代碼 SRVO-038: Pulse mismatch (G:%d A:%d)

Cause: A pulse count detected at power-on differs from one detected at power-off. This could be due to the following: 1. File (SYSMAST.SV) that saved in the state at an axis position different from a present axis position was loaded. 2. The software brake setting is incorrect. 3. A incorrect brake type was set to the robot with two-axis brake option. 4. File (SYSMAST.SV) that saved with other robots was loaded. 5. The axis position was changed with a brake release unit while the controller power is off. 6. The axis fell while the controller power is off due to the brake trouble. Remedy: 1. Refer SRVO-222 when this error occurs with SRVO-222. 2. For the above cause 2 and 3, confirm the setup or brake type setting and correct setting. For the above cause 4, re-load SYSMAST.SV of the robot. Afterwards, PULSE RESET operation should be done. There are the following two methods. • Method 1: Move the cursor to $MCR.$SPC_RESET on the system variable screen, and select F4 TRUE. It becomes TRUE momentarily, it writes in FALSE at once. Then push the reset button. • Method 2: F3 RES_PCA is pushed on the MASTER/CAL screen, and select F4 YES. Then push the alarm release button. Note) The MASTER/CAL screen is not usually displayed. The worker who has the operation qualification does. Check whether the robot position on Teach Pendant is correct. If incorrect, re-mastering is required.