コード SVGN-273: Det was irregular stop. R:%d, P:%d

Cause: A gun tip was contacted an upper panel surface on a free running section before search motion. Remedy: R:1 means that error occurred during upper panel detection. Confirm that gun tip has enough clearance from upper panel surface at start position. If distance between the tip and the panel is too short, confirm that: 1. no obstruction exists between guntip and panel. If the above item is OK, confirm that: 1. nominal thickness in pressure schedule is correct. 2. OverThickness tolerance (on gun teach setup screen) is large enough. If the above items are OK, confirm that: 1. Max allowable Pos error (on gun teach setup screen) is large enough. If the above item is NG, the position error is made less than maximum allowable position error in the following ways. 1. Touch up correct position using jog or point touchup(not program touchup). 2. Increase maximum allowable position error on gun teach setup screen. R:3 means that error occurred during lower panel detection. Confirm that robot tip has enough clearance from panel surface at start position and that there is no obstacle between the panel and the robot tip at start position. If distance between the tip and the panel is too short, increase start distance(SD) for robot tip and/or lower panel detection distance. Refer to Chapter “20.6 LOWER PANEL DETECTION DISTANCE CLAMP” or “20.13 SPTCH_RSD INSTRUCTION” in operator’s manual for Servo Gun Function for more information about the lower panel detection distance. Retry spot program touchup. If this problem persists after taking the above actions, perform the following actions: 1. Acquire the diagnostic data. See the procedure for diagnostic data collection at Chapter “20.19 Troubleshooting” in operator’s manual for Servo Gun Function.. 2. Contact your local FANUC representative. Note: This alarm is posted when the time to execute phases2,3 take longer than anticipated, during upper1 detection and lower detection. R: Request number. R:1 is upper1 detection. R:3 is lower detection. P: Phase number. P:2 is phase of acceleration. P3: is phase to collect data to calculate threshold. If the tip touch panel during above phase, this alarm is posted. Please check whether the tip touch panel or the gun is closed(or grabbed panel) at position of search start.