Hello! I am new to robots and we have got a M-6I with a R-J2. I have a servo-69 crcerr alarm grp 1 ax6 and a MCTL-003. I cant get any movement, any
Can I move while in system error status
- joeyscott982
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You have to clear the fault before you can move the robot.
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Possibly a bad pulsecoder on the J6 motor or a wiring problem. Cable unplugged or damaged.
Could also be the amp but its probably more on the mechanical unit than inside the controller.
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New install, or has robot been running? We had a similar problem that ended up being a pin pushed back in the connector.
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Thank you. I shortened and replaced the cable end as the cable was damaged from something. I will replace the motor is the next step and try again.
this is an old robot new install. Does anyone have a good supplier of parts other than Fanuc themselves? -
srvo-069 is noise on the encoder, it could be a encoder problem or encoder cable problem.
on M6i, there is a small cable between J5 and J6 axis , you can open J5 cover to see if the cable have no damage -
Thank you. I shortened and replaced the cable end as the cable was damaged from something. I will replace the motor is the next step and try again.
this is an old robot new install. Does anyone have a good supplier of parts other than Fanuc themselves?After replacing the cable did you cycle power and the alarm came back? We get these from time to time and more often than not I just unplug the encoder cable and plug it back in. Then do a Single Axis Master to reestablish the pulse and then calibrate it. The servo itself is probably OK but if the cable didn't work and you've already checked that the cable is good then I would say encoder cap.
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Okay i found a damaged cable and repaired it until a cable comes. now a have a servo-62 BZAL alarm on same axis. is this more likely the pulse coder then?
Thank you -
Okay i found a damaged cable and repaired it until a cable comes. now a have a servo-62 BZAL alarm on same axis. is this more likely the pulse coder then?
Thank youFor the SRVO-062 BZAL alarm you need to go to MENU<SYSTEM<MASTER/CAL< and use F3 to RES_PCA and hit F4 for yes then FCTN<0<8 to cycle power on the robot again and this will get rid of that alarm. If Master/Cal is not available under your system variables window let me know and I can walk you through how to enable it.
*EDIT* I probably should have explained more. Whenever you disconnect a servo encoder cable you will get that alarm along with a SRVO-068 for DETRR probably. The first alarm (BZAL) is just a battery alarm due to the cable being disconnected and the second is a communications alarm like the SRVO-069 alarm you started with.
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