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Answered Error: SRVO036 G1A3

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Chang Thriving

Hello all,

I am having a FANUC M710i robot having a RJ3 controller.

I am getting an error of SRVO036 G1A3. This error is happening couple of times for each cycle, and i have to reset the fault and then continue. I am having this error for a couple of days now. It appeared few months ago but then vanished. 

Kindly help me if possible.

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    Howard Coleman
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    Dear Chang,

    What i am posting is authentic and i have been implementing this. However, I am suspecting that you are having a slipping brake over the axis 3 which illustrates that you have to replace the motor of your FANUC. Well, here is the way to go.

    SRVO–036 Inpos time over (Group : i Axis : j)        [The robot is not getting an effective area]

    ($PARAM_GROUP.$ STOPTOL)

    Even though the position check is monitoring the time 

    ($PARAM_GROUP. $INPOS_TIME) elapsed.

    You have to take the same action as SRVO–23 for the larger position error at stop

    SRVO–023 Stop error excess (Group : i Axis : j)

    This is when you have your servo motor stopped working and the position error is too large.

    Here, you are suggested to check the brake is released and 'clack' sound produced with vibration or not?

    If the brakes are not released then you are required to take following actions.

    • Check the continuity of the brake line of the robot cable of connection and internal cable.
    • If there is not cable disconnection, then replace the servo motor or its amplifier

    In case if the brakes are released then you are required to take following actions.

    • Checking the obstacles if it is disturbing the motion.
    • Make it sure that all connectors of CNJ1A and CNJ6 are in placed and secure.
    • Checking the continuity of power cable and the robot connection.
    • Checking the load, if greater than rating then making it within range of ratings
    • Checking the input voltage of controller to be within the range of rated and allowed.
    • Replacing the servo amplifier.
    • Replacing the servo motor if alarm appears

    I hope you get answer.

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    Muhammad Ishaq
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    Dear Chang,

    I would suggest you a way very opposite to what Mr. Howard suggested. You may try that but i would suggest you following.

    Your robot is in the position error but not a stop error which means that the robot is not able to get its position within certain time and its positional error is giving flag and alarm. This might happen in case if there is no enough torque produced by the motor for getting itself to the point.

    This might be a brake but instead of slipping after it got there and it is not releasing and neither it is letting the motor to speed up. I think that you are having servo amplifier issue as it is missing power phase or lowering the voltage in general or is tooling and loading the robot. I would also recommend you checking the brakes connector for making it sure that it is showing correct voltage. I would recommend you to start at #5->6->7. The replacement of motor might be a fun.

    Please let me know if it work for you.

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