Have a servo -007 alarm won't go away. UPDATE

Which controller is this? Provide that and get very specific instructions. In general - check the external e-stop circuit and verify those connections.

If you still have the BZAL error, search BZAL on the forum to find instructions on how to clear for your controller. This has been answered dozens of times over the years.

Not the manipulator, which controller series?

ArcMate 100 is R-J or R-J2.

ArcMate 100i is R-J2 or R-J3.

ArcMate 100iB is R-J3iB or R-30iA (R-J3iC).

ArcMate 100iC is R-30iA or R-30iB.

An external emergency stop button is an emergency stop button that is not a part of the robot system, but has been added in to the system. Such as an E-Stop at the fence.

Both the E-stop on the controller cabinet as well as the E-stop on the TP are considered to be part of the robot system and thus not referred to as "external".

SRVO-007 means that the circuit for external emergency stop buttons was broken in either of the two channels.

This can be due to someone pressing any one of the daisy-chained (external) E-stops,

or there is a fault in any of the external E-stops,

or the cabling has been damaged,

or if there are no external E-stops used, then the jumpers on the E-stop board in the controller cabinet are faulty.

Last resort would be that the E-stop board itself is faulty.

Maybe there's also some fuse related to the external emergency stop circuit that has blown inside the cabinet?

Are the error LEDs on the Mainboard ok? The 7-segment LED indicator reporting anything?

Sometimes E-Stop switch contacts get dirty if not used on occasion. With power ON, cycle all the external E-Stop switches in the cell about 10 times each. Now see if the SRVO-007 error clears.

If that doesn't work; with the power OFF, check the external E-Stop circuit at the EMG Board terminal block CRR3 (top one). Measure CRR3-6 [EMGIN1] to CRR3-8 [EMGINC], should be less than 10 ohms. Measure CRR3-8 [EMGINC] to CRR3-10 [EMGIN2], it should also be less than 10 ohms.

Looking at terminal block CRR3 on the EMG Board, are there jumpers between CRR3-6 [EMGIN1] & CRR3-8 [EMGINC] and also between CRR3-8 [EMGINC] & CRR3-10 [EMGIN2]?

For SRVO-062 BZAL error, after inserting fresh batteries you need to reset the pulsecoder alarm:

MENU->0 NEXT->MASTER/CAL

There you will have RES_PCA on F3-key. Perform this and then cycle power and the alarm should be gone.

If you are not able to access the MASTER/CAL menu, then you need to enable it's visibility by setting the system variable $MASTER_ENB to 1.

Next you will probably have lost the mastering since you had a BZAL....

Did you cycle power after clearing the BZAL alarm using the RES_PCA function from the mastering menu?

Easiest way to cycle power would be to just turn off the main breaker in the controller cabinet, then wait a few seconds and then turn it back on again.