[Cause]
A collision was detected. (The estimated disturbance torque in the servo software exceeded the specified value.) The numbers in parentheses indicate the motion group number and the axis number within the group. Possible causes are as follows:
1. The robot actually collided (deposited)
2. False detection due to the following excessive actions
Excessive movement caused by using acceleration magnification
Use CNT (smooth) for excessive movements such as reverse movements
In linear motion near the singular point, the axis rotates at high speed
3. Increased friction caused by falling outside temperature
4. Insufficient torque caused by input voltage drop
5. Brake failure (setting error)
6. Failure of the additional axis brake unit (in the case of additional axis)
7. Amplifier failure
8. Emergency stop unit failure
9. Motor failure
10. Cable failure
11. Reducer failure
12. Balancer failure
[Countermeasure]
1. Check whether the robot has collided or whether something has increased the mechanical load (weld sticking, etc.). Hold down SHIFT and press the alarm reset key to clear this alarm. Without releasing SHIFT, use JOG to jog in the direction opposite to the collision (or weld sticking).
2. Confirm whether the load setting is correct.
3. Check for excessive motion caused by overload, an excessive additional acceleration instruction, or similar causes. (Modify the motion conditions.) If the motion conditions have not been corrected, sensitivity will decrease. Sensitivity (the permitted value) can be changed on the teach pendant disturbance-value screen [4 Status / Axis / Disturbance].
4. This only occurs when starting up after long-term inactivity or when the outside air temperature is low. After starting, run the equipment at low speed for a short period of time, and then use it at normal speed.
5. Check whether the connectors of the motor power cord and brake cord from the control device to the robot joint motor are loose, and tighten them if they are loose. Also, if abnormalities such as bends or dents appear on the connector terminals, replace the connector.
6. Confirm that the input voltage is the rated voltage of its control device. If the input voltage is set correctly, it may be caused by a brake failure. Replace the motor or consult our company.
7. Confirm whether the brake of the axis has been released. (When adding an additional axis, first confirm whether the brake number is set correctly.)
8. When using a brake unit on an additional axis, confirm whether the fuse of the brake unit is blown.
9. It may be caused by the failure of the following parts. Replace parts or contact FANUC for details when an alarm occurs.
- Additional axis brake unit (when additional axis)
- Servo amplifier
- Emergency stop unit
- Servo motor
- Robot connection cable
- Internal cables
- Reducer
- Balancer