I have gone over previous posts about this alarm but hoping or a little bit more detail as my issue seems odd. I get a SRVO-050 error on G1 A3 no matter what axis I move, manually or via the program. I would have replaced the motor to eliminate it but we do not have one on site and are currently looking for one. Any other suggestions would be greatly appreciated! Thank you all!
Srvo-050 axis 3
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RJensen0246 -
September 12, 2018 at 7:41 PM -
Thread is marked as Resolved.
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SRVO-050 SERVO Collision Detect alarm (G:%d A:%d)
Cause: An excessively large disturbance torque is estimated by the servo software. A collision was detected.
Remedy: 1. Check whether the robot has collided with an object. If so, reset the system, then move the robot away from the location of the collision by jogging. 2. Check that the applied load does not exceed the maximum rating. If the rated load is exceeded, reduce the applied load. If the robot is used with an excessive load applied, the estimated disturbance might become excessively large, resulting in this alarm being output. 3. Check each interphase voltage of the three-phase voltage (200 VAC) applied to the servo amplifier. If the applied voltage is found to be 170 VAC or less, check the input power supply voltage. 4. Replace the servo amplifier.
You've checked voltages?
Realizing that you'll lose mastering, you could pull the motor and try driving it and the other axes.
That'll also let you check for binding in the joint itself. -
It does not collide with anything it is in midair when the fault happens and again it does not matter what axis I move (even in joint) the fault happens on A3. Also the voltages check good, there is another 410 feed from the same control panel that is operating normally. I have run the robot via the TP and listened for any abnormal sounds and have not hear anything, and there has not been a PM or greasing done recently.
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The system was running before???
When you press the deadman switch, the motors hold the arm??
I had a problem once with a robot
Somebody swapped the power cable at the servoamplifier. It immediately alarmed when the deadman switch was pressed.Make sure your cables are connected correctly.
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yes it was running up until about 10 hours ago or so, and yes powered on or off the robot holds position as well with the deadman switch pressed. I went over the cables once but will surely double check them again.
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This may sound weird, but have you checked the collision detect settings? If it is set too high, then you can collision detect in air moves. I was just trying this today.
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It does not collide with anything it is in midair when the fault happens and again it does not matter what axis I move (even in joint) the fault happens on A3. Also the voltages check good, there is another 410 feed from the same control panel that is operating normally. I have run the robot via the TP and listened for any abnormal sounds and have not hear anything, and there has not been a PM or greasing done recently.I am confused. You say no matter what, it collision detects. But then you say you move it via the TP with no sounds. So which is it, please?
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Collision message without real collision, usually it could be , motor, internal cable, servo amplifier or reducer
_ to know if reducer is good, open reducer bleed hole and grease nipple to take a little bit of grease, if you can see some iron dust in the grease --> reducer is dead.
_ control brake, put your hand on J3 motor and move a little bit robot and release deadman , you must heard brake ON/OFF, if you don't heard it, you have motor or cable problem.
_ to know if motor is good, replace it with J2 motor (if it's the same reference), be careful you need to do robot mastering if you dismount motor, after if error is on J2 your motor is dead.
_ to know if servo amplifier is good, replace it with another one with same reference -
it seems like you have issue with motor or the reducer. in any case you have to take motor out and inspect for damage on the motor gear and reducer. if you are lucky only driving gear might be damaged, change it , put everything back and master.
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yes it was running up until about 10 hours ago or so, and yes powered on or off the robot holds position as well with the deadman switch pressed. I went over the cables once but will surely double check them again.When you press the deadman switch the motors are energized to hold the robot position.
If the controllers holds the robot weigth stationary without alarming, I would discard a servoamplifier problemWhen you jog J2, J3 also moves
If you robot can move other axis J1,J4,J5,J6 without alarming, the the problem is the motor (brake) or reducer.
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What robot model and what controller model?