP input (Group:i)

[Explanation]

The *IMSTP signal for a peripheral device interface was input.

[Action]

Turn on the *IMSTP signal.

SRVO - 038 Pulse mismatch (Group:i Axis:j)

[Explanation]

The pulse count obtained when the power is turned off does not match the pulse count obtained when power is applied. This alarm is Zasserted after exchange the Pulsecoder or battery for back up of the Pulsecoder data

or loading back up data to the Main Board.

Check the alarm history.

[Action 1]

If the brake number is set to the non-brake motors, this alarm may occur. Check the software setting of the brake number.

[Action 2]

If the robot has been moved using the brake release unit while the power is off or when restoring the backup data to the main board, this alarm may occur. Remaster the robot.

[Action 3]

If the robot has been moved because the brake failed, this alarm may occur. Check the cause of the brake trouble. Then remaster the robot.

[Action 4]

Replace the Pulsecoder and master the robot.

SRVO - 043 DCAL alarm (Group:i Axis:j)

[Explanation]

The regenerative energy of the robot exceeds the controller capacity because the frequency of acceleration/deceleration or the payload of the robot is too high.

(If turning off the robot is needed, please wait 5 minutes with power on for cooling the discharge resistor.)

[Action 1]

If the frequency of acceleration/deceleration is too high or the payload exceeds the rating of the robot, decrease the operating condition or reduce the payload of the robot.

[Action 2]

The ambient temperature is excessively high, or dust adheres to the fan unit and related fuses that may adversely affect cooling efficiency. Clean up the fan unit and the air filter if they are dirty. Please improve the operating environment.

[Action 3]

Make sure that the main board CRR63 connector is connected. If disconnected, connect it. If connected, detach the cable from CRR63 connector on the main board, and check for continuity between pins 1 and 2 of the cable-end connector. If there is no continuity between the pins, replace the main board.

[Action 4]

Check that the CRRA11A connectors of the servo amplifier unit are connected firmly. Make sure that the discharge resistor CRRA37 is connected tightly, then disconnect the cables from CRRA37 on servo amplifier unit and check the resistance between pins 1 and 3. If the resistance is not 6.5Ω, replace the servo amplifier unit.

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SRVO - 043 DCAL alarm (Group:i Axis:j)

Before executing the [Action 5], perform a complete controller back-up to save all your programs and settings.

[Action 5]

Replace the servo amplifier unit.

[Action 6]

Replace the main board.

[Action 7]

Replace the side board.

[Action 8]

This alarm may occur because of an incorrect input voltage. Measure the input voltage between each phase at the main breaker and make sure that each voltage satisfies the input voltage rating. If each voltage does not satisfy the input voltage rating, check the power supply facility.

SRVO - 044 DCHVAL alarm (Group:i Axis:j)

[Explanation]

The DC voltage (DC link voltage) of the main circuit power supply is abnormally high.

[Action 1]

Check that the input voltage to the controller is lower than the rated voltage. (Maximum applied input voltage is 240V a.c.)

(If the input voltage is higher than 240V a.c, the high acceleration/deceleration may cause this alarm. )

[Action 2]

Check whether the load weight is within the rated range. If the weight exceeds the upper limit, decrease it to the limit.

(If the load weight is higher than the robot rating, the accumulation of regenerative energy might result in this alarm even if the input voltage is within the controller rating. )

[Action 3]

Check that the CRRA11A connectors of the servo amplifier unit are connected firmly. Next, disconnect the cables then check the continuity between pins 1 and 3. If the resistance is not

6.5, replace the discharge resistor.

Before executing [Action 4], perform a complete controller backup to save all your programs and settings.

[Action 4]

Replace the servo amplifier unit.

[Action 5]

Replace the main board.

[Action 6]

Replace the side board.

SRVO - 045 HCAL alarm (Group:i Axis:j)

[Explanation]

Abnormally high current flowed in the main circuit of the servo amplifier unit.

[Action 1]

Turn off the power and disconnect the robot connection cable (RMP) from the controller, and check the insulation of the alarm axis between U, V, W phase and the GND lines. If there is a short circuit, replace the power cable.

[Action 2]

Measure the resistance of the alarm axis between U-V, V-W, and W-U with a milliohm meter that has a very low resistance range. If the resistances at the three points are different from each other, the motor or the power cable may be defective. Find the short circuit point in detail and replace it.

Before executing the [Action 3], perform a complete controller backup to save all your programs and settings.

[Action 3]

Replace the servo amplifier unit.

[Action 4]

Replace the main board.

[Action 5]

Replace the side board.

SRVO - 046 OVC alarm (Group:i Axis:j)

[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. .

[Action 1]

Check the operating condition for the robot and reduce the operation condition if possible. If the load or operating condition has exceeded the rating, reduce the load or reduce the operating condition to meet the rating.

[Action 2]

Check that the input voltage to the controller is within the rated voltage.

[Action 3]

Check whether the brake of the corresponding axis is released.

[Action 4]

Check whether there is a factor that has increased the mechanical load on the corresponding axis.

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SRVO - 046 OVC alarm (Group:i Axis:j)

Before executing the [Action 5], perform a complete controller back-up to save all your programs and settings.

[Action 5]

Replace the servo amplifier unit.

[Action 6]

Replace the corresponding servo motor.

[Action 7]

Replace the motor power cable (robot connection cable) of the corresponding axis.

[Action 8]

Replace the internal cable of the robot (power/brake) in which the corresponding axis is connected.

[Action 9]

Replace the main board.

[Action 10]

Replace the side board.

Figure 3.5-7 SRVO-044 DCHVAL alarm/SRVO-045 HCAL alarm/SRVO-046 OVC alarm

Reference

Relationships among the OVC, OHAL, and HC alarms

Overview

This section points out the differences among the OVC, OHAL, and HC alarms and describes the purpose of each alarm.

Alarm detection section

Abbreviati

Designation

Detection section

OVC

Overcurrent alarm

Servo software

OHAL

Overheat alarm

Thermal relay in the motor

High current alarm

Servo amplifier

Purpose of each alarm

1. HC alarm (high current alarm) If there is high current flow in a power transistor momentarily due to abnormality or noise in the control circuit, the

power transistor and rectifier diodes might be damaged, or the magnet of the motor might be degaussed. The HC alarm is intended to prevent such failures.

2. OVC and OHAL alarms (overcurrent and overheat alarms) The OVC and OHAL alarms are intended to prevent overheating that may lead to the burnout of the motor

winding, the breakdown of the servo amplifier transistor, and the separate discharge resistor. The OHAL alarm occurs when each built-in thermal relay detects a temperature higher than the rated value. However, this method is not necessarily perfect to prevent these failures.

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For example, if the motor frequently repeats to start and stop, the thermal time constant of the motor, which has a large mass, becomes higher than the time constant of the thermal relay, because these two components are different in material, structure, and dimension.

Therefore, if the motor continues to start and stop within a short time as shown in Fig.3.5 (h), the temperature rise in the motor is steeper than that in the thermal relay, thus causing the motor to burn before the thermal relay detects an abnormally high temperature.

Figure 3.5-8 Relationship between the temperatures of the motor and thermal relay on start/stop cycles

To prevent the above defects, software is used to monitor the current in the motor constantly in order to estimate the temperature of the motor.

The OVC alarm is issued based on this estimated temperature. This method estimates the motor temperature with substantial accuracy, so it can prevent the failures described above.

To sum up, a double protection method is used; the OVC alarm is used for protection from a short-time overcurrent, and the OHAL alarm is used for protection from long-term overload. The relationship between the OVC and OHAL alarms is shown in Fig.3.5 (i).

Figure 3.5-9 Relationship between the OVC and OHAL alarms

The relationship shown in Fig.3.5 (i) is taken into consideration for the OVC alarm. The motor might not be hot even if the OVC alarm has occurred. In this case, do not change the parameters to relax protection.

SRVO - 050 CLALM (Collision Detect) alarm (Group:i Axis:j)

[Explanation]

The disturbance torque estimated by the servo software is abnormally high.

(A collision has been detected. )

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SRVO - 050 CLALM (Collision Detect) alarm (Group:i Axis:j)

[Action 1]

Check whether the robot has collided or whether the machinery load of the corresponding axis is increased.

[Action 2]

Check whether the load settings are valid.

[Action 3]

Check whether the brake of the corresponding axis is released.

[Action 4]

If the load weight exceeds the rated range, decrease it to within the limit.

[Action 5]

Check that the input voltage to the controller is within the rated voltage.

Before executing [Action 6], perform a complete controller backup to save all your programs and settings.

[Action 6]

Replace the servo amplifier unit.

[Action 7]

Replace the corresponding servo motor.

[Action 8]

Replace the input unit.

[Action 9]

Replace the robot connection cable.

[Action 10]

Replace the main board.

[Action 11]

Replace the side board.

SRVO - 051 CUER alarm (Group:i Axis:j)

[Explanation]

The offset of the current feedback value is abnormally high.

Before executing [Action 1], perform a complete controller backup to save all your programs and settings.

[Action 1]

Replace the servo amplifier unit.

[Action 2]

Replace the main board.

[Action 3]

Replace the side board.

Figure 3.5-10 SRVO-050 CLALM alarm/SRVO-051 CUER alarm

SRVO - 055 FSSB com error 1 (Group:i Axis:j)

[Explanation]

Communication was interrupted in the main board.

Before executing [Action 1], perform a complete controller backup to save all your programs and settings.

[Action 1]

Replace the main board.

SRVO - 056 FSSB com error 2 (Group:i Axis:j)

[Explanation]

Communication was interrupted in the main board.

Before executing [Action 1], perform a complete controller backup to save all your programs and settings.

[Action 1]

Replace the main board.

SRVO - 057 FSSB disconnect (Group:i Axis:j)

[Explanation]

Communication was interrupted in the main board.

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SRVO - 057 FSSB disconnect (Group:i Axis:j)

Before executing [Action 1], perform a complete controller backup to save all your programs and settings.

[Action 1]

Replace the main board.

[Action 2]

Replace the input unit.

SRVO - 058 FSSB init error

[Explanation]

Communication was interrupted in the main board.

Before executing [Action 1], perform a complete controller backup to save all your programs and settings.

[Action 1]

Replace the main board.

Figure 3.5-11 SRVO-055 FSSB com error 1/SRVO-056 FSSB com error 2/SRVO-057 FSSB disconnect/SRVO-058

FSSB init error

SRVO - 059 Servo amp init error (Group:i Axis:j)

[Explanation]

Servo amplifier initialization is failed.

Before executing [Action 1], perform a complete controller backup to save all your programs and settings.

[Action 1]

Replace the main board.

SRVO - 062 BZAL alarm (Group:i Axis:j)

[Explanation]

This alarm occurs if the battery for Pulsecoder absolute-position backup is empty. A probable cause is a broken battery cable or no batteries in the robot.

[Action 1]

Replace the battery in the battery box of the robot base.

[Action 2]

Replace the Pulsecoder for which an alarm has been issued.

[Action 3]

Check whether the mechanical unit cable for feeding battery power from the battery to the Pulsecoder is not disconnected and grounded. If an abnormality is found, replace the cable.

After correcting the cause of this alarm, set the system variable ($MCR.$SPC_RESET) to TRUE then turn on the power again. Mastering is needed.

SRVO - 064 PHAL alarm (Group:i Axis:j)

[Explanation]

This alarm occurs if the phase of the pulses generated in the Pulsecoder is abnormal.

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SRVO - 064 PHAL alarm (Group:i Axis:j)

[Action]

Replace the Pulsecoder for which an alarm has been issued.

NOTE

This alarm might accompany the DTERR, CRCERR, or STBERR alarm. In this case, however, there may be no actual condition for this alarm.

SRVO - 065 BLAL alarm (Group:i Axis:j)

[Explanation]

The battery voltage for the Pulsecoder is lower than the rating.

[Action]

Replace the battery.

(If this alarm occurs, turn on the power and replace the battery as soon as possible.

A delay in battery replacement may result in the BZAL alarm being detected. In this case, the position data will be lost. Once the position data is lost, mastering will become necessary. )

SRVO - 067 OHAL2 alarm (Grp:i Ax:j)

[Explanation]

The temperature inside the Pulsecoder or motor is abnormally high, and the built-in thermostat has operated.

[Action 1]

Check the robot operating conditions. If a condition such as the duty cycle and load weight has exceeded the rating, relax the robot load condition to meet the allowable range.

[Action 2]

If the alarm still occurs when power is supplied to the motor after it has become sufficiently cool, replace the motor.

SRVO - 068 DTERR alarm (Grp:i Ax:j)

[Explanation]

The serial Pulsecoder does not return the serial data in response to a request signal.

[Action 1]

Make sure that the robot connection cable connector (RMP) of interface unit and the connector (motor side) are connected tightly.

[Action 2]

Replace the Pulsecoder.

[Action 3]

Replace the robot connection cable (RMP).

Before executing [Action 4], perform a complete controller backup to save all your programs and settings.

[Action 4]

Replace the main board.

[Action 5]

Replace the internal cable of the robot (Pulsecoder/Motor).

SRVO - 069 CRCERR alarm (Grp:i Ax:j)

[Explanation]

The serial data is disturbed during communication.

[Action]

See actions on SRVO-068.

SRVO - 070 STBERR alarm (Grp:i Ax:j)

[Explanation]

The start and stop bits of the serial data are abnormal.

[Action]

See actions on SRVO-068.

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Figure 3.5-12 SRVO-059 Servo amp init error/SRVO-070 STBERR alarm

SRVO - 071 SPHAL alarm (Grp:i Ax:j)

[Explanation]

The feedback speed is abnormally high.

[Action]

See actions on SRVO-068.

NOTE

If this alarm occurs together with the PHAL alarm (SRVO-064), this alarm does not correspond to the major cause of the failure.

SRVO - 072 PMAL alarm (Group:i Axis:j)

[Explanation]

It is likely that the Pulsecoder is abnormal.

[Action]

Replace the Pulsecoder, and remaster the robot.

SRVO - 073 CMAL alarm (Group:i Axis:j)

[Explanation]

It is likely that the Pulsecoder is abnormal or the Pulsecoder has malfunctioned due to noise.

[Action 1]

Check whether the connection of the controller earth is good. Check the connection of the grounding wire between the controller and the robot.

[Action 2]

Reinforce the earth of the motor flange. (In case of Auxiliary axis)

[Action 3]

Reset the Pulse count.

[Action 4]

Replace the Pulsecoder.

[Action 5]

Replace the robot connection cable (RMP).

[Action 6]

Replace the internal cable of the robot (Pulsecoder/Motor).

SRVO - 074 LDAL alarm (Group:i Axis:j)

[Explanation]

The LED in the Pulsecoder is broken.

[Action]

Replace the Pulsecoder, and remaster the robot.

SRVO - 075 Pulse not established (G:i A:j)

[Explanation]

The absolute position of the Pulsecoder cannot be established.

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SRVO - 075 Pulse not established (G:i A:j)

[Action]

Reset the alarm, and jog the axis on which the alarm has occurred until the same alarm will not occur again.

SRVO - 076 Tip Stick Detection (G:i A:j)

[Explanation]

An excessive disturbance was assumed in servo software at the start of operation. (An abnormal load was detected. The cause may be welding. )

[Action 1]

Check whether the robot has collided or whether the machinery load of the corresponding axis is increased.

[Action 2]

Check whether the load settings are valid.

[Action 3]

Check whether the brake of the corresponding axis is released.

[Action 4]

Check whether the load weight is within the rated range. If the weight exceeds the upper limit, decrease it to the limit.

[Action 5]

Check that the input voltage to the controller is within the rated voltage.

Before executing [Action 6], perform a complete controller backup to save all your programs and settings.

[Action 6]

Replace the servo amplifier unit.

[Action 7]

Replace the corresponding servo motor.

[Action 8]

Replace the input unit.

[Action 9]

Replace the robot connection cable (RMP).

[Action 10]

Replace the internal cable of the robot (power/brake) in which the corresponding axis is connected.

[Action 11]

Replace the main board.

[Action 12]

Replace the side board.

Figure 3.5-13 SRVO-076 Tip stick detection

SRVO - 084 BZAL alarm (Track enc:i)

[Explanation]

This alarm occurs if the backup battery for the absolute position of the Pulsecoder has not been connected.

See the description about the BZAL alarm (SRVO-062).

SRVO - 087 BLAL alarm (Track enc:i)

[Explanation]

This alarm occurs if the voltage of the backup battery for the absolute position of the Pulsecoder is low.

[Action 1] See the description about the BLAL alarm (SRVO-065).

[Action 2]

Replace the Pulsecoder for which an alarm has been issued.

[Action 3]

Check whether the mechanical unit cable for feeding battery power from the battery to the Pulsecoder is not disconnected and grounded. If an abnormality is found, replace the cable.

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SRVO - 089 OHAL2 alarm (Track enc:i)

[Explanation]

The motor has overheated.

[Action] If the alarm still occurs when power is supplied to the Pulsecoder after it has become sufficiently cool, replace the Pulsecoder.

SRVO - 090 DTERR alarm (Track enc:i)

[Explanation]

Communication between the Pulsecoder and main board is abnormal.

[Action 1]

Check the connection cable at each end (the main board and the Pulsecoder)

[Action 2]

Replace the Pulsecoder.

[Action 3]

Replace the line tracking cable.

Before executing [Action 4], perform a complete controller backup to save all your programs and settings.

[Action 4]

Replace the main board.

SRVO - 091 CRCERR alarm (Track enc:i)

[Explanation]

Communication between the Pulsecoder and main board is abnormal.

[Action]

See actions on SRVO-090.

SRVO - 092 STBERR alarm (Track enc:i)

[Explanation]

Communication between the Pulsecoder and main board is abnormal.

[Action]

See actions on SRVO-090.

SRVO - 093 SPHAL alarm (Track enc:i)

[Explanation]

This alarm occurs if the current position data from the Pulsecoder is higher than the previous position data.

[Action]

See actions on SRVO-090.

SRVO - 094 PMAL alarm (Track enc:i)

[Explanation]

It is likely that the Pulsecoder is abnormal.

[Action]

Replace the Pulsecoder.

SRVO - 095 CMAL alarm (Track enc:i)

[Explanation]

It is likely that the Pulsecoder is abnormal or the Pulsecoder has malfunctioned due to noise.

See the description about the CMAL alarm (SRVO-073).

[Action 1]

Reinforce the earth of the flange of the Pulsecoder.

[Action 2]

Reset the Pulse count.

[Action 3]

Replace the Pulsecoder.

[Action 4]

Replace the line tracking cable.

SRVO - 096 LDAL alarm (Track enc:i)

[Explanation]

The LED in the Pulsecoder is broken.

See the description about the LDAL alarm (SRVO-074).

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SRVO - 097 Pulse not established (Enc:i)

[Explanation]

The absolute position of the Pulsecoder cannot be established.

[Action]

Reset the alarm, and jog the axis on which the alarm has occurred until the same alarm does not occur again. (Jog one motor revolution)

SRVO - 105 Door open or E.Stop

[Explanation]

A short-time emergency stop signal is detected.

[Action 1]

Press [RESET] key.

Before executing [Action 2], perform a complete controller backup to save all your programs and settings.

[Action 2]

Replace the main board.

[Action 3]

Replace the servo amplifier unit.

[Action 4]

Replace the side board.

Figure 3.5-14 SRVO-105 Door open or E.Stop

SRVO - 123 Fan motor rev slow down(i)

[Explanation]

The rotation speed of the fan motor is slowing down.

[Action 1]

Check the fan motor and its cables. Replace them if necessary.

Before executing the [Action 2], perform a complete controller back up to save all your programs and settings.

[Action 2]

Replace the servo amplifier unit.

[Action 3]

Replace the main board.

[Action 4]

Replace the side board.

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Figure 3.5-15 SRVO-123 Fan motor rev slow down(i)

SRVO - 134 DCLVAL alarm (G:i A:j)

[Explanation]

The DC voltage (DC link voltage) of the main circuit power supply for the servo amplifier unit is abnormally low. This alarm may be issued when the robot operating condition is severe, or the input voltage is at the low level, or the impedance of the power source is too large, or the glitch of power source was occurred.

[Action 1]

Supply power again.

[Action 2]

Decrease the operating condition or reduce the payload of the robot.

[Action 3]

Check that the input voltage to the controller is within the rated voltage. (If the input voltage is too low, or the impedance of the power source is too large, it is possible to cause this alarm. )

[Action 4]

It is possible that a glitch in the power source has caused this alarm. Check whether there is a glitch in the power source.

[Action 5]

Replace the input unit.

Before executing [Action 6], perform a complete controller backup to save all your programs and settings.

[Action 6]

Replace the servo amplifier unit.

[Action 7]

Replace the main board.

[Action 8]

Replace the side board.

SRVO - 156 IPMAL alarm (G:i A:j)

[Explanation]

Abnormally high current flowed through the main circuit of the servo amplifier unit.

[Action 1]

See the description about the HC alarm (SRVO-045).

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SRVO - 157 CHGAL alarm (G:i A:j)

[Explanation]

The capacitor on the servo amplifier was not charged properly within the specified time when the servo power is on.

[Action 1]

Check that the input voltage to the controller is within the rated voltage.

[Action 2]

Make sure that the CRRA31 connector of the servo amplifier unit and input unit are connected tightly.

[Action 3]

Replace the input unit.

Before executing [Action 4], perform a complete controller backup to save all your programs and settings.

[Action 4]

Replace the servo amplifier unit.

[Action 5]

Replace the main board.

[Action 6]

Replace the side board.

Figure 3.5-16 SRVO-156 IPMAL alarm/SRVO-157 CHGAL alarm

SRVO - 204 External (SVEMG abnormal) E-stop

[Explanation]

The switch connected across EES1-24V-2 and EES2 - 0V on the JRM18 on the main board was pressed, but the EMERGENCY STOP line was not disconnected.

[Action 1]

Check the switch and cable connected to EES1-24V-2 and EES2 - 0V on the JRM18. If the cable is abnormal, replace it.

Before executing the [Action 2], perform a complete controller back up to save all your programs and settings.

[Action 2]

Replace the main board.

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Figure 3.5-17 SRVO-204 External (SVEMG abnormal) E-stop

SRVO - 205 Fence open (SVEMG abnormal)

[Explanation]

The switch connected across EAS1-24V-2 and EAS2-0V on the JRM18 on the main board was opened, but the EMERGENCY STOP line was not disconnected.

[Action 1]

Check the switch and cable connected to EAS1-24V-2 and EAS2-0V on the JRM18. If the cable is abnormal, replace it.

Before executing the [Action 2], perform a complete controller back up to save all your programs and settings.

[Action 2]

Replace the main board.

Figure 3.5-18 SRVO-205 Fence open (SVEMG abnormal)

SRVO - 206 Enabling device (Deadman switch) (SVEMG abnormal)

[Explanation]

When the teach pendant was enabled, the enabling device (the deadman switch) was released or pressed strongly, but the emergency stop line was not disconnected.

[Action 1]

Replace the teach pendant.

[Action 2]

Check the teach pendant cable. If it is inferior, replace the cable.

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SRVO - 206 Enabling device (Deadman switch) (SVEMG abnormal)

Before executing the [Action 3], perform a complete controller backup to save all your programs and settings.

[Action 3]

Replace the main board.

Figure 3.5-19 SRVO-206 Enabling device (Deadman switch) (SVEMG abnormal)

SRVO - 216 OVC (total) (Robot:i)

[Explanation]

The current (total current for six axes) flowing through the motor is too large.

[Action 1]

Slow the motion of the robot where possible. Check the robot operation conditions. If the robot is used with a condition exceeding the duty or load weight robot rating, reduce the load condition value to the specification range.

[Action 2]

Check that the input voltage to the controller is within the rated voltage.

Before executing the [Action 3], perform a complete controller backup to save all your programs and settings.

[Action 3]

Replace the servo amplifier unit.

[Action 4]

Replace the main board.

[Action 5]

Replace the side board.

SRVO - 221 Lack of DSP (G:i A:j)

[Explanation]

The set number of axes is not correct.

[Action 1]

Check whether the set number of axes is valid. If the number is invalid, set the correct number.

Before executing the [Action 2], perform a complete controller back up to save all your programs and settings.

[Action 2]

Replace the main board.

SRVO - 223 DSP dry run (a, b)

[Explanation]

A servo DSP initialization failure occurred due to hardware failure or wrong software setting. Then, the software entered DSP dry run mode. The first number indicates the cause of the failure. The second number is extra information.

[Action]

Perform an action according to the first number that is displayed in the alarm message. 1: This is a warning due to $scr.$startup_cnd=12. 2,3,4,7: Perform a complete controller back up to save all your programs and settings and

then replace the main board. 5: Invalid ATR setting. Software axis config (FSSB line number, hardware start axis number,

amplifier number, and amplifier type) might be wrong.

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SRVO - 223 DSP dry run (a, b)

6: SRVO-180 occurs simultaneously. Controllable axis does not exist on any group. Execute aux axis setting to add axis at controlled start.

8,10: SRVO-058 (FSSB init error) occurs simultaneously. Follow the remedy of SRVO-058. 9: There is no amplifier that is detected. Perform the following:

 Perform a complete controller backup to save all your programs and settings and then

replace the main board.

11: Invalid axisorder setting. Non-existing axis number is specified. Software axis config (FSSB line number) might be wrong.

12: SRVO-059 (Servo amp init error) occurs simultaneously. Follow the remedy of SRVO-059. 13,14,15: Document the events that led to the error, and contact your FANUC technical

representative.

Figure 3.5-20 SRVO-216 OVC (total)/SRVO-221 Lack of DSP/SRVO-223 DSP dry run

SRVO - 228 RI/O fuse blown

[Explanation]

A fuse (FUSE4) for protecting the +24V output of the end effector interface has blown.

[Action 1]

RI/O or 24VR and 0V may be short-circuited. Check the robot connection cable and end effector cable for any abnormality, and replace it if necessary.

Before executing the [Action 2], perform a complete controller back up as image to save all your programs and settings.

[Action 2]

Replace the main board.

SRVO - 229 SDI fuse blown

[Explanation]

A fuse (FUSE2) for protecting the +24V output of the peripheral device interface on the main board has blown.

[Action 1]

24SDI and 0 V may be short-circuited. Check the peripheral device cable for any abnormality, and replace it if necessary.

Before executing the [Action 2], perform a complete controller back up as image to save all your programs and settings.

[Action 2]

Replace the main board.

SRVO - 230 Chain 1 abnormal a, b SRVO - 231 Chain 2 abnormal a, b

[Explanation]

A mismatch occurred between duplicate safety signals.

SRVO-230 is issued if such a mismatch that a contact connected on the chain 1 side (between EES1 and 24V-2, between EAS1 and 24V-2, and so forth) is closed, and a contact on the chain 2 side (between EES2 and 0V, between EAS2 and 0V, and so forth) is open occurs. SRVO-231 is issued if such a mismatch that a contact on the chain 1 side is open, and a contact on the chain 2 side is closed occurs.

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SRVO - 230 Chain 1 abnormal a, b SRVO - 231 Chain 2 abnormal a, b

If a chain error is detected, correct the cause of the alarm then reset the alarm according to the method described later.

[Action]

Check the alarms that have been issued at the same time to identify the signal for which the mismatch occurred.

SRVO-266 through SRVO-275 and SRVO-370 through SRVO-385 are issued at the same time. Take the action(s) described for each item.

If this alarm is issued, do not reset the chain error alarm until the failure is identified and repaired. If robot use is continued with one of the duplicate circuits being faulty, safety may not be guaranteed when the other circuit fails.

1. The state of this alarm is retained by the software. After correcting the cause of the alarm, reset the chain error alarm according to the chain error reset procedure described later.

2. Until a chain error is reset, no ordinary reset operation must be performed. If an ordinary reset operation is performed before chain error resetting, the message "SRVO-237 Chain error cannot be reset" is displayed on the teach pendant.

Figure 3.5-21 Fig.3.5 (u) SRVO-230 Chain 1 abnormal a, b/SRVO-231 Chain 2 abnormal a, b

Alarm history display method

1. Press the [MENU] key on the teach pendant.

2. Select [4 ALARM] on the teach pendant.

3. Press F3 [ HIST] on the teach pendant.

Chain error reset procedure

Do not perform this operation until the cause of the alarm is corrected.

(Method 1)

1. Press the emergency stop button.

2. Press the [MENU] key on the teach pendant.

3. Select [0 NEXT PAGE] on the teach pendant.

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4. Press [6 SYSTEM] on the teach pendant.

5. Press [7 SYSTEM SETTING] on the teach pendant.

6. Find [28] Chain Error Reset Execution.

7. Press F3 on the teach pendant to reset [Chain Error].

(Method 2)

1. Press the [MENU] key on the teach pendant.

2. Select [4 ALARM] on the teach pendant.

3. Press F4 [ CHAIN RESET] on the teach pendant.

SRVO - 233 TP OFF in T1/ T2

[Explanation]

The teach pendant is disabled when the mode switch is T1 or T2.

[Action 1]

Enable the teach pendant in teaching operation. In other case the mode switch should be AUTO mode.

[Action 2]

Replace the teach pendant.

[Action 3]

Replace the teach pendant cable.

[Action 4]

Replace the mode switch.

Before executing the [Action 5], perform a complete controller back-up to save all your programs and settings.

[Action 5]

Replace the main board.

SRVO - 235 Short-term Chain abnormal

[Explanation]

Short-term single chain failure condition is detected.

Cause of this alarm is; - Half release of enabling device (deadman switch) - Half operation of emergency stop button.

[Action 1]

Make the same error occur again, and then perform resetting.

[Action 2]

Replace the input unit.

Before executing the [Action 3], perform a complete controller backup to save all your programs and settings.

[Action 3]

Replace the main board.

SRVO - 251 DB relay abnormal (G:i A:j)

[Explanation]

An abnormality was detected in the internal relay (DB relay) of the servo amplifier.

[Action 1]

Replace the main board.

[Action 2]

Replace the side board.

[Action 3]

Replace the servo amplifier unit.

SRVO - 252 Current detect abnl (G:i A:j)

[Explanation]

An abnormality was detected in the current detection circuit inside the servo amplifier.

Before executing [Action 1], perform a complete controller backup to save all your programs and settings.

[Action 1]

Replace the servo amplifier unit.

[Action 2]

Replace the main board.

[Action 3]

Replace the side board.

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Figure 3.5-22 SRVO-233 TP OFF in T1/ T2/SRVO-235 Short-term chain abnormal/SRVO-251 DB relay

abnormal/SRVO-252 Current detect abnl

SRVO - 266 FENCE1 status abnormal SRVO - 267 FENCE2 status abnormal

[Explanation]

A chain alarm was detected with the EAS (FENCE) signal.

[Action 1]

Check whether the circuitry connected to the dual input signal (EAS) is faulty.

[Action 2]

Check whether the timing of the dual input signal (EAS) satisfies the timing specifications (See Fig.2.5.2 (b) in II CONNECTIONS).

Before executing the [Action 3], perform a complete controller backup to save all your programs and settings.

[Action 3]

Replace the main board.

NOTE

For the procedure of recovery from this alarm, see the descriptions of SRVO-230 and SRVO-231.

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Figure 3.5-23 SRVO-266 FENCE1 status abnormal / SRVO-267 FENCE2 status abnormal

SRVO - 270 EXEMG1 status abnormal SRVO - 271 EXEMG2 status abnormal

[Explanation]

A chain alarm was detected with the EES (EXEMG) signal.

[Action 1]

Check whether the circuitry connected to the dual input signal (EES) is faulty.

[Action 2]

Check whether the timing of the dual input signal (EES) satisfies the timing specification (See Fig.2.5.2 (b) in II CONNECTIONS).

Before executing the [Action 3], perform a complete controller backup to save all your programs and settings.

[Action 3]

Replace the main board.

NOTE

For the procedure of recovery from this alarm, see the descriptions of SRVO-230 and SRVO-231.

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Figure 3.5-24 SRVO-270 EXEMG1 status abnormal / SRVO-271 EXEMG2 status abnormal

SRVO - 274 NTED1 status abnormal SRVO - 275 NTED2 status abnormal

[Explanation]

A chain alarm was detected with the NTED signal.

[Action 1]

This alarm may be issued when the enabling device (the deadman switch) is pressed to the proper position or is operated very slowly. In such a case, release the enabling device (the deadman switch) once completely then press the enabling device (the deadman switch) again.

[Action 2]

Check whether the circuitry connected to the dual input signal (NTED) is faulty.

[Action 3]

Check whether the timing of the dual input signal (NTED) satisfies the timing specifications (See Fig.2.5.2 (b) in II CONNECTIONS).

[Action 4]

Confirm that the fuse (FUSE6) on the main board is not blown.

[Action 5]

Replace the teach pendant cable, NTED cable, and jumpers.

[Action 6]

Replace the teach pendant.

Before executing [Action 7], perform a complete controller backup to save all your programs and settings.

[Action 7]

Replace the main board.

NOTE

For the procedure of recovery from this alarm, see the descriptions of SRVO-230 and SRVO-231.

SRVO - 277 Panel E-stop (SVEMG abnormal)

[Explanation]

The emergency stop line was not disconnected even though the emergency stop button on the switch box was pressed.

Before executing [Action 1], perform a complete controller backup to save all your programs and settings.

[Action 1]

Replace the main board.

[Action 2]

Replace the switch box.

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SRVO - 278 TP E-stop (SVEMG abnormal)

[Explanation]

The emergency stop line was not disconnected even though the emergency stop button on the teach pendant was pressed.

[Action 1]

Replace the teach pendant.

[Action 2]

Replace the teach pendant cable, NTED cable, and jumpers.

Before executing the [Action 3], perform a complete controller backup to save all your programs and settings.

[Action 3]

Replace the main board.

NOTE

This alarm may be issued if the emergency stop button is pressed very slowly.

Figure 3.5-25 SRVO-274 NTED1 status abnormal/SRVO-275 NTED2 status abnormal/SRVO-277 Panel E-stop

(SVEMG abnormal)/SRVO-278 TP E-stop (SVEMG abnormal)

SRVO - 291 IPM overheat (G:i A:j)

[Explanation]

IPM on the servo amplifier unit is overheated.

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SRVO - 291 IPM overheat (G:i A:j)

[Action 1]

Check whether the vent hole is clogged. If necessary, clean them.

[Action 2]

If SRVO-291 is issued when the robot operating condition is severe, check the robot operating condition, then relax the condition when possible.

Before executing the [Action 3], perform a complete controller backup to save all your programs and settings.

[Action 3]

If SRVO-291 is issued frequently, replace the servo amplifier unit.

[Action 4]

If SRVO-291 is issued frequently, replace the main board.

[Action 5]

If SRVO-291 is issued frequently, replace the side board.

SRVO - 295 Amp com error (G:i A:j)

[Explanation]

A communication error occurred in the main board.

Before executing the [Action], perform a complete controller back-up to save all your programs and settings.

[Action]

Replace the main board.

SRVO - 297 Input power source abnormal (G:i A:j)

[Explanation]

The servo amplifier has detected an abnormality in the input power source.

[Action 1]

Check that the input voltage to the controller is within the rated voltage.

[Action 2]

Make sure that the CRRA31 connector of the servo amplifier unit and input unit are connected tightly.

[Action 3]

Replace the input unit.

Before executing [Action 4], perform a complete controller backup to save all your programs and settings.

[Action 4]

Replace the servo amplifier unit.

[Action 5]

Replace the main board.

[Action 6]

Replace the side board.

SRVO - 335 DCS OFFCHK alarm a, b

[Explanation]

A failure was detected in the safety signal input circuit.

Before executing the [Action], perform a complete controller back-up to save all your programs and settings.

[Action]

Replace the main board.

SRVO - 348 DCS MCC OFF alarm a,b

[Explanation]

A command was issued to turn off the magnetic contactor, but the magnetic contactor was not turned off.

[Action 1]

Make sure that the connector CRMB79 (servo amplifier unit) is securely attached to the servo amplifier.

[Action 2]

Replace the input unit.

Before executing the [Action 3], perform a complete controller backup to save all your programs and settings.

[Action 3]

Replace the main board.

SRVO - 349 DCS MCC ON alarm a,b

[Explanation]

A command was issued to turn on the magnetic contactor, but the magnetic contactor was not turned on.

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SRVO - 349 DCS MCC ON alarm a,b

[Action 1]

Make sure that the connector CRMB79 (main board, input unit) is securely attached to the main board.

[Action 2]

Replace the input unit.

Before executing the [Action 3], perform a complete controller backup to save all your programs and settings.

[Action 3]

Replace the main board.

SRVO - 370 SVON1 status abnormal SRVO - 371 SVON2 status abnormal

[Explanation]

A chain alarm was detected with the main board internal signal (SVON).

Before executing [Action 1], perform a complete controller backup to save all your programs and settings.

[Action 1]

Replace the main board.

NOTE

For the procedure of recovery from this alarm, see the descriptions of SRVO-230 and SRVO-231.

Figure 3.5-26 SRVO-291 IPM overheat/SRVO-295 Amp com error/SRVO-335 DCS OFFCHK alarm a,b/SRVO-348

DCS MCC OFF alarm a,b/SRVO-349 DCS MCC ON alarm a,b/SRVO-370 SVON1 status abnormal/SRVO-371 SVON2

status abnormal

SRVO - 372 OPEMG1 status abnormal SRVO - 373 OPEMG2 status abnormal

[Explanation]

A chain alarm was detected with the emergency stop button on the switch box.

[Action 1]

Check the emergency stop button on the switch box and its cable. Replace them if a defect is found.

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SRVO - 372 OPEMG1 status abnormal SRVO - 373 OPEMG2 status abnormal

Before executing the [Action 2], perform a complete controller back up to save all your programs and settings.

[Action 2]

Replace the main board.

NOTE

For the procedure of recovery from this alarm, see the descriptions of SRVO-230 and SRVO-231.

SRVO - 374 MODE11 status abnormal SRVO - 375 MODE12 status abnormal SRVO - 376 MODE21 status abnormal SRVO - 377 MODE22 status abnormal

[Explanation]

A chain alarm was detected with the mode switch signal.

[Action 1]

Check the mode switch or switch box and its cable. Replace them if a defect is found.

Before executing the [Action 2], perform a complete controller back up to save all your programs and settings.

[Action 2]

Replace the main board.

NOTE

For the procedure of recovery from this alarm, see the descriptions of SRVO-230 and SRVO-231.

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Figure 3.5-27 SRVO-372 OPEMG1 status abnormal/SRVO-373 OPEMG2 status abnormal/SRVO-374 MODE11

status abnormal/SRVO-375 MODE12 status abnormal/SRVO-376 MODE21 status abnormal/SRVO-377 MODE22

status abnormal

SRVO - 378 SFDIxx status abnormal

[Explanation]

A chain alarm was detected with the SFDI signal. xx shows signal name.

[Action 1]

Check whether the circuitry connected to the dual input signal (SFDI) is faulty.

[Action 2]

Check whether the timing of the dual input signal (SFDI) satisfies the timing specification (See Fig.2.5.2 (b) in II CONNECTIONS).

NOTE

For the procedure of recovery from this alarm, see the descriptions of SRVO-230 and SRVO-231.

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Figure 3.5-28 SRVO-378 SFDIxx status abnormal

SRVO - 450 Drvoff circuit fail (G:i A:j)

[Explanation]

An error is found in the emergency stop circuit in the main board.

Before executing the [Action], perform a complete controller back-up to save all your programs and settings.

[Action]

Replace the main board.

SRVO - 451 Internal S-BUS fail (G:i A:j)

[Explanation]

An error is found in the serial bus communication.

Before executing the [Action], perform a complete controller back-up to save all your programs and settings.

[Action]

See actions on SRVO-452.

SRVO - 452 ROM data failure (G:i A:j)

[Explanation]

An error is found in the ROM data in the servo amplifier unit.

Before executing [Action 1], perform a complete controller backup to save all your programs and settings.

[Action 1]

Replace the servo amplifier unit.

[Action 2]

Replace the main board.

[Action 3]

Replace the side board.

SRVO - 453 Low volt driver (G:i A:j)

[Explanation]

Driver supply voltage in the servo amplifier unit is low.

Before executing [Action 1], perform a complete controller backup to save all your programs and settings.

[Action 1]

Replace the servo amplifier unit.

[Action 2]

Replace the main board.

[Action 3]

Replace the side board.

SRVO - 454 CPU BUS failure (G:i A:j)

[Explanation]

An error was found in the CPU bus data in the main board.

Before executing the [Action], perform a complete controller back-up to save all your programs and settings.

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SRVO - 454 CPU BUS failure (G:i A:j)

[Action]

Replace the main board.

SRVO - 455 CPU watch dog (G:i A:j)

[Explanation]

An error occurred in CPU operation in the main board.

Before executing the [Action], perform a complete controller back-up to save all your programs and settings.

[Action]

Replace the main board.

SRVO - 459 Excess regeneration2 (G:i A:j)

[Explanation]

An error is found in the discharge circuit in the servo amplifier.

Before executing [Action 1], perform a complete controller backup to save all your programs and settings.

[Action 1]

Replace the servo amplifier unit.

[Action 2]

Replace the main board.

[Action 3]

Replace the side board.

SRVO - 461 Hardware error (G:i A:j)

[Explanation]

An error is found in the circuit.

Before executing [Action 1], perform a complete controller backup to save all your programs and settings.

[Action 1]

Replace the main board.

[Action 2]

Replace the servo amplifier unit.

[Action 3]

Replace the side board.

SRVO - 503 Sensor alarm %x,%x

[Explanation]

An abnormality has occurred in a sensor inside the robot.

[Action 1]

If the power supply is turned on, off, and then on again in a short time using the breaker, this alarm may occur. In this case, wait for at least 10 seconds after the controller's power is turned off before turning it on again.

[Action 2]

Confirm that the fuse (FUSE10) on the main board is not blown.

[Action 3]

Check the robot connection cable for any abnormality, and replace it if necessary.

[Action 4]

Replace the side board.

Before executing the [Action 5], perform a complete controller back-up to save all your programs and settings.

[Action 5]

Replace the main board.

If the alarm cannot be reset, contact your technical representative and inform them of the alarm message that is displayed.

SRVO - 504 Sensor type error

[Explanation]

An abnormality has occurred in a sensor inside the robot.

[Action]

Cycle the controller's power.

If the alarm cannot be reset, contact your technical representative and inform them of the alarm message that is displayed.

SRVO - 505 Sens temp change too large

[Explanation]

The temperature has changed too fast in a sensor inside the robot.

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SRVO - 505 Sens temp change too large

[Action]

Check to see whether or not the environmental temperature has changed rapidly, and cycle the controller's power.

If the alarm cannot be reset, contact your technical representative and inform them of the alarm message that is displayed.

SRVO - 601 TP/OP E-stop

[Explanation]

The emergency stop button on the teach pendant (tablet TP) or operator's panel was pressed.

[Action 1]

Release the emergency stop button on the teach pendant (tablet TP) or operator's panel.

[Action 2]

Check the voltage between 24VEXT and 0VEXT. When the voltage becomes low, confirm that the fuse (FUSE6) on the front board is not blown.

[Action 3]

Check the wires connecting the switch box and the main board (JRT3) for a ground fault. If an open wire is found, replace the entire harness.

[Action 4]

Check the wires connecting the teach pendant and the main board (JRS36) for a ground fault. If an open wire is found, replace the entire harness.

[Action 5]

With the emergency stop in the released position, check for continuity across the terminals of the switch. If continuity is not found, the emergency stop button is broken. Replace the switch box.

[Action 6]

Replace the teach pendant (tablet TP).

Before executing the [Action 7], perform a complete controller back up to save all your programs and settings.

[Action 7]

Replace the main board.

Figure 3.5-29 SRVO-601 TP/OP E-stop

SRVO - 602 Teach pendant/external E-stop

[Explanation]

The emergency stop button on the teach pendant (tablet TP) or the external emergency stop was pressed.

[Action 1]

Release the emergency stop button on the teach pendant (tablet TP) or the external emergency stop.

[Action 2]

Replace the teach pendant (tablet TP).

PRIO - 095 Overload <Connector>

[Explanation]

The DO of the specified connector might be grounded.

[Action 1]

Check the connection of the DO of the specified connector.

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PRIO - 095 Overload <Connector>

Before executing [Action 2], perform a complete controller backup to save all your programs and settings.

[Action 2]

Replace the main board.

Figure 3.5-30 PRIO-095 Overload

3.6. FUSE-BASED TROUBLESHOOTING

This section describes the alarms and symptoms generated and actions required when the fuses installed on the printed circuit boards and units have blown.

Fuses on the input board

FUSE1:

For protecting the 200V power monitoring circuit

(A60L-0001-0175#0.3A)

Name

Symptom observed when fuse has

blown

Action to be taken

FUSE

The teach pendant becomes

inoperable, and “7” is displayed on

the 7-segment LED. When the fuse has blown at power

on, the LEDG2 and LEDG4 of the status indicator LED are turned on, and the unit does not turn on correctly.

1. Excess voltage may have been applied to the input unit. Check the input power voltage for abnormalities.

2. Replace the input unit.

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Figure 3.6-1 Fuses on the input board

Fuses on the main board

FUSE2:

For protecting the +24 V output for the peripheral device interface

(A60L-0001-0290#LM10C) FUSE3:

For protecting the emergency stop circuit

(A60L-0001-0290#LM10C)

FUSE4:

For protecting the +24V for the robot EE

(A60L-0001-0290#LM20C)

FUSE5:

For protecting the +5V for the Pulscoder

(A60L-0001-0290#LM20C)

FUSE6:

For protecting the +24V for the teach pendant

(A60L-0001-0290#LM10C)

FUSE7:

For protecting the +24E output for vision

(A60L-0001-0290#LM10C)

FUSE8:

For +24V of mainboard protection

(A60L-0001-0046#6.3)

FUSE9:

For protecting the +24 V output for the servo amplifier unit board

(A60L-0001-0290#LM20C)

FUSE1 0:

For protecting the +24V for the Collaborative Robot's sensor

(A60L-0001-0290#LM10C)

FUSE1 1:

For protecting the +30V for the tool I/F

(A60L-0001-0290#LM50C)

Name

Symptom observed when fuse has

blown

Action to be taken

FUSE

Alarm (SRVO-229) is displayed on the

teach pendant.

1. 24SDI and 0 V may be short-circuited. Check the peripheral device cable for any abnormality, and replace it if necessary.

2. Disconnect the JRM18 connector. If the alarm still occurs, replace the main board. (NOTE)

FUSE

Alarm (SRVO-001) is displayed on the

teach pendant and the alarm condition cannot be reset.

1. Check the voltage between EXT24V and EXT0V (JRM18). If no external power supply is used, check the connection between EXT24V and 24V-2 or between EXT0V and 0V.

2. Check the 24EXT (emergency stop line) for a short circuit or connection to ground.

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Name

Symptom observed when fuse has

blown

Action to be taken

3. Check the teach pendant cable and replace it if necessary.

4. Check the teach pendant and replace it if necessary.

5. Replace the switch box.

6. Replace the main board. (NOTE)

FUSE

Alarm (SRVO-228) is displayed on the

teach pendant. RI/RO signals assigned to robot EE

connector are abnormal.

1. Check the RI/RO signal cable for any abnormality, and replace it if necessary.

2. Replace the robot connection cable.

3. Replace the internal cable of the robot.

4. Replace the main board. (NOTE)

FUSE

An alarm (SRVO-068) is displayed

1. See the description about (SRVO-068).

FUSE

The display on the teach pendant disappears.

1. Check the teach pendant cable and replace it if necessary.

2. Check the teach pendant and replace it if necessary.

FUSE

+24E used for vision is not output.

1. Check +24E used by the vision for a ground fault.

2. Check the cables connecting to the vision camera and the related parts for an abnormally, and replace it if necessary.

3. Replace the main board. (NOTE)

FUSE

The teach pendant cannot be operated and the red LED (FU24V1) on the main board lights.

1. Check the cable between the input unit (CRMB79) and the main board (CRMB79), and replace it if necessary.

2. Replace the input unit.

3. Replace the main board. (NOTE)

4. Replace the option (mini) slot.

5. Replace the backplane board. (NOTE)

FUSE

Fan motor abnormal alarm and fuse blown alarm occur.

1. Replace the fan unit.

2. Replace the servo amplifier unit. (NOTE)

3. Replace the side board.

4. Replace the main board. (NOTE)

FUSE

If the contact stop function is enabled, an alarm (SRVO-503) is displayed on the teach pendant.

1. Check the robot connection cable for any abnormality, and replace it if necessary.

2. Replace the internal cable of the robot.

3. Replace the sensor inside the robot.

4. Replace the main board. (NOTE)

FUSE

An alarm (HOST-424 or HOST-425) is displayed on the teach pendant.

1. Check the robot connection cable for any abnormality, and replace it if necessary.

2. Replace the internal cable of the robot.

3. Replace the tool I/F board inside the robot.

4. Replace the main board. (NOTE)

NOTE

If the main board or the backplane board is removed, the contents of the memory (parameters, specified data, etc.) will be lost. Therefore, make a backup copy of the data before you replace the unit.

If an alarm is issued, it might be impossible to make a backup copy of the data, so back up the contents of memory routinely.

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Figure 3.6-2 Fuses on the main board

3.7. TROUBLESHOOTING BASED ON LED INDICATIONS

The printed circuit boards and servo amplifier are provided with alarm LEDs and status LEDs. The LED status and corresponding troubleshooting procedures are described below.

3.7.1. Troubleshooting Using the LEDS on the Main Board

1. Troubleshooting based on status display LED indications To troubleshoot an alarm that arises before the teach pendant is ready to display information, check the status

LEDs (green) on the main board at power-on. After power-on, the LEDs light as described in steps 1 to end, in the order described.

If an alarm is detected, the step in which the alarm occurred can be determined from which LEDs are lit.

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Figure 3.7.1-1 LED on the main board

Step

LED indications

Action to be taken

1: After power-on, all LEDs are lit.

[Action1] Replace the CPU card. (NOTE) [Action2] Replace the main board. (NOTE)

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Step

LED indications

Action to be taken

2: Software operation start-up.

[Action1] Replace the CPU card. (NOTE) [Action2] Replace the main board. (NOTE)

3: The initialization of dram on the CPU card is completed.

[Action1] Replace the CPU card. (NOTE) [Action2] Replace the main board. (NOTE)

4: The initialization of DRAM on the communication IC is completed.

[Action1] Replace the CPU card. (NOTE) [Action2] Replace the main board. (NOTE) [Action 3] Replace the FROM/SRAM module. (NOTE)

5: The initialization of the communication IC is completed.

[Action1] Replace the CPU card. (NOTE) [Action2] Replace the main board. (NOTE) [Action 3] Replace the FROM/SRAM module. (NOTE)

6: The loading of the basic software is completed.

[Action 1] Replace the main board. (NOTE) [Action 2] Replace the FROM/SRAM module. (NOTE)

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Step

LED indications

Action to be taken

7: Basic software startup.

[Action 1] Replace the main board. (NOTE) [Action 2] Replace the FROM/SRAM module. (NOTE) [Action 3] Replace the FUSE1 on the input board. [Action 4] Replace the input unit.

8: Start-up of communication with the teach pendant.

[Action 1] Replace the main board. (NOTE) [Action 2] Replace the FROM/SRAM module. (NOTE)

9: The loading of optional software is completed.

[Action 1] Replace the main board. (NOTE) [Action 2] Please check the equipment connected to

JRS26 (I/O Link).

10: DI/DO initialization

[Action1] Replace the FROM/SRAM module. (NOTE) [Action2] Replace the main board. (NOTE)

11: The preparation of the SRAM module is completed.

[Action 1] Replace the main board. (NOTE)

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Step

LED indications

Action to be taken

12: Axis control circuit initialization

[Action 1] Replace the main board. (NOTE)

13: Calibration is completed.

[Action 1] Replace the main board. (NOTE)

14: Start-up of power application for the servo system

[Action 1] Replace the main board. (NOTE)

15: Program execution

[Action 1] Replace the main board. (NOTE) [Action 2] Please check the equipment connected to

JRS26(I/O Link).

16: DI/DO output startup.

[Action 1] Replace the main board. (NOTE)

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Step

LED indications

Action to be taken

17: Initialization is terminated.

Initialization has ended normally.

18: Normal status

Status LEDs 1 and 2 blink when the system is operating normally.

NOTE

If the main board or CPU card or FROM/SRAM module is removed, the contents of the memory (parameters, specified data, etc.) will be lost. Therefore, make a backup copy of the data before you replace the unit. If an alarm is issued, it might be impossible to make a backup copy of the data, so back up the contents of memory routinely.

LED name

Description

CPUERR1

(Red)

[Description] CPU card is not working. [Action1] Replace the CPU card. (NOTE)

FU24V1

(Red)

[Description] When the LED (red) was lit, the fuse (FUSE8) is brown. 24V-1 for the main board is not supplied.

[Action 1] Check the cable between the input unit (CRMB79) and the main board (CRMB79), and replace it if necessary.

[Action 2] Replace the input unit. [Action 3] Replace the main board. (NOTE) [Action 4] Replace the option (mini) slot. [Action 5] Replace the backplane board. (NOTE)

SVON1/SVON2

(Green)

[Description] These LEDs (green) indicate the status of SVON1/SVON2 signals from the main board to the servo amplifier unit. When the SVON1 and SVON2 (green) turned on, the servo amplifier unit is ready to energize. When the SVON1 and SVON2 (green) turned off, the robot is in an emergency stop state.

SVALM

(Red)

[Description] Lights up when the servo amplifier unit or main board detects an alarm .

If the LED lights when there is no alarm condition in the machine: [Action] Replace the main board. (NOTE)

DRDY

(Green)

[Description] Lights up when the servo amplifier unit is ready to drive the servo motor.

If the LED does not light when the motor is activated: [Action] Replace the main board. (NOTE)

OPEN

(Green)

[Description] Lights up when the communication in the main board is normal. If the LED does not light:

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LED name

Description

[Action] Replace the main board. (NOTE)

FPGA0/FPGA1/

FPGA2/FPGA3

(Green)

[Description] These LEDs indicate the status of the FPGA for vision.

DONE1

(Red)

NOTE

If the main board or CPU card or the backplane board is removed, the contents of the memory (parameters, specified data, etc.) will be lost. Therefore, make a backup copy of the data before you replace the unit.

If an alarm is issued, it might be impossible to make a backup copy of the data, so back up the contents of memory routinely.

2. Troubleshooting by 7-segment LED Indicator

LED indications

Description

[Description] A parity alarm condition has occurred in the DRAM on the CPU card installed on the main board.

[Action1] Replace the CPU card. [Action2] Replace the main board. (NOTE)

[Description] A parity alarm condition has occurred in the SRAM on the FROM/SRAM module installed on the main board.

[Action1] Replace the FROM/SRAM module. (NOTE) [Action2] Replace the main board. (NOTE)

[Description] A bus error has occurred in the communication controller. [Action] Replace the main board. (NOTE)

[Description] A parity alarm condition has occurred in the DRAM controlled by the communication controller.

[Action] Replace the main board. (NOTE)

[Description] A servo alarm condition has occurred on the main board. [Action 1] Replace the main board. (NOTE) [Action2] If an option board is installed, replace the option board.

[Description] The SYSEMG alarm has occurred. [Action1] Replace the CPU card. [Action2] Replace the main board. (NOTE)

[Description] The SYSFAIL alarm has occurred. [Action1] Replace the CPU card. [Action2] Replace the main board. (NOTE) [Action 3] Replace the FUSE1 on the input board. [Action 4] Replace the input unit. [Action 5] If an option board is installed, replace the option board.

[Description] 5V is supplied to the main board and the above alarms do not occur.

NOTE

If the main board or FROM/SRAM module is replaced, the contents of the memory (parameters, specified data, etc.) will be lost. Therefore, make a backup copy of the data before you replace the unit.

If an alarm is issued, it might be impossible to make a backup copy of the data, so back up the contents of memory routinely.

3.7.2. Troubleshooting by LEDs on the Servo Amplifier Unit

The servo amplifier unit has an LED to monitor the DCLINK circuit. Before the maintenance of the servo amplifier unit, check that the LED is turned off.

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Figure 3.7.2-1 LEDs of the Servo Amplifier Unit

Before touching the servo amplifier unit, check the DC link voltage with the screws located above the LED "VDC1". By using a DC voltage tester, check that the voltage is 50 V or less.

LEDs

Color

Description

VDC1

Red

Lights when the DCLINK circuit inside the servo amplifier unit is charged to reach the specified voltage.

If the LED does not light after pre-charge is finished: [Action 1] The DC Link may be short-circuited. Check for connection. [Action 2] The charge current control resistor may be defective. Replace the input unit. [Action 3] Replace the servo amplifier unit. (NOTE)

NOTE

If the main board is removed, the contents of the memory (parameters, specified data, etc.) will be lost. Therefore, make a backup copy of the data before you replace the unit.

If an alarm is issued, it might be impossible to make a backup copy of the data, so back up the contents of memory routinely.

3.7.3. Troubleshooting Using the LEDS on the Side Board

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Figure 3.7.3-1 LED on the side board

LEDs

Color

Description

LINK

Green

[Description] Refer to the section "LEDs on units supporting I/O Link i ." If the LINK is blinking (1:1 at high speed), communication halts because this is an alarm.

[Action 1] Identify the cause based on the state of ALM LED (red) listed below, as well as the information displayed on the teach pendant.

ALM

Red

[Description] Refer to the section "LEDs on units supporting I/O Link i ."

[1] If the ALM is on, It is likely that the hardware may be defective. [Action 1] Replace the side board. [Action2] Replace the main board. (NOTE)

[2] If the ALM is blinking (1:1), communication with the unit connected to the main board's I/O Link i halts. The cable may also be affected by noise.

[Action 1] Make sure that the connector between the main board and the side board is connected.

[Action 2] Check the cable connected between the unit and the main board's I/O Link i, and replace it if necessary.

[Action 3] Replace the unit connected to the main board's I/O Link i. [Action 4] Replace the side board. [Action 5] Replace the main board. (NOTE)

[3] If the ALM is blinking (3:1), a power abnormality has occurred in the unit connected to the main board's I/O Link i.

[Action 1] Check the fuse in the unit connected to the main board's I/O Link i, and replace it if it has blown.

[Action 2] Replace the unit connected to the main board's I/O Link i. [Action 3] Replace the main board. (NOTE)

NOTE

If the main board is removed, the contents of the memory (parameters, specified data, etc.) will be lost. Therefore, make a backup copy of the data before you replace the unit.

If an alarm is issued, it might be impossible to make a backup copy of the data, so back up the contents of memory routinely.

3.8. MANUAL OPERATION IMPOSSIBLE

The following explains checking and corrective action required if the robot cannot be operated manually after the controller is turned on:

1. Checks and corrective actions to be made if manual operation is impossible

Description

Action

Check whether the teach pendant is enabled.

Turn on the teach pendant.

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Description

Action

Check whether the teach pendant is handled correctly.

To move an axis by manual operation, press the axis selection key and shift key at the same time.

Set the override for manual feed to a position other than the FINE and VFINE positions.

Check whether the ENBL signal of the peripheral device control interface is set to on.

Put the peripheral-device control interface in the ENBL state.

Check whether the HOLD signal of the peripheral device control interface (hold status) is on. (Check whether the hold lamp on the teach pendant is on. )

If the HOLD signal of the peripheral device control interface is on, turn it off.

Check whether the previous manual operation has been completed.

If the robot cannot be placed in the effective area because of the offset of the speed command voltage, which prevents the previous operation from being completed, check the position deviation on the status screen, then change the setting.

Check whether the controller is in the alarm status.

Release the alarm.

2. Checks and corrective actions to be taken if the program cannot be executed

Description

Action

Check whether the ENBL signal for the peripheraldevice control interface is on.

Put the peripheral-device control interface in the ENBL state.

Check whether the HOLD signal for the peripheraldevice control interface is on. Also check whether the HOLD lamp on the teach pendant is on.

If the HOLD signal of the peripheral device control interface is on, turn it off.

Check whether the previous manual operation has been completed.

Check whether the controller is in the alarm status.

Release the alarm.

3.9. LEDS ON UNITS SUPPORTING I/O Link i

3.9.1. Meanings of LEDs on Units Supporting I/O Link i

The standard I/O Link i incorporates three LEDs ("LINK" (green), "ALM" (red), and "FUSE" (red)) for each unit separately. These LEDs indicate the states of the units.

The following table lists the ON/OFF states of the LEDs and their meanings.

LED ON/OFF state

ON and OFF duration

OFF

Blink (1:1)

ON = approx. 0.5 sec, OFF = approx. 0.5 sec

Blink (3:1)

ON = approx. 1.5 sec, OFF = approx. 0.5 sec

Blink (1:3)

ON = approx. 0.5 sec, OFF = approx. 1.5 sec

Blink (1:1 at high speed)

ON = approx. 0.25 sec, OFF = approx. 0.25 sec

LED [LINK] (green) The "LINK" (green) LED indicates the state of communication. The following table lists the meanings of LED states.

Operation

mode

LED state

Meaning

Fault location and action

Common OFF

Power OFF

Power ON

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Operation

mode

LED state

Meaning

Fault location and action

(before communication start)

Blink (1:1 at high speed)

Communication at halt

Communication is at halt because of an alarm. Identify the cause according to the states of the red LED stated below or information displayed on the controller screen.

I/O Link

Blink (1:3)

Communication in progress

I/O Link i Blink (1:1)

Communication in progress

Blink (3:1)

Communication in progress (Dual check safety in use)

LED [ALM] (red) The "ALM" (red) LED indicates an alarm in the unit of interest or a unit subsequent to it. The following table lists the

meanings of LED states.

Operation

mode

LED state

Meaning

Fault location and action

Common

OFF

Normal state or power OFF

I/O Link

Alarm

It is likely that the hardware may be defective. Replace the unit.

I/O Link i

Alarm

It is likely that the hardware may be defective. Replace the unit.

Blink (1:1)

Broken wire between the unit of interest and a unit subsequent to it

Check for a defective cable or a poor cable connection between JD1A on the relevant unit and JD1B on a unit subsequent to that unit. Alternatively, it is likely that there may be noise. Check to see if there is noise around the cable.

Blink (3:1)

Power failure (including instantaneous power failure) in a unit subsequent to the unit of interest

Identify and remove the cause of a power failure in a unit subsequent to the unit of interest.

Blink (1:3)

Status alarm

A status alarm, such as a DO ground fault, has occurred. Identify and remove the cause of the alarm.

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B-84175EN/03 PRINTED CIRCUIT BOARDS

4. PRINTED CIRCUIT BOARDS

This chapter describes the ordering specifications and LED indications of printed circuit boards.

4.1. MAIN BOARD

Figure 4.1-1 Main board (SIDE-B)

Name

Order specification

Maintenance specification

Remark

MAIN BOARD

A05B-2695-H001

A17B-8101-0901

Standard/vision, force sensor, line tracking, HDI

CPU card

A05B-2670-H020

A17B-3301-0250

Standard/DRAM 1GB

FROM/SRAM module

A20B-3900-0296

FROM 256M/ SRAM 3M

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PRINTED CIRCUIT BOARDS B-84175EN/03

LEDs

Figure 4.1-2 LED on the main board

LED name

Color

Description

CPUERR1

Red

When the alarm condition has occurred in the CPU card, this LED is

turned on. For details, see “I.3.7. TROUBLESHOOTING BASED ON LED

INDICATIONS(P.58).”

FU24V1

Red

When the fuse (FUSE8) is brown, this LED is turned on. For details, see “I.3.7. TROUBLESHOOTING BASED ON LED INDICATIONS(P.58).”

SVON1/SVON2

Green

When the servo amplifier unit is ready to energize, this LED is turned

on. For details, see “I.3.7. TROUBLESHOOTING BASED ON LED

INDICATIONS(P.58).”

SVALM

Red

When the alarm condition has occurred in the servo amplifier unit or

main board, this LED is turned on. For details, see “I.3.7.

TROUBLESHOOTING BASED ON LED INDICATIONS(P.58).”

DRDY

Green

When the servo amplifier unit is ready to drive servo motors, this LED

is turned on. For details, see “3 I.3.7. TROUBLESHOOTING BASED ON

LED INDICATIONS(P.58).”

OPEN

Green

Lights when the communication in the main board is normal. For

details, see “I.3.7. TROUBLESHOOTING BASED ON LED

INDICATIONS(P.58).”

FPGA0/FPGA1/

FPGA2/FPGA3

Green

These LEDs indicate the state of FPGA for vision.

DONE1

Red

STLED1/STLED2/

STLED3/STLED4

Green

These LEDs show the operating status of the system. For details, see “I.3.7. TROUBLESHOOTING BASED ON LED INDICATIONS(P.58).”

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B-84175EN/03 PRINTED CIRCUIT BOARDS

LED name

Color

Description

TPCOM1

Green

Blink during data transmission of TP

TPLINK1

Green

Light when a link of TP is established

CD38ACOM

Green

Blink during data transmission of CD38A

CD38ALNK

Green

Light when a link of CD38A is established

CD38BCOM

Green

Blink during data transmission of CD38B

CD38BLNK

Green

Light when a link of CD38B is established

CD38CCOM

Green

Blink during data transmission of CD38C

CD38CLNK

Green

Light when a link of CD38C is established

Seven segment LED

When the alarm condition has occurred in the main board, this LED is

turned on. For details, see “I.3.7. TROUBLESHOOTING BASED ON LED

INDICATIONS(P.58).”

4.2. Input unit

Figure 4.2-1 Printed circuit boards of the input unit

Name

Maintenance specification

Remark

Input unit

A05B-2696-C451

Upward compatible products of the

A05B-2696-C450

For CRX-5iA,CRX-10iA,CRX-20iA

A05B-2696-C452

For CRX-25iA

A20B-2005-0530

Input board

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PRINTED CIRCUIT BOARDS B-84175EN/03

4.3. BACKPLANE BOARD

Figure 4.3-1 Backplane board

Name

Order specification

Maintenance specification

2 Slot Backplane

A05B-2695-H020

A20B-8003-0120

4.4. Side board

Figure 4.4-1 Side board

Name

Order specification

Maintenance specification

Side board

A05B-2695-H010

A20B-2201-0120

LEDs

The LEDs on the side board indicate the quality of the side board's I/O Link i.

LED [ALM] (red)

The ALM LED shows the type of I/O Link i alarm, as described below.

LED name

LED indications

Description

Remark

ALM

(Red)

OFF

Normal state or power OFF

Either parity alarm, external input alarm, or dual check safety alarm has occurred

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B-84175EN/03 PRINTED CIRCUIT BOARDS

LED name

LED indications

Description

Remark

Blink (1:1)

Broken wire between the group of interest and a group subsequent to it

ON = approximately

0.5 seconds

OFF = approximately

0.5 seconds

Blink (3:1)

Power abnormality (including instantaneous power failure) in a group subsequent to the group of interest

ON = approximately

1.5 seconds

OFF = approximately

0.5 seconds

Blink (1:3)

Status alarm

ON = approximately

0.5 seconds

OFF = approximately

1.5 seconds

Blink ( 1:1 at high speed)

Occurred in command from master

ON = approximately

0.25 seconds

OFF = approximately

0.25 seconds

LED [LINK] (green)

The LINK LED shows the state of group communication, as described below.

LED name

LED indications

Description

Remark

LINK

(Green)

OFF

Power OFF

Power ON

Blink (1:1)

Communication in progress When dual check safety is in use

ON = approximately

0.5 seconds

OFF = approximately

0.5 seconds

Blink (3:1)

Communication in progress Standard (when dual check safety is in use)

ON = approximately

1.5 seconds

OFF = approximately

0.5 seconds

Blink ( 1:1 at high speed)

Communication at halt Watchdog alarm occurred

ON = approximately

0.25 seconds

OFF = approximately

0.25 seconds

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Servo amplifier unit B-84175EN/03

5. Servo amplifier unit

The servo amplifier units are factory-set for operation. Usually, you do not need to set or adjust them. This chapter describes the standard settings and adjustment required if a defective servo amplifier unit is replaced. It

also describes the use of test pins and meanings of the LED indications.

Table 5-1 Specifications table

Name

Order specification

Maintenance specification

Robot

Servo amplifier unit

A05B-2695-H050

A06B-6401-C101

CRX-5iA, CRX-10iA, CRX-

20iA, CRX-25iA

Before touching the servo amplifier unit, for example, for maintenance purposes, check the voltage at the screw near the LED "VDC1" with a DC voltage tester to see if the remaining voltage is not higher than 50V. By using a DC voltage tester, check that the voltage is 50 V or less.

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B-84175EN/03 Servo amplifier unit

5.1. LEDS OF SERVO AMPLIFIER UNIT

LEDs

Colo

Description

VDC1

Red

Lights when the DCLINK circuit inside the servo amplifier is charged to reach a specific voltage.

5.2. SPECIFICATIONS TABLE

Specifications table

Servo amplifier unit

A06B-6401-C101

Output

rating

Maximum output voltage

240V ~

Output current: J1

40Ap / 3.7Arms

Output current: J2

10Ap / 2.3Arms

Output current: J3

10Ap / 2.3Arms

Output current: J4

10Ap / 2.3Arms

Output current: J5

40Ap / 3.7Arms

Output current: J6

40Ap / 3.7Arms

CRX axis correspondence table

CRX-5iA, CRX-10iA, CRX-20iA,

CRX-25iA

Axis display (j)

Motor number

Servo amplifier unit connector name

CNJ1

CNJ5

CNJ6

CNJ2

CNJ3

CNJ4

Page 88

Power B-84175EN/03

6. Power

6.1. BLOCK DIAGRAM OF THE POWER SUPPLY

Figure 6.1-1 Block Diagram of the Power Supply

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B-84175EN/03 REPLACING UNITS

7. REPLACING UNITS

This section explains how to replace each unit in the control section. Before attempting to replace units, be sure to read the chapter of “SAFETY PRECAUTIONS(P.iii)” in this manual

thoroughly, along with "SAFETY HANDBOOK"(B-80687EN).

Turn off the breaker, disconnect the power cable and wait for one minute before servicing or replacing a unit or printed circuit board.

Do not touch the internal units or printed circuit board for one minute after turning off the breaker. Also keep all machines in the area of the controller switched.

Before replacing components, read the maintenance manual to understand the replacement procedure. Performing an incorrect replacement procedure can lead to an unpredictable accident, resulting in breakage in the robot or personal injury.

Components in the controller heat up, so care should be taken. When you have to touch a heated component, prepare a protector such as heat-resistant gloves.

1. When you remove a printed-circuit board, do not touch the semiconductor devices on the board with your hand and avoid letting them touch other components.

2. Make sure that the replacement printed-circuit board has been set up appropriately.

3. After replacing a printed-circuit board, make adjustments correctly if the board needs to be adjusted.

4. If the backplane board, power supply unit, or main board (including card boards and modules) is replaced, it is likely that robot parameters and taught data are lost. Before you start to replace these components, save a backup copy of the robot parameters and taught data to an external memory device.

5. Before you disconnect a cable, note its location. If a cable is detached for replacement, reconnect it exactly as before.

7.1. PROCEDURE BEFORE REPLACEMENT

Turn off the breaker. Please disconnect power cable.

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REPLACING UNITS B-84175EN/03

1. If the power cable is not disconnected after turning off the breaker, a high voltage is connected to the primary side terminal of the breaker, possibly resulting in electric shock.

2. If you do not wait for 1 minute after turning off the breaker, you may receive electric shock due to the residual voltage of the internal capacitor.

7.1.1. Removing the Side Board

Pull up the card board slowly in the arrow direction.

Figure 7.1.1-1 Removing the side board

7.1.2. Replacing the Main Board

Before starting replacement, turn off the main power of the controller. The main board is equipped with battery-backed memory devices for holding robot parameters and taught data. When the main board is replaced, the memory contents are lost.

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B-84175EN/03 REPLACING UNITS

When an option board is installed in the option (mini) board guide, remove it. (See I.7.2. REPLACING

CARD BOARD, MODULE AND BACKPLANE ON THE MAIN BOARD(P.79))

Remove the side board. (See I.7.1.1. Removing the Side Board(P.78)) Detach cables from the connectors and plate on the main board, and remove the (7) screws fastening

the main board.

Figure 7.1.2-1 Removing the main board

Remove the main board carefully in order to avoid breaking its connectors. Attach the side board after replacing the main board. (See I.7.1.1. Removing the Side Board(P.78))

While removing the main board, pay attention to the parts of the main board make sure they are not hit the studs.

7.2. REPLACING CARD BOARD, MODULE AND BACKPLANE ON THE

MAIN BOARD

Before you start to replace a card board, module or backplane, make a backup copy of robot parameters and programs. If the FROM/SRAM module is replaced, SRAM memory contents are lost.

The locations of the card board, module, and backplane are as shown in the following figure.

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REPLACING UNITS B-84175EN/03

Figure 7.2-1 Locations of card board, module, and backplane

Demounting a card board

Pull up the spacer metal fitting. (Figure 7.2-2 ) Insert a finger into the rear of the card board and pull up the card board slowly in the arrow direction.

(Figure 7.2-3 ) (Note: At this time, hold the area next to the main board on the opposite side with the other hand whenever possible. A force of 7 to 8 kgf is required for extraction. If demounting a standard CPU CARD, do not press on the heat sink installed on the CPU and LSI chip. )

When one side of the card board is raised slightly by pulling it up, do not fully extract the card board,

but push back the card board softly.

When the card board is pushed back to be parallel with the main board, pinch two sides of the card

board and pull up the card board. This completes the extraction of the card board.

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B-84175EN/03 REPLACING UNITS

Figure 7.2-2 Demounting a card board (1)

Figure 7.2-3 Demounting a card board (2)

Mounting a card board

Check that the metal fittings of the spacers are raised. (Figure 7.2-4 ) To align the board insertion position, touch the spacer end faces of the board with the spacer as

shown in the following figure (Figure 7.2-5 ). (At this time, the board is touching the spacers only. )

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REPLACING UNITS B-84175EN/03

While aligning the board with the spacers, lower the connector side slowly until the connectors touch

each other. (Figure 7.2-5 ) (do not press until aligned.)

The mating position can be determined more easily by moving the card board back and forth until the

alignment "nubs" and "holes" are aligned on the connectors. The board must be turned to view the board connectors on the side. (Figure 7.2-5 )

Slowly push the connector side of the card board. At this time, push on the back of the board over the

connector. The force required for connector insertion is about 10 kgf. If the connector will not insert easily, re-check the alignment of the connector to prevent damaging the connector(s). If installing a standard CPU CARD, do not press on the heat sink installed on the CPU and LSI chip. Otherwise, the CPU or LSI chip can be damaged. (Figure 7.2-6 )

Push in the spacer metal fitting to lock the board in place. (Figure 7.2-7 )

Figure 7.2-4 Mounting a card board (1)

Figure 7.2-5 Mounting a card board (2)

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B-84175EN/03 REPLACING UNITS

Figure 7.2-6 Mounting a card board (3)

Figure 7.2-7 Mounting a card board (4)

Demounting a module

When replacing the module, be careful not to touch the module edge connector. If you touch the edge connector inadvertently, wipe any dirt off of the contact with a clean cloth.

Move the clip of the socket outward. ((a) in Figure 7.2-8 ) Extract the module by raising it at a 30 degree slant and pulling outward.

Mounting a module

Insert the module at about 30 degree slant into the module socket, with side B facing upward. ((b) in

Figure 7.2-8 )

Push the module inward and downward until it is locked. ((c) in Figure 7.2-8 )

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REPLACING UNITS B-84175EN/03

Figure 7.2-8 Demounting/mounting a module

Replacing the backplane

Remove the (3) screws fastening option board guide. After removing the backplane from connector JRA21, lift the optional board guide straight up from the

main board in a vertical direction and remove it.

Remove the (1) screw fastening the backplane. Replace the backplane. Fasten the screw. Fasten the (3) screws to fix option board guide.

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B-84175EN/03 REPLACING UNITS

Figure 7.2-9 Demounting/mounting the backplane

7.3. REPLACING THE INPUT UNIT

Detach the cable from connector of the input unit. Remove the (1) screw fastening the input unit on the inside. Remove the (3) screws fastening the input unit on the outside. Holding the input unit, lift it up and then remove it from the hook. Pull the input unit forward, remove the CRRA47, and then pull it out it. Replace the input unit. Install the replacement input unit by reversing steps 1 to 5 in the above procedure.

Page 98

REPLACING UNITS B-84175EN/03

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B-84175EN/03 REPLACING UNITS

Figure 7.3-1 REPLACING THE INPUT UNIT

7.4. REPLACING THE SERVO AMPLIFIER UNIT

Before you start to replace the servo amplifier unit, make a backup copy of robot parameters and programs. Because the servo amplifier unit is heated immediately after operation, leave the servo amplifier unit until it cools down

thoroughly, before replacing it.

Remove the input unit. (See I.7.3. REPLACING THE INPUT UNIT(P.85)) Remove the side board. (See I.7.1.1. Removing the Side Board(P.78)) Remove the main board. (See I.7.1.2. Replacing the Main Board(P.78)) Check the voltage at the screw above the LED "VDC1" with a DC voltage tester to see if the remaining

voltage is not higher than 50V.

Detach the cables from the connectors of the servo amplifier unit. Remove (3) screws fastening the servo amplifier unit. Remove servo amplifier unit. Install a replacement amplifier by reversing above procedure.

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REPLACING UNITS B-84175EN/03

Figure 7.4-1 REPLACING THE SERVO AMPLIFIER UNIT

7.5. REPLACING THE DISCHARGE RESISTOR UNIT

Because the discharge resistor unit is heated immediately after operation, leave the servo amplifier unit until it cools down thoroughly, before replacing it.

Remove the (4) screws fastening the back panel of the cabinet in place, and remove the back panel. Remove connector CRR63 from the main board and connector CRRA11A from the servo amplifier. Remove the (4) screws fastening the discharge resistor unit in place, and then remove the discharge

resistor unit.

Install the discharge resistor unit by reversing steps 1 to 3 in the above procedure.

fanuc R-30iB Mini Plus CONTROLLER User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

B-84175EN/03

Important notices

SAFETY PRECAUTIONS

User

WARNING AND CAUTION LABEL

WARNING AND CAUTION REGARDING USE OF CONTROLLER

PREFACE

Table of contents

I Maintenance

1. Overview

2. CONFIGURATION

2.1. EXTERNAL VIEW OF THE CONTROLLER

2.2. COMPONENT FUNCTIONS

2.3. CHECKS AND MAINTENANCE

3. TROUBLESHOOTING

3.1. POWER CANNOT BE TURNED ON

3.1.1. When the Teach Pendant Cannot be Powered on (The LEDs of the Teach Pendant Cannot be Turned on)

3.1.2. When the Teach Pendant does not Change from the Initial Screen

3.2. ALARM OCCURRENCE SCREEN

3.3. STATUS Stop Signal

3.4. MASTERING

3.5. TROUBLESHOOTING USING THE ALARM CODE

3.6. FUSE-BASED TROUBLESHOOTING

3.7. TROUBLESHOOTING BASED ON LED INDICATIONS

3.7.1. Troubleshooting Using the LEDS on the Main Board

3.7.2. Troubleshooting by LEDs on the Servo Amplifier Unit

3.7.3. Troubleshooting Using the LEDS on the Side Board

3.8. MANUAL OPERATION IMPOSSIBLE

3.9. LEDS ON UNITS SUPPORTING I/O Link i

3.9.1. Meanings of LEDs on Units Supporting I/O Link i

4. PRINTED CIRCUIT BOARDS

4.1. MAIN BOARD

4.2. Input unit

4.3. BACKPLANE BOARD

4.4. Side board

5. Servo amplifier unit

5.1. LEDS OF SERVO AMPLIFIER UNIT

5.2. SPECIFICATIONS TABLE

6. Power

6.1. BLOCK DIAGRAM OF THE POWER SUPPLY

7. REPLACING UNITS

7.1. PROCEDURE BEFORE REPLACEMENT

7.1.1. Removing the Side Board

7.1.2. Replacing the Main Board

7.2. REPLACING CARD BOARD, MODULE AND BACKPLANE ON THE MAIN BOARD

7.3. REPLACING THE INPUT UNIT

7.4. REPLACING THE SERVO AMPLIFIER UNIT

7.5. REPLACING THE DISCHARGE RESISTOR UNIT

3.1.1. When the Teach Pendant Cannot be Powered on (The LEDs of the Teach

Pendant Cannot be Turned on)

7.2. REPLACING CARD BOARD, MODULE AND BACKPLANE ON THE

MAIN BOARD