代码 SRVO-050: Collision Detect alarm (G:%d A:%d)

Cause: A collision was detected. (An excessively large disturbance torque was estimated by the servo software.) Probable causes are: 1. Collision (Tip stick) / External force to the robot 2. Overload / Heavy acceleration 3. Increasing of the friction by low temperature 4. Insufficient torque by low voltage of power supply 5. Brake failure (includes mis-setting of brake number for auxiliary axis) 6. Aux. brake unit failure for aux. axis 7. Amplifier failure 8. Emergency stop unit failure 9. Motor failure 10. Motor power cable or brake cable failure 11. Reducer failure Remedy: 1. Check whether the robot has collided with an object. To release this alarm, press and hold the SHIFT and RESET keys. Release only RESET key. Still pressing the SHIFT key, and press any jog key to the axis away from the collision. 2. Check whether the payload (mass, center of gravity, and inertia) are set correctly. 3. Check whether the applied load exceed the rating. If so, reduce the applied load. If you use the ACC override more than 100, please reduce the value of ACC override. Allowable disturbance threshold level can be changed from STATUS/Axis/Disturb screen. 4. If this alarm occurs when the robot is used after long time interval or when the temperature is very low, run the robot with low speed for a while before running with normal speed. 5. Check whether the motor power cable/connector and brake cable/connector are connected correctly. Especially, check whether the power cable/connector are not connected to other motors. 6. Measure the supplied voltage. Then, check whether the voltage is matched to the controller specification. 7. Check whether the motor brake is released properly when RESET is pressed or the robot moves. First of all, check whether the setting of brake number is correct when this alarm occurs on auxiliary axis. 8. When this alarm occurs on the auxiliary axis which brake is controlled by the aux. brake unit, check the fuse on the aux. brake unit. 9. There might be a failure with the following parts. Replace it or contact your local FANUC representative. • Aux. brake unit (if it is used.) • Servo amplifier • Servo motor • Robot connection cable (power/brake line) • Cable in the mechanical unit (power/brake line) • Reducer