Hello, I work in maintenance and for the past couple years have been getting a lot more comfortable with the robots, moving, reading their programming and programming on the pendant. My ability to investigate faults I feel is slightly above average so I still have considerable ground to cover.
Recently there was a serious incident with one of our fanuc robots which is still being investigated by fanuc in the US and from what I understand they have not been able to give us a clear answer as to the cause and remedy.
I'll give a brief description:
Robot faulted with collision, I entered cell with robot in T1 @ 10%.
I jogged the robot out of the collision and attempted to move the robot back to a known position in the program just before where the collision occurred (attempting to recreate the fault to make correction). When I shifted forward to that point the robot went full speed ( the move speed was set at 800mm/sec and i believe it achieved that speed) and than faulted any 2 feet past where i initiated the move command.
The robot generated the fault CPMO-130 which reads:
"T1 Speed exceeds 250mm/sec for this group"
And it's remedy only says:
"Document the events that lead to this error, and call your FANUC robotics technical representative"
I did as it said and documented where the collision occurred, what line I was moving to, speed I was moving at etc. And they were not happy with that information, apparently they wanted an image back up of some kind while the fault was present to troubleshoot how it happened.
To me this seems like a very rare occurrence but a very dangerous occurrence none the less.
My question is, does anyone know what might have been the reason for this to be allowed and why is it not possible for fanuc to be able to pin this down.
I spoke to a KUKA programmer and they thought it may be related to the SRVO amplifier. But my knowledge does not extend that far.