SRVO-021 AND SRVO-105

  • I have a 2004 model R2000ia 165F RJ3iB with no door switch. I cannot clear these faults (SRVO-105 DOOR OPEN OR E-STOP) and (SRVO-021 SRDY GROUP 1 AXIS 1 through 6). I replaced the Servo amp, E-STOP unit, mode switch, operator panel board (on door), teach pendant and cable, board behind buttons (on door) and still get the same faults. I also had an electrician check it over and spoke with FANUC. If anyone has any information that could help would be greatly appreciated!

  • Whenever you buy a new controller, the board above comes with factory jumpers, which you take out and replace with your door or e-stop wiring. To make sure it's not a wiring issue, you unplug the e-stop / door wires going into the board, and replace with a jumper. This will "fake" out your safety system and pretend everything is good. If you are still getting an issue after doing this, you know the issue is on the board. If you are not getting the error after you do this, then you have an issue with your door / estop wiring (maybe loose connection, short, etc).

  • you may have missed the CRM72 jumper on the Estop board, this is used when running aux axis in the A cab and linked out if not.

  • Thanks for the responses. I ended up having to fly in a technician with a new E-STOP unit and servo amp, after installing these parts the faults finally cleared. We then swapped in my old spare parts until we found a combination of E-stop and servo amp that would not generate faults. Out of 4 spare E-stop units and 3 servo amps only 1 of each was useable. I had tried swapping in these old spares before but must not have had the correct combination to make it work. If you have an older robot like me, keep a spare E-stop unit and servo amp handy or you could be down for a while. This same problem happens at least every other year for the last 10, very expensive and frustrating!

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