DCS Error after Absolute Accuracy

zet-jaro · August 1, 2024 at 11:24 PM

Hello community,

we have one Fanuc R2000iC-165F with R30iBPlus controller running V9.30P/19 software.

We measured the robot with laser tracker and got DH parameters which we updated like described here:

After the restart, we have the following error:
SRVO-364 DCS PRMCRC alarm(G1) 1,1

Apparently, DCS doesnt like that we made this modification of DH parameters although robot is now moving much much preciser.

Does anybody know how to make this alarm go away and keep the DH parameters inside and DCS functionality at the same time?

in the manual it is decribed what to do when this erroro pops-up (maintanance menu) but it only reverts DH parameters to default values.

Thank you very much!
Kind regards!

HawkME · August 2, 2024 at 1:05 AM

Will it allow you to apply DCS parameters and restart?

zet-jaro · August 5, 2024 at 9:00 AM

Hi Hawk,

Yes it will. Do you have something in mind?

pdl · August 5, 2024 at 5:38 PM

Yes. Apply them and restart.

zet-jaro · August 6, 2024 at 6:00 AM

Tried that, doesn't work I get the same error

The robot model in DCS should be updated but I don't know how

pdl · August 6, 2024 at 5:14 PM

I would call Fanuc.

zet-jaro · August 6, 2024 at 7:29 PM

Quote from pdl

I would call Fanuc.

That didn't get us too far either

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