I have fixed this error several times simply by tightening the grounding clamp/plate where all the cables enter the control cabinet.
Try this first.
I have fixed this error several times simply by tightening the grounding clamp/plate where all the cables enter the control cabinet.
Try this first.
Display MoreWe have an M10-iA with an R-30iB control cabinet, E-61257, which we purchased second-hand, and we need help clearing the SRVO-068 error code. The robot and the cabinet have been without power and batteries. Today, we installed new batteries and performed a quickmaster.
It is connected to the power grid via a European plug for 400 volts because we are only testing it for now.
We have tried switching the phases without any success.During startup professional programmers have assisted us but we still have an error code that we nore programmers can clear.
We have not been able to jog the robot at all due to various error codes.
There is a possibility that something might have happened during transport,We have the SRVO-068 DTERR alarm (grp:1 Ax:4) , which we have not been able to resolve and need your help with.
- We see no visible damage to the cables
- We have performed several types of resets and restarts in consultation with the programmers
We tested moving the M4P connector from pulse encoder 4 and connecting it to pulse encoder 3.
After that, the error codes changed to SRVO-068 DTERR alarm (grp:1 Ax:3) and SRVO-062 BZAL alarm (group:1 Axis:4).
This means that the SRVO-068 error moved from pulse encoder 4 to pulse encoder 3.
The connector for pulse encoder 3 was then not connected to anything.Question: Do you find the above-mentioned error code change normal?
We have also measured connection between the M4P connector and the connector that connects to the amplifier(, CRF 8, ( i dont know if the image is going to show)
The red numbers are from the M4P connector.
M4P connector numbering that we have used as a reference.
Do you have any ideas on what we need to do to resolve the error code?
Question: Do you find the above-mentioned error code change upon connector movement logical?
Are there any minimum ohm values, e.g., for grounding, that we should take into account?
Hi,
The DTERR alarm means that the communication between the controller and the pulsecoder is not working like it should. Most of the time this is due to glitches in the connectors (either on the motor or in the controller) or bad cabling. But it could also be something wrong in the amplifier.
Since the error (SRVO-068) moves with the cable, it sure looks like the issue is with the cabling.
Don't bother with the SRVO-062 BZAL on axis 4. Since you unplug the pulsecoder cable to the J4 motor, it will no longer have backup voltage from the batteries, and this will give you SRVO-062.
i have also measured between Hartingconnection RP1 and M4P
Last thing
When i try to quickmaster pendant say
Robot not mastered
And i can see SRVO-072 axl 6, Pulse not established
I know that i need to jog it to reset that alarmcode but because of 068 i cant jog.... It might not be a problem
Yes, you need to establish a pulse (jog the axis) before you can record the pulse and perform a mastering operation.
So you're in a pickle right now.
Fix the DTERR-alarm first, then solve the mastering issue.
Our AM 100iC/M-10iA robots have a single Harting connector for RMP at the base.
Thanks so much for the picture.
Mine also have a single harting, with 2 cables.
spontanius it looks like im missing connection on C1,2,3,4
Thanks so much for the picture.
Mine also have a single harting, with 2 cables.
spontanius it looks like im missing connection on C1,2,3,4
Not sure what "C1,2,3,4" is referenced to. Is signal/voltage missing from the robot-to-controller cable or connection in robot cabling between RMP & PulseCoder connection M4P at J4 motor?
When i measure on the M4P connector i get following voltage
1
2
3 - Ground
4 - 6
5 - 4,4
6 - 1,2
7 - 0,07
8 - 5,12
9
10
It seems to be correct.
No 0V at M4P-10?
M4P-8 (5V) should be measured referenced to M4P-10 (0V)
Pins 4 & 7 are battery voltage.
Careful not to spread the female contacts at M4P or it may become intermittent.
Im very grateful for your help. thank you so much.
I measured all from ground
Just checked and M4P - 8 and - 10 is 5,12volt
All blank in my list is 0 volt. so M4P-10 is indeed 0volt.
So it seems that cables is intact.
May i ask you if you see anything suspitios on my pictures.
do you know if there is any minimum ohm recommended on ground?
It seems that many others have ground-issue when having this code
Also i have it connected to to a normal 400v outlet. Do you think that might affect anything?
This is our first robot so we want to test it out before connecting it permenatly