Fanuc R-30iB Mate + Mate Plus Robot

The 24EXT (Red) LED turning on indicates that the fuse (FUSE2) is blown, and the 24V external power supply (24EXT) for the emergency stop circuit is not being supplied. This impacts the integrity and functionality of the emergency stop line, posing a safety risk.

The 24T (Red) LED turning on indicates that the fuse (FUSE3) is blown, meaning the 24V power supply (24T) for the teach pendant is not being supplied. This prevents the teach pendant from operating correctly, interrupting robot control.

The red ALM LED blinks with a 1:1 duty cycle (0.5s ON / 0.5s OFF), indicating a broken wire or poor cable connection between the unit of interest (JD1A connector) and a subsequent unit (JD1B connector). Electromagnetic noise around the cable is also a potential contributing factor to this communication issue.

The red ALM LED blinks with a 1:3 duty cycle (0.5s ON / 1.5s OFF), indicating a general status alarm. A common example of such a status alarm is a Digital Output (DO) ground fault.

The red ALM LED blinks with a 3:1 duty cycle (1.5s ON / 0.5s OFF), indicating a power failure (which may include instantaneous power failure) in a unit subsequent to the unit of interest. This signifies a power supply interruption downstream from the current unit.

The red ALM LED is continuously illuminated, signifying an alarm within the unit of interest or a subsequent unit. This condition strongly suggests a hardware defect within the affected unit.

The Common LED blinks rapidly (0.25s ON / 0.25s OFF), indicating that communication is halted due to an active alarm condition. Further investigation of other alarm indicators is required to pinpoint the specific cause.

The DRDY (Green) LED indicates that the servo amplifier is ready to drive the servo motor. This fault occurs if the LED does not light when the motor is activated, suggesting the servo amplifier is not reaching a ready state to control the motor.

The ER0, ER1, or ER2 LEDs illuminate when an error occurs in communication with the force sensor. This indicates a potential issue with the sensor's interface unit or its connection cable.

The FUSE LED illuminates when an internal fuse blows. This typically indicates an overcurrent condition that has resulted in the protective fuse activating.

The OPEN (Green) LED indicates normal communication between the servo amplifier and the main board via FSSB. This fault occurs if the LED does not light, indicating a loss or abnormality in this critical communication link. This could be due to a faulty optical cable, servo card, or the servo amplifier itself.

The P3.3V (Green) LED indicates that the internal power supply circuit of the servo amplifier is normally outputting +3.3 V. If this LED does not light, it signifies a failure in the +3.3V power supply within the servo amplifier, which is critical for its internal logic.

The P5V (Green) LED indicates that the internal power supply circuit of the servo amplifier is normally outputting +5 V. If this LED does not light, it signifies a failure in the +5V power supply within the servo amplifier, or a ground fault on the +5V wire of the robot connection cable (RP1/RMP1).

An abnormal air pressure condition has been detected. This input signal is typically located on the end effector (EE) interface of the robot, indicating an issue with the pneumatic supply to or within the robot's tooling.

An excessive current is detected in the motor brake circuit, and the ALM LED (SVALM) on the 6-Axis servo amplifier is illuminated. This can be caused by a short circuit or ground fault in the brake wiring, or an optional brake release unit being left active while attempting robot motion.

The HRDY signal is ON, but the SRDY signal is OFF, indicating that the servo amplifier magnetic contactor cannot be turned on for an unknown reason. This occurs when the host commands the servo system (HRDY) to turn on the magnetic contactor, but the servo system (SRDY) fails to confirm it, without any other specific servo amplifier alarm being present.

The SRDY signal is already ON when the HRDY signal is about to go ON. This means the servo system is indicating that the magnetic contactor is engaged before the host controller has commanded it to do so, suggesting an internal fault in the servo amplifier's control circuit.

When the servo is commanded to stop, the actual position error is abnormally large. This can occur if the motor brake fails to release properly, or if there is a physical obstacle preventing the robot from maintaining its commanded stop position.

The serial Pulsecoder fails to return serial data in response to a request signal. This indicates a communication fault between the servo amplifier and the Pulsecoder, potentially due to loose connections, damaged cabling, or a faulty Pulsecoder itself.

The serial data transmitted from the Pulsecoder was disturbed during communication, resulting in a Cyclic Redundancy Check (CRC) error. This indicates data corruption, which can be caused by electrical noise, poor shielding, or faulty communication components.

The start and stop bits of the serial data received from the Pulsecoder are abnormal. This indicates a communication framing error, often pointing to issues with data transmission integrity, such as signal distortion or timing discrepancies.

The feedback speed reported by the motor's Pulsecoder is abnormally high, exceeding expected operational limits. If this alarm occurs concurrently with the SRVO-064 (PHAL alarm), SRVO-064 is considered the primary cause.

This alarm indicates that the Pulsecoder is likely abnormal, suggesting a internal malfunction or failure of the feedback device itself. This can lead to incorrect position and speed feedback.

This alarm (Group:i Axis:j) indicates that the Pulsecoder is likely abnormal or has malfunctioned due to electrical noise. This can lead to incorrect or unstable position feedback for the associated axis, causing control instability or position errors.

This alarm (Group:i Axis:j) signifies that the LED within the Pulsecoder is broken or faulty. This prevents the Pulsecoder from generating proper position feedback, directly affecting axis control and potentially leading to inaccurate positioning or uncontrolled motion.

This alarm (G:i A:j) indicates that the absolute position of the Pulsecoder cannot be established. This typically occurs during startup or after a power cycle if the encoder's absolute position data is lost or corrupted, preventing the robot from determining its current joint angles.

This alarm (G:i A:j) indicates that an excessive disturbance was assumed in the servo software at the start of operation, detecting an abnormal load. Possible causes include a robot collision, increased mechanical load on the axis, or issues like welding interference. This poses a risk of mechanical damage or operational halt.

The pulse counter for the line tracking encoder has overflowed. This typically occurs if the conditions for line tracking operation exceed the system's limitations or if the encoder is reporting an abnormally high number of pulses.

The line tracking Pulsecoder is not connected or its connection is faulty, preventing the system from receiving position feedback for line tracking operations.

This alarm occurs if the backup battery for the absolute position of the line tracking Pulsecoder has not been connected. This can lead to loss of absolute position data upon power cycle.

This alarm occurs if the voltage of the backup battery for the absolute position of the line tracking Pulsecoder is low. A low battery voltage can lead to unstable absolute position data or loss of data upon power cycle.

The motor connected to the line tracking encoder has overheated. This alarm persists even after the Pulsecoder has cooled sufficiently and power is reapplied, indicating a persistent overheating condition or sensor issue.

Communication between the Pulsecoder and the line tracking board is abnormal, specifically indicating a data error (DTERR). This prevents reliable position feedback for line tracking functions.

Communication between the Pulsecoder and the line tracking board is abnormal, specifically indicating a Cyclic Redundancy Check (CRC) error. This means data sent between the components is corrupted or inconsistent.

Communication between the Pulsecoder and the line tracking board is abnormal, specifically indicating a Start/Stop Bit Error (STBERR). This signifies a problem with the framing of serial data packets.

The current position data received from the Pulsecoder for line tracking is abnormally higher than the previous position data. This suggests an inconsistency or error in the position feedback, potentially due to a faulty Pulsecoder or signal interference.

This alarm (Track enc:i) indicates that the Pulsecoder (track encoder) is likely abnormal, impacting the position feedback of the linear or rotary track. The underlying issue is an internal malfunction of the encoder.

This alarm (Track enc:i) indicates that the Pulsecoder (track encoder) is likely abnormal or has malfunctioned due to noise. This will impact the accuracy and reliability of track encoder position feedback, potentially causing tracking errors. The root cause is similar to SRVO-073 for robot axes.

This alarm (Track enc:i) indicates that the LED in the Pulsecoder (track encoder) is broken. This prevents the track encoder from generating proper position feedback, leading to loss of position control for the track. The cause and fix are identical to SRVO-074 for robot axes.

This alarm (Enc:i) indicates that the absolute position of the Pulsecoder (track encoder) cannot be established. This typically occurs during startup or after a power cycle if the encoder's absolute position data is lost, preventing accurate track positioning. The cause and fix are identical to SRVO-075 for robot axes.

This alarm indicates that the cabinet door is open or an emergency stop condition is active, triggering a safety interlock. This prevents robot operation until the safety condition is resolved, ensuring operator and equipment safety.

A fuse (FS2 or FS3) within the 6-Axis servo amplifier has blown. This typically results from an overcurrent condition within the amplifier, possibly due to a motor short or internal component failure.

The total current flowing through the motors for all six axes is excessively large. This usually indicates that the robot is operating beyond its specified duty cycle or maximum load weight ratings, or there's an electrical fault causing high current draw.

A controlled axis card (DSP) corresponding to the configured number of axes is not physically mounted or detected. This indicates a hardware configuration mismatch or a faulty axis control card.

A servo DSP initialization failure occurred due to either a hardware failure or an incorrect software setting, causing the system to enter DSP dry run mode. The first number in the alarm message provides details about the specific cause of the failure.

A mismatch has occurred between duplicate safety signals. Specifically, a contact on the chain 1 side (e.g., between EES1 and EES11, or EAS1 and EAS11) is closed, while the corresponding contact on the chain 2 side (e.g., between EES2 and EES21, or EAS2 and EAS21) is open. This condition indicates a potential failure or discrepancy in one of the redundant safety circuits, compromising safety integrity.

A mismatch has occurred between duplicate safety signals. Specifically, a contact on the chain 1 side (e.g., between EES1 and EES11, or EAS1 and EAS11) is open, while the corresponding contact on the chain 2 side (e.g., between EES2 and EES21, or EAS2 and EAS21) is closed. This condition indicates a potential failure or discrepancy in one of the redundant safety circuits, compromising safety integrity.

The teach pendant is disabled while the mode switch is set to T1 or T2, or the controller door is open. This safety interlock prevents unauthorized or unsafe operation in restricted modes or when the cabinet is open.

A short-term single chain failure condition is detected. This can be caused by a momentary or 'half' release of the DEADMAN switch or a 'half' operation of the emergency stop switch, indicating a transient safety circuit anomaly.

An abnormality has been detected in the internal DB (Dynamic Braking) relay of the servo amplifier. This indicates a fault within the amplifier's internal circuitry responsible for dynamic braking.

The SVALM (Red) LED lights when the servo amplifier detects an internal alarm. This fault is indicated if the LED lights up when there is no apparent alarm condition in the machine, or if it does not light up when there *is* an alarm condition. This suggests a malfunction in the servo amplifier's internal diagnostic system or its alarm logic.

The SVEMG (Red) LED indicates that an emergency stop signal is being input to the servo amplifier. This alarm occurs if the LED lights up when the machine is not in an emergency stop state, or if it fails to light when the machine *is* at an emergency stop. This indicates an internal issue with the servo amplifier's E-stop signal processing.

The V4 (Red) LED indicates that the DCLINK circuit inside the servo amplifier is charged to the specified voltage. If this LED does not light after the pre-charge sequence is finished, it suggests a problem with the DC link charging, potentially due to a short circuit or a defective charge current control resistor.