Hi all,
I am working on M16i with rj2 controller.
Robot is used for thermal spray & it is continuously giving error srvo 067. currently i had giving the cooling by placing the fan near the robot . The power & encoder cable is getting hot. What would be the issue & thanks for your support.
srvo 067
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prashantbodhale -
February 14, 2016 at 4:33 PM -
Thread is marked as Resolved.
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Looks like axis 6 motor is getting hot. Brake could be dragging, axis 6 gearing, or motor is failing.
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Sounds like overheating is your issue. Not too surprising when robot is used for a high temp job and axis 6 (hand) is throwing the error.
Is the robot shielded at all? There is a high potential to damage equipment here, especially your axis 6 servo motor.
From Fanuc error code:
-Fanuc Robot Alarm SRVO-067 OHAL2 alarm (Grp:%d Ax:%d)
-Cause: The temperature inside the pulse coder has become too high, causing the built-in thermostat to actuate.
-Remedy:
-1. Check the operating conditions of the robot. If any of the rating specified for the robot, such as its rated duty cycle or load, are exceeded, modify the use of the robot such that the ratings are not exceeded.
-2. If this alarm is issued, even when the power is turned on and the motor has not overheated, replace the motor.Not saying your motor is bad, but heat protection/cooling is most definitely the problem. What kind of operating temp does your thermal spray equipment reach?
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The fault means that the motor and/or the encoder is getting too hot.
Let it cool down first, then try a cold start to remove the error-message, when the fault appears again immidiately, the motor or encoder are gone.
The axis 6 motor on the M16i is right on the end of the arm, and has to be sheilded from too much heat.
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To assist in the cooling of axis 6 motor you can install an airline along the inside of the J3 arm to the axis 6 motor.
Ideally you would have it blowing air directly on the pulse coder cover.
You would not need a lot of air pressure and the air would escape out of the back of the arm.
I have had to do this on another application and it solved my problem.
Use a regulator and make sure the air is clean.
My setup consisted of a 1/4 flexible airline and about 10psi air pressure. -
Maybe you could incorporate a vortex cooler with your arm. They are relatively cheap and very efficient at cooling.
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I just had an OHAL2 alarm and it was the encoder. Water had leaked through the gun into the encoder. Cables didn't have water on them and worked fine. Changed encoder and motor and went back into welding just fine. This forum is awesome!