(1) The battery of the data storage on the FANUC robot encoder is out of power or has been damaged.
The encoder pulse data is stored as 4 ordinary 1.5V No. 1 dry batteries, and the voltage of each battery is measured, and the voltage is < 1.4V, and the voltage is obviously low, so the new battery is replaced, and the fault is reset again, and the SERVO-062 fault is still reported. < p="">
(2) The servo amplifier control board in the controller is broken.
Measure the 2 DC link voltage detection screws above the servo amplifier LED "D7", and if the DC link voltage > 50V, it can be judged that the servo amplifier control board is abnormal. The measured DC link voltage is < 50v, so it is preliminarily judged that the servo amplifier control board is in a normal state.
Observe the LED colors of P5V, P3.3V, SVEM, and OPEN on the servo amplifier control board, confirm that the power supply voltage output is normal, there is no external emergency stop signal input, and the communication with the robot motherboard is also normal, and the servo amplifier control board is damaged. < p="">
(3) The line of the Fanuc robot is damaged.
Check the external connection cables RM1 and RP1 between the robot controller and the robot body, RM1 is the robot servo motor power supply, the brake control line, and RP1 is the robot servo motor encoder signal and the control power supply, end effector, and the battery for data storage on the encoder.
Unplug the RP1, and the control power supply voltages of measuring terminals 5, 6 and 18 +5V and +24V are normal.
Then check the battery line of data storage on the encoder, and the servo motor pulse encoder control end of each axis of the robot is composed of 1~10 terminals, terminals 8, 9, 10 are +5V power supply, 4, 7 are data holding battery power supply, 5, 6 are feedback signals, 3 are grounding, and 1, 2 are empty.
First unplug the pulse control plug M1P of the M1 motor, measure the voltage of terminals 4 and 7 to 0, and check that all the M2~M7 motors are 0 in the same way, so that the battery circuit of the data storage on the encoder can be judged.
After investigation, it was found that the plug at one end of the twisted pair of positive and negative power supply had been buried in water for a long time, and the line had been seriously corroded.
