SRVO-023 Stop error excess on external axis

ApacheKaplan21 · December 10, 2019 at 3:34 PM

Hi,

Controller : R-30iB Mate

Robot: LR Mate 200iD

The problem is that I get SRVO-023 Stop error excess (G:% A:%) on one of my two external axis when its under load (Attached with a circular plattform).

As soon as I release the breaks and try to jog it or touch the plattform a weird motion begins and starting to rotate fwd and bwd (wiggles) a couple times before the breaks comes on, stops the axis and SRVO-023 error appears.

But when I remove the attached plattform from the external axis and jog it without any load at all, it works fine with no errors or complications..
I have have checked the settings for the axis in the Maintance tab in ctrl start and couldn't find any wierd settings or so.

I have also increased and decreased the payload for the axis to see if that was the cause, but no sucess.

Could the problem be something mechanical? Or a variables that needs a little tweak?

/ApacheKaplan21

pdl · December 11, 2019 at 7:23 PM

It sounds like you've overloaded your robot. Can you post a picture or diagram of your tooling? You should also properly setup your payload and armload, if you are close to the limits of what is allowed, these will need to be properly configured, or you'll get the error that you are experiencing.

SHIFT_Lock · December 12, 2019 at 2:22 AM

Code

SRVO-023 Stop error excess(G:%d A:%d)
Cause:  When the robot stopped, the servo positional error exceeded a specified value ($PARAM_GROUP.$STOPERLIM).
This alarm means that the robot cannot reach a taught point or cannot keep a taught posture. Probable causes:
1. Overload
2.  External force to the robot
3.  Disconnection or misconnection of the motor power cable or brake cable
4.  Incorrect setup for the robot which has 2 axis brake option
5.  Insufficient torque by low voltage of power supply
6.  Brake failure (includes mis-setting of brake number for auxiliary axis)
7.  Aux. brake unit failure for aux. axis
8. Amplifier failure
9. Motor failure
10.  Motor power cable or brake cable failure
Remedy:
1.  Check whether the duty and applied load exceed the rating. If so, reduce the duty or applied load.

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If this is indeed a new setup then most of this probably doesn't apply except as pdl stated, your robot is overloaded.

Skooter · December 15, 2019 at 3:43 PM

Does the circular platform rotate freely with the motor removed?

Does the external axis motor have a built-in brake or does the circular platform have its own brake? Some that rotate to specific positions have locking pins that engage.

byrol · December 16, 2019 at 6:55 AM

I have an m120i-B robot that uses two external axes. There has been a similar problem. First of all, I don't think there is a software problem. In my robot, the hariki engines were both identical. So I moved my engines first to see if the problem was caused by the servo board or mechanically. When I experimented at very low speeds, it turned out that the problem was caused by the gear of the engine, and I had changed the engine. I think there is no need to change any software variables if it is a system that is already running. If you exceeded your engine stop limits by running too fast, there may have been a mechanical problem..

SRVO-023 Stop error excess on external axis

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