RJ3 Error Codes

[Cortezfisherman]

Does anyone have a list of error codes for the RJ3 controller on a LR 200i?  We have lost our e-docs disk during a plant move and have a robot down with error: Servo 073 Group 1 Axis 2 error

I am pretty sure we will need to remaster it once this error is cleared but I can't remember the variable to allow jogging the robot so we can master it.

Thanks
stu.geraghty@histat.com

[bnradams]

SRVO-073 SERVO CMAL alarm (Group:%d Axis:%d)
Cause:  The pulse coder might be faulty, or noise might be causing the pulse coder to malfunction.

We have seen this fault at our facility caused by poor grounding on an extended axis mounted on tooling attached to the 6th axis flange.  Our remedy required adding a ground wire from the flange mounting bolt to the extended axis motor flange.

Hope this helps.

[Cortezfisherman]

Thanks