代码 SRVO-073: CMAL alarm(Group:%d Axis:%d)
问题描述与安全警告
Fanuc R-30i Series Robot Controller 触发了严重的 CMAL alarm(Group:%d Axis:%d) 警报。需要由合格的操作员或维修技师立即处理，以防止在制造周期中对设备造成二次损坏或导致零件报废。在接触电气控制箱之前，请务必确保遵循标准安全和停机挂牌 (LOTO) 程序。
官方故障排除步骤
Cause: It is likely that the Pulsecoder is abnormal or the Pulsecoder has malfunctioned due to noise. Remedy: 1. Check whether the connection of the controller earth is good. Check the earth cable connection between controller and robot connection cables are connected securely to the grounding plate. 2. Reinforce the earth of the motor flange. (In case of Auxiliary axis) 3. Do PULSE RESET operation. 4. Replace the Pulsecoder, then perform mastering. Refer to the Controller Maintenance Manual for more information. Note1: You need to cycle power to release this alarm. Note2: If this alarm is shown along with a SRVO-068 DTERR alarm, SRVO-069 CRCERR alarm, or SRVO-070 STBERR alarm, actually this alarm might not be occurred. Then refer to the other three alarm remedies.
Source: FANUC Robot R-30iA Alarm Code List Operator's Manual
Last reviewed: 2026-07-01 · Verified against the manufacturer’s official documentation.
关于 Fanuc R-30i Series Robot Controller 警报
由 Fanuc 制造的工业控制器具有广泛的诊断系统，用于保护内部电路和机械连杆。当 R-30i Series Robot Controller 出现类似 SRVO-073 的错误代码时，通常表示指令值与实际传感器反馈之间存在不匹配。
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