Hello,
At my work we have got a Fanuc S420iW with a Rj-2 controller.
For a while (6 months) I have been getting the following errors on axis no. 6:
- SRVO-045 HCAL alarm G:1 A:6
- SRVO-024 Move error excess G:1 A:6
- inpos error
I have been reading in this forum and most people point out that there should be a mechanical failure.
However, sometimes I do not have any problems, sometime I get the errors and turn the controller on / off and it works fine, and it keeps working fine as long as the controller isn't shut down in the meantime. Could it be a heat problem in a circuitboard?
I also put a pipe on the gripper and rotated the 6th axis with a little help, than I feel the same thing as a bearing went bad. (with teachpanel I rotate te 6th axis while doing this) However, this happened once before and guess what, the problem went away by itself...
The HCAL alarm is already going of when none of the axis are moving, the servo is "stationairy".
I am not a robot expert, we have a programmer who knows a lot, however I wan't this problem fixed and was hoping I could use your troubleshooting knowledge as well.
If something is not clear please ask, I'm based in The Netherlands.