Hi everyone,
We currently have a cell with the following set-up:
- A 210F robot on a track (so with a 7th axis)
- SCHUNK SWS tool changing system
- Various of grippers, which one uses a FANUC servo motor (which is the 8th axis)
The last one is the one that is giving us a headache. We use the servo tool change procedure to attach/detach the motor to/from the robot. The encoder/power cable from the cabinet to the servo motor is interrupted various of times, as shown below:
The problem is that whenever we execute the tool attach procedure in a program, we get a SRVO-068 DTERR, SRVO-062 BZAL or SRVO-069 CRCERR alarm. We have two identical cells with the exact same setup and in these cells, it works like a perfect and thats why I cannot get my head around this error.
Just to test, we have attached a spare encoder cable directly from the cabinet to the motor, so without any interruptions. Result: it works like a charm. We did the same with the power cable (so power cable not interrupted, encoder in interrupted state as shown above). Result: also works like a charm.. and thats the weird thing! We replace either one of the cables with a direct one and all the problems are gone. I've been on the phone with FANUC and they suggested to check all the wiring again and to check the ground connections, in case we got some ground loop of some sort. Wiring is perfect and the ground connections are fine and identical to the other cells too. It seems some kind of disturbance between the power and data cables but the cables are identical to the other cells, so why would problems show up here but not there?
In conclusion: I don't see any options left before we let a FANUC expert come over but I was hoping that perhaps someone here ever had a similiar expierence and has a suggestion, which would be great.
I hope I've made the situation clear and thank you all in advance for your help.