SRVO-68 DTERR Grp :1 Ax: 5 & Ax: 6

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  • Other than the BMON (which is technically Firmware), I don't believe there is any soft ware on the CPU daughter board.


    Did you change just the CPU, or the whole main board assembly?

    Thank you.

    Well as it would appear you are correct and the faults are slowly creeping back. CPU board did nothing. We even had a Fanuc rep in the plant and they were not able to sort it out. Communication is poor here and I am not lead of the job so I am not 100% I'm getting the full story as this is starting to not make much sense. I will keep you all updated on the progress, thanks so much for all the support.

  • Do you have another robot of the same type ?

    If so, you can try to swap the controller cabinet to see if the problem is in there.

    ofcourse, use the original cpu-board, and be sure that the boards have a working battery connected all the time.

  • Do you have another robot of the same type ?

    If so, you can try to swap the controller cabinet to see if the problem is in there.

    ofcourse, use the original cpu-board, and be sure that the boards have a working battery connected all the time.

    Believe it or not, it was an allen bradley Point I/O module for the end of arm tool in the arm. When inspecting cabling for an ethernet fault I wiggled the RJ45 cable plugged into the Point I/O module and was able the generate the DTERR fault. I was able to do this several times. Changed out the Point I/O module and everything is back to normal.

  • Seems weird a bad point i/o module could generate enough interference to cause the 068-DTERR alarm when the 2 circuits are unrelated.

    I would make sure grounding in the base of the robot is correct. The ground between the robot and the controller too.

  • Hello,

    I have the same problem with the Fanuc ARC Mate120iD robot (2021.).

    DTERR alarm (Grp:1 Ax:2).


    We replaced the encoders and again the error is on the Ax:2.

    We checked the safety fuses and they are fine.

    The cables look fine.


    What do you think? On the forums, I find I lot about that error but nothing specifically, everything is about encoders, cables and connectors, batteries, and servo amplifier....

    The robot works every day, and now he just decided to stop.

  • I am afraid that you will not find anything specific....

    It is a encoder problem, thats for sure.

    You swapped the encoder, so it can be :

    Cables

    Connectors

    Servo amplifier

    Grounding !!!

    Something else.


    Read this post, there is already a lot of information in it.

    And as you will read, sometimes it is something you did not suspect at all.

  • Hello,


    Thanks for your response.

    It was a fault with the encoder cables (J1 and J2). Fanuc replace them and now the robot works

  • If the robot is, as I understand, from 2021, the cable-fault is comming very very early in its life.

    A possible cause of this is an axis 1 stretching the cables too much.

    We had a robot with the mastering of axis 1 is not in the standard position and allow the robot to go way over the maximum position normaly possible.

    This stretches the cables.

    The communication with the encoders is very sensible, so they are almost always the first to go.

  • Yes, it is weird how this happened on the robot from 2021. The robot in his work doesn't have some heavy movements or stretching, maybe something fell to the cables.

    This is the ARC Mate120iD robot, but we don't use it for welding, just for handling. For that reason, I think this robot has had some reconstructions before.

  • The guy from Fanuc said that the robot had some reconstructions before installation, but don't know from whom, from Fanuc or our robot integrator.

    We detected that we have an issue with Ax:2 always, and lately also with Ax:1 when we were moving the cable.

    He replaced the cables and now robot works.

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