代码 SRVO-152: IPMAL(INV) alarm (G:%d A:%d)
问题描述与安全警告
Fanuc R-30i Series Robot Controller 触发了严重的 IPMAL(INV) alarm (G:%d A:%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: The IPM module has trouble. Remedy: 1. The IPM might be overheated. Reset the emergency stop after approximately ten minutes. Disconnect the power lines from the terminals on the amplifier, and check the insulation of PE from U, V, and W. 2. If there are short circuits, disconnect the motor connector power lines and check the insulation of PE from U, V, and W. 1) Replace the motor if U, V, and W short-circuit with PE. 2) Replace the power lines if U, V, and W do not short-circuit with PE. 3. Noise on the actual current (IR, IS) running in the amplifier module might cause this alarm. Remove this noise such as with taking ground of sealed earth. 4. Replace the amplifier. 4.ERROR CODES B-83124EN-6/02
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-152 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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