I have a m710 i robot with an rj3 controller. I am receiving error srvo036 g1 a3. This this error will happen every couple cylces. we have to reset the fault and continue. we will have this error problem for a couple days the it will go away for a couple months just to come back another day. I dont have much experience with fanucs. we have one fanuc out of 22 robots. any help will greatly be appreciated
srvo 036 impos timer g1 a3
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drecker -
January 22, 2014 at 10:59 PM -
Thread is marked as Resolved.
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This is from an RJ3iB manual but it should be the same. I suspect you have a slipping brake on axis 3 which means you will have to replace the motor.
SRVO–036 Inpos time over (Group : i Axis : 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) elapsed.
(Action) Take the same actions as for SRVO–23 (large position
error at a stop).SRVO–023 Stop error excess (Group : i Axis : j)
(Explanation) When the servo is stopped, 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 robot
internal cable.
(Action 2) If the disconnection is not found, replace the servo
amplifier or the servo motor.
In case that the brake is released.
(Action 1) Check the obstacle disturbs the robot motion.
(Action 2) Make sure that connectors CNJ1A–CNJ6 are
securely attached to the servo amplifier.
(Action 3) Check the continuity of the power cable in the robot
connection cable.
(Action 4) 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 5) Check the input voltage to the controller is within the
rated voltage and no phase is lack. And check the
setting of the transformer is correct. Check each
phase voltage of the CRR38A or CRR38B connector
of the three–phase power (200 VAC) input to the
servo amplifier. If it is 210 VAC or lower, check the
line voltage. (If the voltage input to the servo
amplifier becomes low, the torque output also
becomes low. As a result, the motor may become
unable to follow the command, hence possibly
causing an alarm.).
(Action 6) Replace the servo amplifier.
(Action 7) Replace the servo motor according to the alarm
message.Please let us know what happens.
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I would have to go in the opposite direction from Mike -sorry man. Here is why.. Its an 'in position' error not a stop error. This means that the robot was not able to get to the position within a certain amount of time and this positional error flags the alarm. This can happen because there is not enough torque on the motor to get it there. It might be a brake, but instead of slipping after it got there, its not releasing and letting the motor get up to speed fast enough. My bet is that you have a servo amp issue ,missing power phase or low voltage in general or your tooling and load are to great for the robot.. I would also check the A3 brake connector to make sure it is showing the correct voltage. I would start at #5->6->7 and try that first as its the easiest to tackle. A motor replacement can be quite fun..
Please let us know what fixes this robot. I might owe RacerMike a beer
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Thanks guys. Ive been able to work around the problem. I think. The fault happens when the robot is sitting there waiting for the input to start. about 20 seconds before the cycle starts again . So now i have the robot on an exercise program. j move up. wait 1 sec. move down wait, etc...This robot has been abuse and is wore out. i dont even know how it runs. there is a huge amount of back lash on 5 and 6. about two year ago a guy decided to grease the robot. He didnt know what he was doing. i dont remember what axis but we had to replace two motors, i dont recall what ones.The cables going to the robot been cut in the past. a little solder and we were back going. then another time a hot part melted a cable. both time we fixed the cable. i was surprise we didnt short out any components. i cant even count how many time the robot has been crashed. Im waiting for them to put a die back in the machine to see if it works for sure. in my dry cycles this seems to be working. im leaning towards a slipping brake. when im jogging the robot and let off the deadman a3 drops about an inch before the brakes lock up
Incoming voltage is good
Voltage to amp is good
the load is about 20 kilos. pay load is set at 45 kilo. could this cause an issueNext month i will be installing a new robot. i just have to get by till then
thanks guys ill post again monday what going on
Dusty -
Thanks for the update Dusty,
With this additional information, I would shift my stance to slipping brake. The face that your seeing A3 drop a little tells me that the brake may have grease on it from a busted motor seal. This can happen when people improperly grease them. It squeezes grease past the seal and onto the brakes. If the robot moves to a position and waits for a few seconds, the controller will apply the brakes to keep the motor from excessive holding currents. This is probably when the error is happening. The robot knows the encoder had moved too much and is flagging an error.
Mike how about a beer?
-Eric
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Sounds good!!
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The exercise moves took care of the problem. Couple more weeks i should be putting a new robot on. This fanuc was our first robot about 5 years ago. Now we have over 20. mostly Abb and Nachi. We got the fanuc used from rimrock. Its been a good fast robot its just ready for retirement.
Thanks for the help guys.