代碼 SRVO-073: CMAL alarm(Group:%d Axis:%d)
問題描述與安全警告
Fanuc R-30i Series Robot Controller 觸發了嚴重的 CMAL alarm(Group:%d Axis:%d) 警報。需要由合格的操作員或維修技師立即處理，以防止在製造週期中對設備造成二次損壞或導致零件報廢。在接觸電氣控制箱之前，請務必確保遵循標準安全和停機掛牌 (LOTO) 程序。
官方故障排除步驟
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.
關於 Fanuc R-30i Series Robot Controller 警報
由 Fanuc 製造的工業控制器具有廣泛的診斷系統，用於保護內部電路和機械連桿。當 R-30i Series Robot Controller 出現類似 SRVO-073 的錯誤代碼時，通常表示指令值與實際感測器回饋之間存在不匹配。
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