[Cause]
The initialization of the servo amplifier, linear tracking I/F board, and pulse encoder failed.
Digit 1: Displays the action group number where the alarm occurred.
Digit 2: Displays the axis number in the action group where the alarm occurred.
Digit 3: Displays the hardware axis number where the alarm occurred.
Digit 4: Displays diagnostic information on the cause of the alarm.
[Countermeasure]
1. Check the optical cable between the axis control card on the main board and the servo amplifier, and replace it if there is any abnormality.
2. When the linear tracking I/F board is installed, check the optical cable between the axis control card on the main board and the linear tracking I/F board, and replace it if there is any abnormality.
3. When the linear tracking board is installed, check the optical cable between the linear tracking board and the servo amplifier, and replace it if there is any abnormality.
4. Turn on the power with the pulse encoder connection cable removed from the 6 axis servo amplifier, and confirm whether this alarm disappears (alarms such as SRVO-068 that occur due to the removal of the pulse encoder connection cable can be ignored). When the alarm disappears, it may be due to a ground fault in the robot connecting cable or the pulse encoder cable of the robot's internal cable. Please identify the fault location and replace it.
5. Confirm that LED (P5V, P3.3V) on the 6 axis servo amplifier is lit. If it does not light up, confirm that 24V power has been supplied to the 6 axis servo amplifier, and if it has been supplied correctly, replace the 6 axis servo amplifier.
6. Replace the servo amplifier.
7. When the linear tracking I/F board is installed, replace the linear tracking I/F board.
8. When the axis that occurs is an additional axis, confirm that no connector is connected to JX8 of the additional axis amplifier (iSV). For example, this alarm may occur when the pulse encoder cable of the additional axis should be connected to the JF1 connector of the additional axis amplifier (αiSV) but is mistakenly connected to JX8.
9. Replace the motor. After replacement, zero point calibration is required. For details, please follow "Troubleshooting based on alarm codes" in the control device maintenance manual corresponding to the control device used. When contacting the service department, be sure to correctly inform the numerical part of the alarm message.
Note To clear this alarm, power needs to be cycled.