8.18 ROBOT AXES STATUS

8.18.1 Overview

The robot axes status screen displays information for each robot axis. This information is continually updated. Use this information when you call the FANUC Robotics Hotline if a problem occurs with your robot.

This screen displays the following status information for robot axes:

  • Status 1

  • Status 2

  • Pulse

  • Torque monitor

  • Tracking

  • Disturbance torque

  • Servo diagnosis

8.18.2 Status 1 Screen

The Status 1 screen displays the alarm status of the servo system. The status information consists of Flag Bits 1 (16 bits), shown on the upper row of bits for each axis, and Flag Bits 2 (16 bits), shown on the lower row of bits for each axis. See Figure 8.11 Status 1 Screen for an example Status 1 screen and Table 8.13 Status 1 Screen Items through Table 8.17 Servo Alarm Status 2; Address: FC81h (L-axis), FCC1h (M-axis) for descriptions of the items on this screen.

Figure 8.11 Status 1 Screen

STATUS Axis
                                        
                               GRP[ 1 ] 
      Flag Bits 1/2          History    
 J1: 0000000000000000 (0000000000000000)
     0000000000000000 (0000000000000000)
 J2: 0000000000000000 (0000000000000000)
     0000000000000000 (0000000000000000)
 J3: 0000000000000000 (0000000000000000)
     0000000000000000 (0000000000000000)
 J4: 0000000000000000 (0000000000000000)
     0000000000000000 (0000000000000000

Table 8.13 Status 1 Screen Items

ITEMDESCRIPTION

Flag Bits 1

This item provides servo alarm status 1 in 16 bits. The meanings of the bits are described in Table 8.14 Servo Alarm Status 1; Address: FC80h (L-axis), FCC0h (M-axis).

Flag Bits 2

This item provides servo alarm status 2 in 16 bits. The meanings of the bits are described in Table 8.17 Servo Alarm Status 2; Address: FC81h (L-axis), FCC1h (M-axis).

History

This item provides the most recent, non-current, values of the Flag Bits.

Table 8.14 Servo Alarm Status 1; Address: FC80h (L-axis), FCC0h (M-axis)

MSBB14B13B12B11B10B9B8B7B6B5B4B3B2B1LSB

OHAL

LVAL

OVC

HCAL

HVAL

DCAL

FBAL

ALDF

MCAL

MOFAL

EROFL

CUER

SSTB

PAWT

SRDY

SCRDY

Table 8.15 Alarm Terminology

Alarm Type

Alarm Description

OHAL

Amplifier overheat alarm

LVAL

It indicates a low voltage alarm.

OVC

It indicates an overcurrent (OVC) alarm.

HCAL

It indicates a high current alarm.

HVAL

It indicates a high voltage alarm.

DCAL

It indicates a regenerative discharge alarm.

FBAL

Disconnection alarm (ALDF indicates whether the disconnection is associated with the hardware or software.)

ALDF

Alarm distinction bit

If an amplifier alarm (OHAL, LVAL, HCAL, FSAL, IPMAL, or DCLVAL) is raised while ALSF is set to 1, the alarm is detected by PSM. When both FBAL and ALDF are set to 1, the disconnection alarm is detected by the hardware.

MCAL

Amplifier MCC adhesion alarm

MOFAL

Move command overflow alarm

When this bit is set to 1, it indicates that an overflow occurred when the move command was distributed.

EROFL

Error counter overflow alarm for line tracking

When this bit is set to 1, it indicates that the error counter has overflowed.

CUER

Current offset error

This bit is set to 1 when the current offset value of the A/D converter is higher than permitted.

SSTB

Servo standby signal

After POWON, this signal is set to 1, and the system waits for ITP. When SSTB is set to 1, the host outputs ITPCON and generates ITP.

PAWT

Parameter change completion signal

When the servo CPU finishes rewriting parameters, only 1 ITP is set to 1.

SRDY

Servo ready signal

While this flag is held to 1, a move command is accepted.

SCRDY

Servo communication flag

The servo CPU sets this flag to 1 once data writing to the shared RAM is completed. After reading the data, the host CPU resets the flag to 0.

Table 8.16 Description of Alarm Combinations

OVL

FBAL

ALDF

Alarm

1

0

1

Motor overload alarm (not used for a serial pulse coder)

1

0

0

Amplifier overload alarm

0

1

1

Pulse coder disconnection alarm (not used for a serial pulse coder)

Table 8.17 Servo Alarm Status 2; Address: FC81h (L-axis), FCC1h (M-axis)

MSBB14B13B12B11B10B9B8B7B6B5B4B3B2B1LSB

SRCMF

CLALM

FSAL

DCLVAL

BRAKE

IPMAL

SFVEL

GUN SET

FSSB DC

SCU CAL

AMU CAL

CHG AL

NOA MP

   

Table 8.18 Alarm Terminology

Alarm Type

Alarm Description

SRCMF

Compensation warning flag

When part of the position data is missing because of noise or some other reason, data compensation is performed. This data, however, should not be used for mastering or other purposes. To inform the host of this state, the flag is set to 1.

CLALM

It indicates a collision detection alarm.

When the servo CPU detects a collision, the flag is set to 1. The host CPU starts alarm handling after a lapse of a predetermined period from when the flag is set to 1.

FSAL

Fan stop alarm

DCLVAL

Low DC Link voltage alarm

BRAKE

Brake alarm of 6-axis amplifier

IPMAL

IPM alarm

IPM is an abbreviation for intelligent power module, which is a power component to replace IGBT. The IPM detects overheating and HC by itself.

SFVEL

Soft float start permission signal

When the velocity feedback falls below the velocity specified in a parameter, this flag is set to 1 to allow soft float to be started.

GUNSET

Servo gun switch completion signal

Once the resetting (initialization) of the pulse coder has been completed after the servo gun is switched, the signal is set to 1 only for 1 ITP.

FSSBDC

FSSB disconnection alarm

When a disconnection of FSSB is detected, this bit is set to 1. (Hardware detection by FSSBC)

SVUCAL

FSSB communication alarm

When two consecutive alarms are detected in data communication between the slave and a servo module, this bit is set to 1. (Detected by the servo software)

AMUCAL

FSSB communication alarm

When two consecutive alarms are detected in data communication between the servo module and a slave, this bit is set to 1. (Detected by the slave)

CHGAL

Amplifier charge alarm

NOAMP

No amplifier connection alarm

This bit is set to 1 when an amplifier is not connected while the presence of the corresponding axis is specified (B3 of AXIS register set to 0).

8.18.3 Status 2 Screen

The Status 2 screen indicates the pulse coder alarm status in 12 bits. See Figure 8.12 Status 2 Screen for an example Status 1 screen and Table 8.19 Status 2 Screen Items and Table 8.20 Pulse Coder Alarm Status for descriptions of the items on this screen.

Figure 8.12 Status 2 Screen

STATUS Axis
                                        
                               GRP[ 1 ] 
      Alarm Status     History          
 J1 : 000000000000 ( 000000000000 )     
 J2 : 000000000000 ( 000000000000 )     
 J3 : 000000000000 ( 000000000000 )     
 J4 : 000000000000 ( 000000000000 )     
 J5 : 000000000000 ( 000000000000 )     
 J6 : 000000000000 ( 000000000000 )

Table 8.19 Status 2 Screen Items

ITEMDESCRIPTION

Alarm Status

This item provides the pulse coder alarm status in 12 bits. The meanings of the bits are described in Table 8.20 Pulse Coder Alarm Status.

History

This item provides the most recent, non-current, values of the alarm status bits.

Table 8.20 Pulse Coder Alarm Status

MSBB10B9B8B7B6B5B4B3B2 B1LSB

SPHAL

STBERR

CRCERR

DTERR

OHAL

CSAL

BLAL

PHAL

RCAL

BZAL

CKAL

 

Table 8.21 Alarm Terminology

Alarm TypeAlarm Description

SPHAL

When this bit is 1, it indicates a soft phase alarm (abnormal acceleration).

STBERR

When this bit is 1, it indicates a start/stop bit alarm.

CRCERR

When this bit is 1, it indicates a CRC alarm.

DTERR

When this bit is 1, it indicates a data alarm.

OHAL

When this bit is 1, it indicates a over heat alarm.

CSAL

When this bit is 1, it indicates a check sum alarm.

BLAL

When this bit is 1, it indicates the low voltage alarm of the battery.

PHAL

When this bit is 1, it indicates a phase alarm.

RCAL

When this bit is 1, it indicates a rotating speed counter abnormal alarm

BZAL

When this bit is 1, it indicates an exhausted battery alarm.

CKAL

When this bit is 1, it indicates a clock alarm.

8.18.4 Pulse Screen

The Pulse screen displays the servo delay, machine position, and status of the motion command. See Figure 8.13 Pulse Screen for an example screen and Table 8.22 Pulse Screen Items for descriptions of the items on this screen.

Figure 8.13 Pulse Screen

STATUS Axis
                                        
                               GRP[ 1 ] 
      Position    Machine     Motion    
        Error        Pulse      Command 
 J1 :         0           0           0 
 J2 :         0           0           0 
 J3 :         0           0           0 
 J4 :         0           0           0 
 J5 :         0           0           0 
 J6 :         0           0           0

Table 8.22 Pulse Screen Items

ITEMDESCRIPTION

Position Error

units: pulses

This item is the servo delay. This item displays the difference between the commanded APC count versus the actual APC count.

Machine Pulse

units: pulses

This item is the machine position. These are actual absolute pulses. This item shows the actual APC count as read by the controller.

Motion Command

units: pulses

This item indicates the relative command pulses from the host. This item displays the desired value of the Absolute Pulse Coder (APC) when the robot gets to the position commanded by the controller.

8.18.5 Torque Monitor Screen

The Torque Monitor screen displays the current values, and the status of the position, overtravel, and servo amplifier. Load to the motor and thermal loss can be estimated using the root-mean-square current values. See Figure 8.14 Torque Monitor Screen for an example screen Table 8.23 Torque Monitor Items for descriptions of the items on this screen.

Figure 8.14 Torque Monitor Screen

STATUS Axis
                                        
                               GRP[ 1 ] 
     Torque Monitor                     
           Ave. / Max.    Inpos OT VRDY 
 J1 :      0.000/     0.000  1   0  OFF 
 J2 :      0.000/     0.000  1   0  OFF 
 J3 :      0.000/     0.000  1   0  OFF 
 J4 :      0.000/     0.000  1   0  OFF 
 J5 :      0.000/     0.000  1   0  OFF 
 J6 :      0.000/     0.000  1   0  OFF

Table 8.23 Torque Monitor Items

ITEMDESCRIPTION

Average

units: Amps

This item is the average of the root-mean-square current values.

Maximum

units: Amps

This item is the maximum of the root-mean-square current values.

Inposition

This item is the position status, 0 or 1. 0 means that the robot is not in position. 1 means that the robot is in position.

OT

This item is the overtravel status, 0 or 1. 0 means the robot is not in overtravel. 1 means the robot is in overtravel.

VRDY

This item is the servo amplifier ready status, ON or OFF. ON means the servo amplifier is ready, OFF means the servo amplifier is not ready.

8.18.6 Tracking Screen

The Tracking screen displays the status of the tracking servo system. See Figure 8.15 Tracking Screen for an example screen and Table 8.24 Tracking Screen Items for a description of the items on this screen.

Figure 8.15 Tracking Screen

AXIS Status

  Tracking Status                       
                                        
       Flag Bits 1      Flag Bits 2     
 P1 : 0000000000000000 0000000000000000 
 P2 : 1111111111111111 0111111111111111 
                                        
      Alarm Status    Counter Value     
 P1 : 000000000000              0       
 P2 : 111111111111       ********

Table 8.24 Tracking Screen Items

ITEMDESCRIPTION

Flag Bits 1

This item is the servo alarm status 1, in 16 bits. The meanings of the bits are described in Table 8.14 Servo Alarm Status 1; Address: FC80h (L-axis), FCC0h (M-axis).

Flag Bits 2

This item is the servo alarm status 2, in 16 bits. The meanings of the bits are described in Table 8.17 Servo Alarm Status 2; Address: FC81h (L-axis), FCC1h (M-axis).

Alarm Status

This item is the pulse coder alarm status, in 12 bits. The meanings of the bits are described inTable 8.20 Pulse Coder Alarm Status.

Counter Value

This item is the line tracking counter.

8.18.7 Disturbance Torque Screen

The Disturbance Torque screen displays the disturbance torque to each motor (current torque and maximum and minimum torque for each ITP) The disturbance torque is indicated with the current values estimated from the difference between the scheduled and actual values of the pulse coder. If the maximum or minimum value set for the disturbance torque is exceeded, the collision detection function of the servo system regards a collision as occurring and turns off the servo power. See Figure 8.16 Disturbance Torque Screen for an example screen and Table 8.25 Disturbance Torque Screen Items for a descriptions of the items on this screen.

Figure 8.16 Disturbance Torque Screen

STATUS Axis
                               GRP[ 1 ] 
     Disturbance Torque (A)             
     Curr./ Max.(Allowed)/Min.(Allowed) 
J1 :   0.0    0.0(  28.9)    0.0( -28.9)
J2 :   0.0    0.0(  50.0)    0.0( -50.0)
J3 :   0.0    0.0(  49.4)    0.0( -49.4)
J4 :   0.0    0.0(  24.1)    0.0( -24.1)
J5 :   0.0    0.0(  15.3)    0.0( -15.3)
J6 :   0.0    0.0(  14.6)    0.0( -14.6)

Table 8.25 Disturbance Torque Screen Items

ITEMDESCRIPTION

Current

units: Amps

This item is the current disturbance torque to the servomotor.

Maximum

units: Amps

This item is the maximum value of the disturbance torque.

Minimum

units: Amps

This item is the minimum value of the disturbance torque.

8.18.8 Servo Diagnosis

The Servo Diagnosis screens provide diagnostic information you can use to troubleshoot problems with your robot and controller.

Main Screen

The Servo Diagnosis Main screen displays the values of each of the diagnostic items for the robot axis that has the most out of range values. From this main screen, you can display more detailed, individual screens for each of the diagnostic items: reducer, motor overheat, transformer overheat, current, disturbance, OVC, collision detection, and discharge.

Figure 8.17 Servo Diagnosis Main Screen

Diagnosis                       FBD

 group [1]
 reducer            1185352.5 hours
 over heat(motor)       61.17 %
 over heat(trans)        0.00
 current                 0.05
 disturbance             0.00 %
 OVC                     0.00 %
 collision detection    ***** times
 discharge                  0 W

Table 8.26 Servo Diagnosis Main Screen Items

ITEMDESCRIPTION

Group

This item displays the number of the motion group for the axes being displayed.

Reducer

This item displays the time remaining until the recommended overhaul of the reducers.

Over Heat (Motor)

This item displays the ratio of the root mean square current to the rated current for the motor.

Over Heat (Trans)

This item displays the ratio of the root mean square current to the rated current for the transformer.

Current

This item displays the ratio of the current torque to the maximum.

Disturbance

This item displays the ratio of the force observed by the servo software to the alarm threshold.

OVC

This item displays the ratio of the motor temperature simulated by the software to the alarm threshold.

Collision Detection

This item displays the number of collisions that have been detected and information from the last detected collision.

Discharge

This item displays the discharge value for the servo amplifier. Discharge is the power supplied from the motors to the amplifier. For example, when the robot swings downward, gravity supplies energy to the amplifier through the motors.

Reducer Screen

The Servo Diagnosis Reducer screen shows the time remaining until the recommended overhaul of the reducers for each axis in the selected motion group. If you want to increase the number of hours between overhauls, decrease the jog speed value (override). Monitor the reducer time value after running for several days to determine the period between overhauls of the reducers.

This screen shows the recommended time remaining until the next reducer overhaul. The overhaul time depends on the future motion of the reducer. The overhaul time is based on a prediction made by averaging the load on the reducer from robot motion during the most recent 50 hours. As the motion load changes, the overhaul time will change.

To display the Servo Diagnosis Reducer screen, press F3, reducer. See Figure 8.18 Servo Diagnosis Reducer Screen .

Figure 8.18 Servo Diagnosis Reducer Screen

Diagnosis                           FBD

reducer
 group [1]
      J1           82157688.0 hours
      J2            3272631.8 hours
      J3            1197003.5 hours
      J4           62860688.0 hours
      J5            1901736.6 hours
      J6          188308000.0 hours

Over Heat Screen

The Servo Diagnosis Over Heat screen shows the ratio of the root mean square current to the rated current. If you want to decrease this value, decrease the override value or reduce program speed.

To display the Servo Diagnosis Over Heat screen, press F4, ov.heat. See Figure 8.19 Servo Diagnosis Over Heat Screen .

Figure 8.19 Servo Diagnosis Over Heat Screen

Diagnosis                           FBD

over heat
 trans   0.00 %
 motor group [1]
      J1         0.00 %
      J2        51.90 %
      J3        60.63 %
      J4         0.00 %
      J5        61.17 %
      J6         0.00 %

Torque Screen

The Servo Diagnosis Torque screen shows the ratio of the current torque to the maximum torque allowed. If this number is greater than 100%, confirm that the combined weight of the end-of-arm-tooling and workpiece does not exceed the maximum payload of the robot.

To display the Servo Diagnosis Torque screen, press NEXT, >, and then press F1, torque. See Figure 8.20 Servo Diagnosis Torque Screen .

Figure 8.20 Servo Diagnosis Torque Screen

Diagnosis                           FBD

 torque
 group [1]
      J1    0.01 %
      J2    0.00 %
      J3    0.01 %
      J4    0.00 %
      J5    0.02 %
      J6    0.00 %

Disturbance Screen

The Servo Diagnosis Disturbance screen shows the ratio of the force observed by the servo software to the alarm threshold. If the maximum or minimum value is greater than 100%, confirm that the payload has been set correctly.

To display the Servo Diagnosis Disturbance screen, press NEXT, >, and then press F2, disturb. See Figure 8.21 Servo Diagnosis Disturbance Screen .

Figure 8.21 Servo Diagnosis Disturbance Screen

Diagnosis                           FBD

 disturbance
 group [1] current   max(%)   min(%)
      J1    0.00 %    0.29 /    -2.41
      J2    0.00 %    2.92 /   -13.28
      J3    0.00 %   14.03 /    -6.36
      J4    0.00 %    1.57 /    -6.54
      J5    0.00 %    0.23 /   -46.59
      J6    0.00 %    6.80 /    -2.72

OVC Screen

The Servo Diagnosis OVC screen shows the ratio of the temperature simulated by the software to the alarm threshold. The temperatures of the motors are simulated by the software to protected them from overheating. If this value is 100 or greater, decrease the value by using the override command to decrease the override.

To display the Servo Diagnosis OVC screen, press NEXT, >, and then press F3, ovc. See Figure 8.22 Servo Diagnosis OVC Screen .

Figure 8.22 Servo Diagnosis OVC Screen

Diagnosis

OVC
 group [1]
      J1    0.00 %
      J2    0.00 %
      J3    0.00 %
      J4    0.00 %
      J5    0.00 %
      J6    0.00 %

Last Detection Screen

The Servo Diagnosis Last Detection screen shows the number of collisions that have been detected and information from the last detected collision. If many collisions are detected, perform an overhaul to correct the problem.

To display the Servo Diagnosis Last Detection screen, press NEXT, >, and then press F4, cl.det.

Figure 8.23 Servo Diagnosis Collision Detection Screen

Diagnosis

 last detection
   2001/  7/ 18,  0: 52: 10
 group [1]
 count / position
 J1  ***** times    0.00 deg
 J2      1 times   66.13 deg
 J3  ***** times  -55.24 deg
 J4  ***** times   -0.00 deg
 J5      1 times   54.90 deg
 J6  ***** times    0.00 deg

8.18.9 Procedure

Use Procedure 8.17 Displaying the Axis Status Screens to display the axis status screens.

Procedure 8.17 Displaying the Axis Status Screens

Steps

  1. Press STATUS.

  2. Press F1, [TYPE].

  3. Select Axis.

  4. Display the status screen you want:

    • For Status 1, press F2, STATUS1.

    • For Status 2, press F3, STATUS2.

    • For Pulse, press F4, PULSE.

    • For Torque Monitor, press NEXT, >, and then press F2, MONITOR.

    • For Tracking, press NEXT, >, and then press F3, TRACKING.

    • For Disturbance Torque, press NEXT, >, and then press F4, DISTURB.

    • For Servo Diagnosis, press NEXT, >, and then press DIAG.

      Note

      You cannot change any information on these screens except for the group number. Group number applies only if you have multiple groups; otherwise, it remains as 1.


  5. To change the group number, press F5, GRP#, and type the number of the motion group you want.