The FANUC M-20iA is a versatile industrial robot, but like any robotic system, it can experience errors related to motion, communication, safety, and programming. Here’s an overview of common FANUC M-20iA error types and how to troubleshoot them:
### 1. **Servo and Motion Errors**
- **SRVO-062 SERVO alarm**: This is a general servo alarm that can be caused by overloading, exceeding speed limits, or a wiring issue. Check for loose connections or overload on the axis in question.
- **SRVO-050 Collision Detect**: This error indicates a collision on one or more axes. Verify that the robot's path is clear of obstacles, and check the collision sensitivity settings if they are too low.
- **SRVO-068 Stop Error**: Often related to emergency stops or exceeding motion limits. Check the emergency stop buttons and confirm if any motion limits have been triggered.
### 2. **Overtravel and Axis Errors**
- **SRVO-045 Limit Error**: This error occurs when the robot exceeds its designated travel limits. Move the robot back within its operational limits using the teach pendant.
- **SRVO-021 Disturbance Excess**: This error can happen if there’s excessive force or load on an axis, possibly due to incorrect payload settings. Verify the payload configuration in the controller.
- **SRVO-003 Deadman Switch Released**: Triggered when the deadman switch on the teach pendant is released. Press the switch again to continue robot operation.
### 3. **Battery and Power Supply Errors**
- **SRVO-065 Battery Alarm**: This error indicates a low or dead battery, which can lead to loss of mastering data. Replace the battery as soon as possible and re-master the robot axes if necessary.
- **SRVO-231 Power Supply Alarm**: Typically caused by unstable or insufficient power to the controller or servo amplifiers. Check the power supply to ensure consistent voltage and inspect for loose or damaged cables.
### 4. **Communication Errors**
- **COMM-053 Connection Lost**: This indicates a loss of communication between the robot and other devices, such as the PLC. Check network connections and verify that IP configurations are correct.
- **COMM-057 Ethernet/IP Scanner**: Occurs when there’s a communication error on an Ethernet/IP network. Inspect Ethernet cables, verify IP addresses, and confirm that the Ethernet/IP module settings are properly configured.
### 5. **System and Software Errors**
- **PRIO-037 I/O Config Error**: This error occurs if there is a mismatch in the I/O configuration settings. Double-check the I/O setup, especially after any hardware changes.
- **MCTL-013 Pause Request**: Generated when there’s a request to pause the robot (often from an external device). Check the program logic or external connections to resolve the pause request.
- **SYST-011 System Alarm**: This error is often related to internal software conflicts or issues with the robot controller. Restarting the robot may clear the error; if it persists, contact FANUC support.
### 6. **Safety and Emergency Stop Errors**
- **SYST-056 Safety Fence Open**: Triggered when the safety fence is open or a safety sensor is activated. Verify that all safety doors are closed and that safety interlocks are functioning properly.
- **SYST-045 Emergency Stop**: Indicates that an emergency stop has been activated. Ensure all emergency stops are released and then reset the robot.
- **SYST-012 External Hold**: Occurs when an external hold signal is active. Verify the signal source and release the hold if safe to do so.
### Troubleshooting Tips
- **Check Documentation**: FANUC robots come with detailed manuals specifying each error code and corrective actions.
- **Use the Teach Pendant**: The teach pendant provides error details and can help diagnose the issue.
- **Restart and Reset**: Some errors may clear after a restart. If an error persists, use the controller’s reset function.
- **Inspect Connections**: Ensure all cables, power sources, and external devices are securely connected.
- **Contact FANUC Support**: For complex or unresolved errors, FANUC support may be necessary.
