Hi Team,
I hate to ask for help but this one has had me stumped for the last week.
It isn't urgent in any way, but I'm keen to know your thoughts.
I'm Getting the following Error:
- Error:
ERROR (-1407)Servo unit error
ERROR (-1100)CPU error(Code=00008008)
================================================================
Task(STP1)Stop SIG=00008008 [FAULT(PARALLEL )] PC=3016fdd8 ================================================================ - I'm Getting it only on some Arc instructions, it appears only when they are used consecutively.
The program is autogenerated from GCODE so the conversion is probably a factor. - If I cycle power and start cycle, the program carries on and eventually faults again on another C2Move instruction further on in the program.
- It appears to be repeatable. The following snippet shows the culprit area.
LMOVE TRANS(190.225,81.728,-5.500)
C1MOVE TRANS(192.399,81.070,-5.500)
C2MOVE TRANS(193.843,79.316,-5.500)
C1MOVE TRANS(195.287,77.562,-5.500)
C2MOVE TRANS(197.461,76.904,-5.500)
LMOVE TRANS(200.771,76.904,-5.500)
LMOVE TRANS(200.944,77.182,-5.500)
LMOVE TRANS(192.372,94.712,-5.500)
LMOVE TRANS(188.160,103.518,-5.500)
LMOVE TRANS(187.815,103.574,-5.500)
C1MOVE TRANS(184.864,100.599,-5.500)
C2MOVE TRANS(181.831,97.707,-5.500)
C1MOVE TRANS(178.680,94.941,-5.500)
C2MOVE TRANS(175.384,92.351,-5.500) <-Program Stops Here
C1MOVE TRANS(173.793,91.197,-5.500)
C2MOVE TRANS(172.176,90.079,-5.500)
C1MOVE TRANS(170.525,89.012,-5.500)
C2MOVE TRANS(168.831,88.014,-5.500)
C1MOVE TRANS(165.522,86.204,-5.500)
C2MOVE TRANS(162.171,84.475,-5.500) <- If started again, program Stops Here
C1MOVE TRANS(158.745,82.895,-5.500)
C2MOVE TRANS(155.225,81.538,-5.500)
C1MOVE TRANS(152.546,80.622,-5.500)
C2MOVE TRANS(149.854,79.742,-5.500)
C1MOVE TRANS(147.134,78.953,-5.500)
C2MOVE TRANS(144.375,78.309,-5.500)
LMOVE TRANS(142.523,77.911,-5.500)
LMOVE TRANS(140.662,77.555,-5.500)
LMOVE TRANS(139.078,77.325,-5.500)
LMOVE TRANS(137.494,77.095,-5.500)
What I've Tried:
- Swapped robot over to a completely different Controller Unit. (Same Data file) Same Fault.
- Simulated program in PC-AS. No issues.
- Changing CAM settings to produce less unnecessary ARC movements.(work in progress)
What I've Read (my understanding):
- The servo error results from the 1GB Board telling the 1HA board that a servo error signal has occurred. The following is listed as the main cause:
· The servo system error has occurred. (I believe this is the case.)
· Disconnection or connect defect of the harness between the power sequence board (This is internal to the controller I believe, so I have eliminated by changing controller) - The 1GB board 'Detects encoder hardware and communication errors,
outputs a servo unit error signal (SVER) via the RS-485 interface to the 1HP board. The 1HP board then
controls powering down the controller.'
My Thoughts:
The issue seems software related, It doesn't like something about these consecutive commands.
When I got the machine, the circular option wasn't on it and had to be enabled.
It is possible that the auto generated program is creating Arcs that can't be processed/executed properly.
Do the boards have firmware that can be flashed to the latest versions?
Its not the end of the world, but I'm curious why it's happening.
I'm interested if anyone has any insights on what could be going on?