Hi,
This problem has me a little puzzled on several of our robots. The robots that are experiencing this fault are R2000ia manipulators with R30-iA controllers running software version 7.2.
Anyway the robots suffering from this are fitted with robot carried servo guns (2 attached and detached via a toolchanger).
And the faults appear to be occurring on only one gun per robot and only while these robots are running one of 3 separate spotweld instructions in their welding program.
According to the manual the fault is as follows:
SRVO-071 SERVO SPHAL alarm (Grp:%d Ax:%d)
Cause: The feedback velocity exceeds specification.
Remedy: If this alarm occurs with another pulse coder alarm, refer to the remedy of the other alarm first. If no other alarms, the robot load may exceed the specification. If the load is within specification, replace the serial pulse coder or motor.
Does anyone have any experience with this fault? We have tried a new robot harness dress pack on one of the troublesome robots, tonight have changed the encoder cable on the gun and will monitor further.