Fanuc SVGN Alarm Codes

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Fanuc SVGN Alarm Codes

SVGN-001 STOP Serious Internal error
Cause: Internal Servo Gun error
Remedy: Record error and report to hotline.
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SVGN-002 STOP No sysvar pointer
Cause: This is an internal system error.
Remedy: Record error and report to hotline.
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SVGN-003 STOP No global variables
Cause: This is an internal system error.
Remedy: Record error and report to hotline.
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SVGN-004 STOP Unable to Allocate Memory
Cause: A failure occurred while allocating memory.
Remedy: Check amount of memory being used by the system. Perform a cold start on the controller.
If the problem still exists, document the events that led to the error, and contact your FANUC
technical representative.
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SVGN-005 STOP Wrong TPP inst. format
Cause: An internal servogun program error has occurred.
Remedy: Repower, perform a Controlled start, and then back to Cold start. This action re-generates
the internal servogun program and may correct the problem. If the problem persists, document the
events that led to the error, and contact your FANUC Robotics technical representative.
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SVGN-006 STOP Another TASK used this equip.
Cause: Another TPP specified this equipment and now executing or paused.
Remedy: Force abort another TPP.
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SVGN-007 STOP Pre execution failed
Cause: Pre-execution has some trouble and system pauses the program execution for safety.
Remedy: Press RESET to clear the error and continue the program. If this error continues to occur,
perform a cold start by turning off the robot, then while pressing SHIFT and RESET on the teach
pendant, turn the robot back on. If the error is not cleared, document the events that led to the error
and call your FANUC Robotics technical representative.
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SVGN-008 STOP Syntax error
Cause: Instruction syntax error. This instruction is for air gun spot.
Remedy: Reteach the instruction. Reteach servo gun SPOT instruction.
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SVGN-009 STOP Motion Group config. mismatch
Cause: The robot group and/or gun group are not enabled, in the group mask of this teach pendant
program.
Remedy: Determine the robot group number and gun group number for this equipment, then re-create
the program, with these groups enabled.
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SVGN-010 STOP Invalid SG group config.
Cause: An invalid servo gun group number (greater than total number of groups) has been assigned
to this servogun (equipment).
Remedy: Check the group number assigned to this servogun (equipment).
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SVGN-011 STOP Can not execute instruction(s).
Cause: Incremental, offset or tool offset instructions can not execute with servo gun SPOT instruction
at the same program line.
Remedy: Delete the incompatible motion option.
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SVGN-012 STOP Invalid value for index
Cause: The register index specified in the instruction is invalid.
Remedy: Check the index value.
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SVGN-013 STOP Pressure exceeds limit
Cause: The Pressure specified in the pressure schedule, or pressure instruction, exceeds the Max
Pressure for the gun.
Remedy: Reduce the Pressure in the pressure schedule or program, or increase the Max Pressure
item on the Servo Gun General SETUP screen. Confirm that the new pressure value does not exceed
the mechanical limitation of the gun.
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SVGN-014 STOP Associate TID not found
Cause: This is an internal system error.
Remedy: Record error and report to hotline.
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SVGN-015 STOP Setup Configuration error
Cause: Pointer to gun, schedule, backup or distance data is invalid.
Remedy: Check the servo gun configuration data. Document the events that led to the error, and call
your FANUC Robotics technical representative.
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SVGN-016 STOP Specified pressure too low
Cause: The pressure specified in the pressure schedule or pressure instruction is lower than the
lowest reachable pressure on the calibration curve.
Remedy: Increase the Weld Pressure, set weld pressure = 0, or recalibrate pressure. Note 1: when
weld pressure = 0, the minimum possible pressure (actual tip force may not be 0) is used. SVGN-016
will not be posted even if the calibration curve does not contain a point where weld pressure = 0. Note
2: add a calibration point at or below the specified pressure to ensure the gun can achieve the low
pressure. Note 3: reducing the contact speed might make it possible to achieve lower pressures.
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SVGN-017 STOP Invalid pressure coefficient
Cause: Single-segment calibration method is enabled and prm_a1 is invalid (less than 0.0001 OR
greater than 100.0).
Remedy: Change the calibration method to the multi-linear segment method if possible. Do this by
setting the sysvars $sgsyscfg.$cal_model = 12 and $sgsyscfg.$frc2spd_cnv = 3, then perform the
pressure calibration again.
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SVGN-018 STOP Illegal torque limit value
Cause: The torque value is illegal (less than $sgsyscfg.$minimum_trq OR greater than max rated
torque). This alarm can occur at the following times: SPOT[], PRESS_MOTN[], or PRESS[]kgf
execution.
Remedy: Confirm that the pressure calibration data is valid.
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SVGN-019 WARN Pressure shortage
Cause: Same as SVGN-020, but severity is WARN. Note: SVGN-019 can occur during autotuning or
if $sgsyscfg.$pst_ertype = 1; SVGN-020 occurs otherwise.
Remedy: See remedy for SVGN-020.
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SVGN-020 STOP Pressure shortage
Cause: The pressure specified in the SPOT or PRESS_MOTN instruction could not be achieved in
the expected time ($sgpxdata.$info[eq#].$lim_time [ms]). There are two causes: 1) Gun close was not
detected: the moving tip did not press into the part (or fixed tip, if no part). 2) The pressure (force)
setpoint could not be reached and/or was unstable.
Remedy:
1. Perform the following:
• If a welding part is expected then confirm that a part for welding is present. If no part is
expected set the Part Thickness value to zero for the Pressure Schedule being used. If
there is no part because this is a test cycle or dry-run, then set the Soft Panel to TRYOUT
mode to ignore the missing part.
• Verify that the tips touch at the zero position. If they do not: a. If tip wear update is used:
run the tip update program b. If tip wear update is not used, perform mastering with the
gun zero master screen.
• Adjust the Pressure Schedule data as necessary to close the tips to pressure:
9. Press DATA.
10. Press F1, [TYPE].
11. Select PRESSURE.
12. Select the Pressure Schedule # that is being used and press F4, DETAIL.
13. Confirm that the Part Thickness value is correct.
14. Adjust the Part Thickness value if necessary. If the Part Thickness is correct, increase
the Pushing Depth to allow the moving tip to extend further to achieve pressure. If
the pushing depth does not appear in the pressure schedule detail, add it to the form
by setting $sgsyscfg.$sho_pshdpth=TRUE. If tip wear compensation is NOT used,
increase the Pushing Depth up to the Close Stroke limit of the gun.
2. If the gun is closing too slowly, then try to increase speed with the following measures: –
Increase the General Override – Reduce the opening used in the Distance Schedule – Increase the
Contact speed in the Pressure Calibration screen or change it directly in the pressure schedule
screen. Set $sgsyscfg.$sho_prs_spd=TRUE then return to the pressure schedule screen to adjust
the value. It may be necessary to perform the Pressure Calibration again if the tip pressure
changes. – Autotune the gun again to compensate for mechanical changes in the gun.
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SVGN-021 STOP Uninitialized BU condition
Cause: The BU schedule number (condition) is not initialized or is invalid.
Remedy: Set a valid backup schedule number (greater than or equal to 0, AND less than or equal to
$sgsyscfg.$back_elm) into the instruction in the teach pendant program.
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SVGN-022 STOP Uninitialized Pres. condition
Cause: The pressure schedule number (condition) is not initialized or is invalid.
Remedy: Set a valid Pressure schedule number (greater than or equal to 1, AND less than or equal to
$sgsyscfg.$sch_elm) into the instruction in the teach pendant program.
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SVGN-023 STOP Incomplete Pressure calibration
Cause: Incomplete pressure calibration.
Remedy: Go to the Servo Gun General SETUP screen, select Pressure calibration, and perform
pressure calibration procedure.
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SVGN-024 STOP Incomplete Wear Down calibration
Cause: Tip Wear Compensation setup (calibration) is not complete.
Remedy: Perform the Tip Wear Setup procedure. Consult the Servo Gun Manual for details on
this procedure.
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SVGN-025 STOP Illegal BU condition number
Cause: Invalid BU schedule (condition) number (greater than $sgsyscfg.$back_elm, or less than 0).
Remedy: Specify a backup condition number within the range above.
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SVGN-026 STOP Illegal P condition number
Cause: Invalid P schedule (condition) number ( greater than $sgsyscfg.$sch_elm, or less than 1 ).
Remedy: Specify a pressure condition number within the range above.
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SVGN-027 STOP Untaught element encountered
Cause: Some program elements (like positional data for example) have not been recorded.
Remedy: Enter data for the missing program elements.
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SVGN-028 STOP Pos. type is JOINT
Cause: Position type is JOINT.
Remedy: Change position type to XYZWPR.
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SVGN-029 STOP Over max motor torque value
Cause: The motor torque required to achieve the pressure specified in the pressure schedule or
pressure instruction exceeds the Max Torque value specified on the Servogun SETUP screen.
Remedy:
1. Reduce the Pressure value.
2. Check Pressure Calibration data.
3. Calibrate Pressure again if the data is incorrect.
4. Increase the Max Motor Torque value on the Servo Gun General SETUP screen, if possible.
Note: motor torque value on the General SETUP screen can be regarded as a fractional
percentage of the maximum allowable torque. The screen will not allow this value to be set
larger than amp + motor rating.
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SVGN-030 SVAL1 Tip Stick detection
Cause: Tip stick detection DI is ON.
Remedy: Jog the gun open or use a tool to separate the tip from the part, if the tip is stuck. If the tip is
not stuck, then determine why the tip stick input is on.
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SVGN-031 STOP Tear Off is executing
Cause: When tear off function is executing, program cannot be started.
Remedy: Restart program after tear off function finished.
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SVGN-032 STOP Tip increased error(Gun)
Cause: The measured tip wear on the gun side (moving tip) indicates that the tip has grown by an
amount greater than the Gun Increased Error(mm) setting.
Remedy: First confirm the condition of the tip. If the tip is not ok, then replace it, and perform
tip wear measurement again. If a chip from tip dressing remains on the tip, remove this chip then
re-measure the tip wear. If new tips were installed after the previous tip wear measurement, be sure
the tip wear update program was run with the New Tips Parameter set to (1) in the Call instruction
for the tip wear macro. If this parameter was not set correctly, then press fault reset and run the tip
wear update program again with the New Tips Parameter set to (1). If the tip is OK and the new tip
parameter was set correctly, then perform the tip wear measurement again. Observe the gun closely
during this operation. Be sure the tips touch during the 1st step of the tip wear measurement and be
sure the gun tip touches the fixture during the 2nd step (if used). If the gun tip does not close fully
during either step, then the gun friction has probably increased. To compensate, run Autotuning then
Pressure Calibration and perform the tip wear setup procedure again with new tips. Inspect the gun to
find the reason for the increase in friction. If both steps of the measurement perform correctly then it
might be necessary to increase the value of the Increase Error(mm) setting for the robot side tip. Do
this on the Tip Wear Detection screen (SETUP-SERVO GUN-GENERAL SETUP).
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SVGN-033 STOP Tip increased error(Robot)
Cause: The measured tip wear on the robot side (stationary tip) indicates that the tip has grown by
an amount greater than the Robot Increased Error(mm) setting.
Remedy: First confirm the condition of the tip. If the tip is not ok, then replace it, and perform
tip wear measurement again. If a chip from tip dressing remains on the tip, remove this chip then
re-measure the tip wear. If new tips were installed after the previous tip wear measurement, be sure
the tip wear update program was run with the New Tips Parameter set to (1) in the Call instruction
for the tip wear macro. If this parameter was not set correctly, then press fault reset and run the tip
wear update program again with the New Tips Parameter set to (1). If the tip is OK and the new tip
parameter was set correctly, then perform the tip wear measurement again. Observe the gun closely
during this operation. Be sure the tips touch during the 1st step of the tip wear measurement and be
sure the gun tip touches the fixture during the 2nd step (if used). If the gun tip does not close fully
during either step, then the gun friction has probably increased. To compensate, run Autotuning then
Pressure Calibration and perform the tip wear setup procedure again with new tips. Inspect the gun to
find the reason for the increase in friction. If both steps of the measurement perform correctly then it
might be necessary to increase the value of the Increase Error(mm) setting for the robot side tip. Do
this on the Tip Wear Detection screen (SETUP-SERVO GUN-GENERAL SETUP).
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SVGN-034 STOP Excessive robot tip difference.
Cause: The Tip Wear difference between the robot tips on the dual gun exceeds the specified tolerance.
Remedy: Replace or dress the tips (and tip holder if necessary) and run the tip wear update program
for each gun. Alternatively, increase the difference tolerance in the Tip Wear Detection screen (Press
MENUS. Select SETUP. Select SERVO GUN. Select GENERAL SETUP.)
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SVGN-035 STOP Pressure enable time out
Cause: The pressure enable signal (input) did not turn on before the wait time expired.
Remedy: Determine why the pressure enable signal did not turn on. Or, increase the value of time
out($SPOTEQSETUP[].$PEN_TMOUT) if it is too short.
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SVGN-036 STOP Comp confirmation time out
Cause: The comp confirmation signal (input) did not turn on before the wait time expired.
Remedy: Check the reason that the comp confirmation signal is off. Or, increase the value of time
out($SPOTEQSETUP[].$NSE_TMOUT), if it is too short.
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SVGN-037 STOP Illegal pressure enable signal
Cause: The pressure enable signal number is illegal.
Remedy: Map the pressure enable input to a valid input index via ($SPOTEQIO[].$DI_PEN_I).
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SVGN-038 STOP Illegal comp confirmation signal
Cause: The comp confirmation signal number is illegal.
Remedy: Map the comp confirmation input to a valid input index via ($SPOTEQIO[].$DI_NSE_I).
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SVGN-039 WARN Thickness out of tolerance
Cause: Same as SVGN-040, but with a WARN severity.
Remedy: See SVGN-040.
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SVGN-040 STOP Thickness out of tolerance
Cause: The Measured part thickness deviates from the specified value more than the Under or Over
thickness limit(mm). The part might be out-of-tolerance.
Remedy: Check the master position for the gun axis and make sure the tips touch at the zero position
(+/- 0.1mm). Confirm that tip wear and gun sag compensation are enabled and that the compensation
values are correct. Check the part or re-enter the part thickness in the pressure schedule. Alternatively,
increase the Under and Over thickness limits in the Part Thickness check screen found on the Servo
Gun General Setup screen. Resume the program, to retry the measurement. Perform thickness check
calibration again, if the problem persists.
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SVGN-041 WARN No more available memory(PERM)
Cause: There is not enough permanent memory. It is impossible to allocate the system variable.
Remedy: Please increase the size of S-RAM module. Or, decrease the value of
$SGSYSCFG.$M_GUN_NUM.
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SVGN-042 WARN Lack of $SGGUN
Cause: The number of $SGGUN is less than total number of axes in the servo gun group(s).
Remedy: Increase $SGSYSCFG.$M_GUN_NUM to the minimum value required to accommodate
all servo gun axes. After changing this sysvar, go to control start, and then perform a Cold start, to
make the change effective.
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SVGN-043 WARN AutoTuning Started.
Cause: Servo Gun autotuning has been started.
Remedy: None. This is a notice to log the event.
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SVGN-044 WARN AutoTune Successfully Complete
Cause: Auto tuning has been completed successfully.
Remedy: Cycle controller power in order to use servo gun.
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SVGN-045 WARN AutoTuning Failed.
Cause: Auto Tuning Could not be completed.
Remedy: Restart Auto tuning on the tuning menu, and try the operation again.
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SVGN-046 WARN FAULTS must be reset.
Cause: The user executed autotuning while the system was faulted.
Remedy: Clear ALL FAULTS and start tuning again.
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SVGN-047 WARN Step mode must be disabled.
Cause: STEP mode is enabled.
Remedy: Disable STEP mode, and start tuning again.
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SVGN-048 WARN Machine lock must be disabled.
Cause: Machine Lock is enabled for the servo gun group.
Remedy: Disable Machine lock from the TEST CYCLE Menu, and start tuning again.
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SVGN-049 WARN Hold must be cleared.
Cause: Hold is active.
Remedy: Clear the HOLD, and start tuning again.
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SVGN-050 SYSTEM Autuning: Re-power required
Cause: Cycling controller power is required to make some parameter changes effective.
Remedy: Cycle power before proceeding.
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SVGN-051 WARN Backup stroke is not selected.
Cause: SHIFT + backup (hardkey) was pressed but no Backup Schedule (stroke) was selected.
Remedy: Select a backup schedule by pressing the backup hardkey (without the SHIFT key).
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SVGN-052 WARN Motion group mismatch.
Cause: The motion group number of the user program for manual pressure or manual backup is
not matched to the Servo Gun group.
Remedy: Change the motion group number of the program to match the Servo Gun.
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SVGN-053 WARN Backup stroke is not set.
Cause: The specified backup schedule (stroke) index is not valid.
Remedy: Set a valid backup schedule number.
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SVGN-054 STOP $EQNUM is invalid number.
Cause: $EQNUM is not use in the system.
Remedy: Set the valid equipment number to $EQNUM.
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SVGN-055 STOP $EQNUM is not Servo Gun.
Cause: The equipment specified by $EQNUM is not assigned to the Servo Gun
Remedy: Set the equipment number which is assigned to Servo Gun to $EQNUM.
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SVGN-056 STOP $GUNNUN is invalid number.
Cause: Specified number is not valid for $GUNNUM.
Remedy: $GUNNUM can be set only 1 or 2 which is corresponding to GUN1 or GUN2
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SVGN-057 STOP Tip Wear Down Cal. is INCOMP.
Cause: Tip Wear Compensation setup is not complete.
Remedy: Perform the Tip Wear Setup procedure. Consult the Servo Gun Manual for details on
this procedure.
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SVGN-058 STOP UT or UF is different.
Cause: The tool frame number or user frame number is different from the standard position.
Remedy: Change the frame number to same number of standard position.
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SVGN-059 STOP Cannot read specified PR[].
Cause: System cannot read the position register which is specified by $PRINDEX.
Remedy: Check the number of $PRINDEX.
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SVGN-060 WARN Pressure program is not set.
Cause: The pressure program name is not set correctly.
Remedy: Set correct program name in manual operation setup screen.
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SVGN-061 WARN Backup program is not set.
Cause: The backup program name is not set correctly.
Remedy: Set correct program name in manual operation setup screen.
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SVGN-062 WARN Pressure data is not selected.
Cause: The SHIFT + GUN hardkey was pressed, but no Pressure Schedule was selected.
Remedy: Select a pressure schedule by pressing the backup hardkey (without the SHIFT key).
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SVGN-063 WARN Pressure data is not set.
Cause: The GUN hardkey was pressed (to select pressure), but no Pressure Schedule was enabled.
Remedy: Enable Pressure Schedule(s) for Manual Operation by setting the Manual item to TRUE
in the Pressure Schedule data table.
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SVGN-064 WARN Manual Weld Verif. Enabled
Cause: The manual Weld Verification feature was enabled.
Remedy: None.
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SVGN-065 WARN Manual Weld Verif. Disabled
Cause: Manual Weld Verification feature was disabled.
Remedy: None.
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SVGN-066 WARN Manual Weld Verif. Activated
Cause: The Manual Weld Verification feature was activated.
Remedy: None. Just a notification, to let user know he is in this mode and that groups may be
disabled automatically
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SVGN-067 WARN Manual Weld Verif. De-Activated
Cause: The Manual Weld Verification feature was de-activated.
Remedy: None. Just a notification to let the user know he is in this mode and that groups may be
enabled automatically.
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SVGN-068 WARN Could not load program %s
Cause: The teach pendant program for tip wear measurement could not be loaded. See cause code
for reason.
Remedy: Resume the program, to re-attempt the load. If the load is successful, then the tip wear
measurement will continue.
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SVGN-069 WARN Pressure position is near close limit.
Cause: The actual position of the gun during pressuring (SPOT or PRESS_MOTN) is
approaching the gun’s close limit: the distance between the gun tip (position) and the close limit <
$SGSYSCFG.$CLSLMWRNTOL.
Remedy: Check the master position and close stroke limit for the gun. If these values are incorrect,
then update them. If these values are correct, then install new tips OR, reduce the value in
$SGSYSCFG.$CLSLMWRNTOL (mm) to withhold this alarm until the gun tip is closer to the close
stroke limit. Set $SGSYSCFG.$CLSLMWRNTOL (mm) = 0, to disable this alarm.
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SVGN-070 PAUSE Gun Change is DISABLED.
Cause: The gun change function is disabled.
Remedy: Enable the Gun change function.
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SVGN-071 PAUSE Machine lock is ENABLE.
Cause: Machine lock for robot axes is enabled at gun attach instruction.
Remedy: Release machine lock.
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SVGN-072 PAUSE Illegal assignment of gun axis.
Cause: Gun number assignment are wrong .
Remedy: Confirm Gun number assignment.
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SVGN-073 PAUSE Gun not detatched (AXISORDER).
Cause: Gun is not detached. Some AXISORDER are not 0.
Remedy: GUN ATTACH instruction can be executed only when no gun is attached.
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SVGN-074 PAUSE Gun not detatched.
Cause: Gun is not detached. Gun attach input signal is OFF.
Remedy: GUN ATTACH instruction can be executed only when no gun is attached.
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SVGN-075 PAUSE Gun not attached.
Cause: Gun is not attached. Gun attach input signal is ON.
Remedy: GUN DETACH instruction can be executed only when a gun is attached.
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SVGN-076 PAUSE Another process is executing.
Cause: Another program is executing GUN ATTACH or GUN DETACH instruction. $CHG_PHASE
is not 0 at executing the instruction.
Remedy: Wait until another program end GUN ATTACH/DETACH instruction.
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SVGN-077 PAUSE Gun identify signal is OFF.
Cause: Gun identify signal is OFF.
Remedy: Confirm the setting for Gun identify signal.
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SVGN-078 PAUSE Gun set signal is OFF.
Cause: Gun set signal is OFF.
Remedy: Confirm the setting for Gun set signal.
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SVGN-079 PAUSE Gun change canceled.
Cause: GUN ATTACH or GUN DETACH instruction is canceled while executing the instruction.
Remedy: Do COLD START the system.
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SVGN-080 PAUSE Gun change timeout.
Cause: GUN ATTACH or GUN DETACH instruction become timeout while executing the instruction.
Remedy: Do COLD START the system.
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SVGN-081 SYSTEM Gun mastering data is lost.
Cause: Mastering data of the gun is lost by a pause while mastering.
Remedy: Do COLD START the system. Then master the gun by manual operation.
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SVGN-082 PAUSE Gun mastering is failed.
Cause: Gun mastering is failed by a pause while mastering.
Remedy: Continue to retry mastering.
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SVGN-083 PAUSE GUN ATTACH is failed.
Cause: GUN ATTACH instruction failed. Please see cause code.
Remedy: Please see cause code.
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SVGN-084 PAUSE GUN DETACH is failed.
Cause: GUN DETACH instruction failed. Please see cause code.
Remedy: Please see cause code.
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SVGN-085 PAUSE Robot not mastered(Gun axis).
Cause: The mastering of servo gun axis has not been performed yet. System variable $master_done
set FALSE.
Remedy: Please perform the mastering of the servo gun axis.
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SVGN-086 PAUSE Robot not calibrated(Gun axis).
Cause: The calibration of servo gun axis has not been performed yet. System variable $calibrate
set FALSE.
Remedy: Please calibrate the servo gun axis.
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SVGN-087 PAUSE Ref pos not set(Gun axis).
Cause: Reference position has not been set when quick mastering.
Remedy: Quick mastering may not be possible. Fixture or zero master.
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SVGN-088 PAUSE Another gun is attached.
Cause: The gun number specified by the GUN DETACH instruction is different than the currently
attached gun.
Remedy: Verify the gun number of GUN DETACH instruction.
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SVGN-089 PAUSE Calibrate motion is failed.
Cause: While the calibrate motion, the detect condition was not triggered.
Remedy: Verify the detect condition in the gun change setup screen.
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SVGN-090 PAUSE PR[] index is not set.
Cause: The PR[] index for the calibrate motion is not set.
Remedy: Please set PR[] index for the calibrate motion in the gun change setup screen.
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SVGN-091 PAUSE Touch torque is not set.
Cause: The Touch torque for the calibrate motion is not set.
Remedy: Please set Touch torque for the calibrate motion in the gun change setup screen.
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SVGN-092 PAUSE Detect signal is not set.
Cause: The Detect signal for the calibrate motion is not set.
Remedy: Please set Detect signal for the calibrate motion in the gun change setup screen.
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SVGN-093 PAUSE Gun does not stop.
Cause: At the Gun Zero Master[] instruction, Servo gun axis does not stop.
Remedy: After servo gun axis stops, execute the Gun Zero Master[] instruction.
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SVGN-094 PAUSE GUN EXCHANGE failed
Cause: At the Gun exhange[] instruction, the new gun could not be activated.
Remedy: Make sure that the each servogun has valid axisorder
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SVGN-095 PAUSE Gun type is not opposable.
Cause: Opposable gun type is required for target gun.
Remedy: Set gun type as opposable, if appropriate.
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SVGN-096 PAUSE Gun close is disabled.
Cause: This operation cannot be performed while Gun Close (stroke enable) is disabled.
Remedy: Set the Gun operation to stroke (stroke enable) on the SoftPanel screen. Note: The
SoftPanel screen can be accessed from the TEST CYCLE menu.
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SVGN-097 PAUSE Tip wear down misdetection.
Cause: The tips did not touch during the 1st step of tip wear measurement due to an increase in gun
friction or the tips touched but they are now longer than the reference tips by an amount greater than
the Mis-Detect Toler.(mm)
Remedy: If the tips are not fully closed when the alarm occurs, then the re-master operation failed
during tip wear measurement. This usually happens because the gun friction has increased since the
gun was last Autotuned. Autotune the gun again and/or inspect the cause of the friction increase.
After this is complete, put new tips on the gun and perform the tip wear setup procedure again. If
the tips are closed when the alarm occurs, then the tips are longer than allowed. The tips measured
during tip wear setup are the reference tips. New tips can only be longer than the reference tips by
an amount equal to the Mis-Detect Toler.(mm) specified in the Tip Wear Detection screen (within
the Servo Gun SETUP screen). Either increase the Mis-Detect Toler.(mm) or replace the tips with
shorter tips. If the tips seem to be the correct length, then perform the tip wear setup procedure
again to establish new reference tips.
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SVGN-098 PAUSE Invalid inform signal(Gun).
Cause: The Digital Output assigned for notification of excessive Gun Tip Wear (amount) is invalid.
Remedy: Check the present setting of the Inform Signal for the Maximum Wear Check (gun) found
on the Tip Wear Detection screen (within the Servo Gun SETUP screen). Change the DO number to
one that is configured and unused. Check the Digital Output list (I/O-Type-DIGITAL-OUTPUTS)
to find an available DO point to use.
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SVGN-099 PAUSE Invalid inform signal(Robot).
Cause: The Digital Output assigned for the notification of excessive Robot Tip Wear (amount)
is invalid.
Remedy: Check the present setting of the Inform Signal for the Maximum Wear Check (robot) found
on the Tip Wear Detection screen (within the Servo Gun SETUP screen). Change the DO number to
one that is configured and unused. Check the Digital Output list (I/O-Type-DIGITAL-OUTPUTS)
to find an available DO point to use.
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SVGN-100 PAUSE Invalid register number.
Cause: The specified register number is out of range.
Remedy: Set a register index > 0 and < max register number.
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SVGN-101 PAUSE Invalid position reg number.
Cause: The specified position register number is out of range.
Remedy: Set a valid position register number.
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SVGN-102 WARN Increased err. not set(Gun).
Cause: The increased error limit for Gun(movable) tip is set to 0.0mm
Remedy: Set the Increased error to a value greater than 0.0mm if Increased Error checking is needed.
This item is set on the Tip Wear Detection screen (within the Servo Gun SETUP screen).
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SVGN-103 WARN Increased err. not set(Robot).
Cause: Increased error limit for Robot(stationary) tip is set to 0.0mm
Remedy: Set the Increased error to a value greater than 0.0mm if the Increased Error checking is
needed. This item is set on the Tip Wear Detection screen (within the Servo Gun SETUP screen).
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SVGN-104 PAUSE Excessive load detected.
Cause: An excessive load is detected, during tip wear setup or tip wear update. The gun zero
position might be incorrect.
Remedy: Remove any foreign object between the tips, and/or re-master the gun. Resume the tip
wear setup or update operation. If the alarm still occurs, then the gun friction has increased since
it was last Autotuned. Autotune the gun again and/or inspect the gun to determine the cause of
the friction increase.
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SVGN-105 PAUSE Failed to reset pulse coder.
Cause: The pulse coder alarm was not reset.
Remedy: Reset the pulse coder alarm again.
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SVGN-106 PAUSE Tip wear uninitialized.
Cause: Tip Wear Compensation is uninitialized.
Remedy: Perform the Tip Wear Setup procedure. Consult the Servo Gun Manual for details on
this procedure.
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SVGN-107 PAUSE Tip wear no load threshold.
Cause: The load threshold used to detect contact with the fixture for the second step of tip wear
measurement has not been set.
Remedy: Perform the Tip Wear Setup procedure. Consult the Servo Gun Manual for details on
this procedure.
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SVGN-108 PAUSE Tip wear no standard pulse.
Cause: The reference zero position (i.e. standard pulse) used for tip wear measurement has not
been set.
Remedy: Perform the Tip Wear Setup procedure. Consult the Servo Gun Manual for details on
this procedure.
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SVGN-109 PAUSE Tip wear no standard opening.
Cause: The reference open position (i.e. standard opening) used for the second step of tip wear
measurement has not been set.
Remedy: Perform the Tip Wear Setup procedure. Consult the Servo Gun Manual for details on
this procedure.
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SVGN-110 PAUSE Tip wear no detect DI index.
Cause: The Tip wear Detection Type is set to DI, but no DI index is specified.
Remedy: Confirm that DI detection is the desired type (LOAD detection is the default type). If so,
then assign an available DI point to the tip wear detection sensor and set that index value into the
Detect Signal item on the Tip Wear Detection Screen.
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SVGN-111 PAUSE Failed to touch fixture.
Cause: The gun tip reached the master position without detecting the fixture (i.e. tip wear plate)
during the second step of tip wear measurement.
Remedy: Confirm that the zero position is correct, then confirm that a rigid fixture is between the tips
during the second step of tip wear measurement.
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SVGN-112 PAUSE Incomplete Servo tuning.
Cause: Tip wear measurement or thickness check calibration started, but Servo tuning is incomplete.
Remedy: Complete servo auto-tuning. Go to the Gun Setup Utility (UTILITIES-GUN SETUP) and
select the Auto Tune item. The Auto Tune program can be started after completing the previous
steps in the utility.
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SVGN-113 PAUSE Gun must be open.
Cause: The tip wear setup or update program started with the gun closed.
Remedy: Open the tips, then execute the tip wear measurement program again. If the problem
persists, master the gun, then execute the tip wear measurement program again.
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SVGN-114 PAUSE Tip wear misdetection.(FIX).
Cause: The moving tip did not touch the fixture during the second step of tip wear measurement
due to an increase in gun friction, or the fixture and/or robot master position has changed since tip
wear was initialized.
Remedy: If the moving tip is not pressing into the fixture when the alarm occurs, the fixture touch
load (i.e. pressing force) was reached without actually touching the fixture. This usually happens
because the gun friction has increased since the tip wear setup program was run. Increase the Margin
of Load item in the Tip Wear Detection Screen to overcome the increase in friction. Doing this
can affect the tip wear measurement, so the tip wear setup procedure should be performed again.
Autotune the gun again and/or inspect the gun for the cause of the friction increase. If the moving tip
is pressing into the fixture when the alarm occurs then the fixture position has moved relative to the
robot master position, the robot master data has changed, or the points in the program TW_MV2PT.tp
have changed. Perform the tip wear setup procedure again.
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SVGN-115 PAUSE MP detection failed.
Cause: Magnet Phase detection failed.
Remedy: Retry the operation. Make sure that there is some separation (at least a few mm ), between
the guntip/fixedtip and drive mechanism/open_hardstop.
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SVGN-116 PAUSE MP detection unavailable.
Cause: Magnet Phase detection is unavailable with the current calibration motion type.
Remedy: Change the calibration motion type(to 7 or 8) in the Gun change screen.
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SVGN-117 PAUSE Ref pos auto-setup failed.
Cause: The Gun closing motion to set the reference position failed.
Remedy: Confirm that the Touch torque(%) on the Gun SETUP screen is set appropriately.
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SVGN-118 WARN Max wear exceeeded (Gun Tip).
Cause: The maximum tip wear amount has been exceeded on the gun tip.
Remedy: Replace the gun tip or re-run tip wear setup.
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SVGN-119 WARN Max wear exceeded (Rbt Tip).
Cause: The maximum tip wear amount has been exceeded on the robot tip.
Remedy: Replace the robot tip or re-run tip wear setup.
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SVGN-120 WARN Skipped max gun torque update: Gun%d.
Cause: Max gun torque was not updated due to an invalid parameter.
Remedy: See the cause code to identify the reason for the update failure. Correct the problem as
described by the remedy for the alarm specified in the cause code.
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SVGN-122 STOP Pressure is not invertible.
Cause: The specified pressure cannot be used, it does not lie on the calibration curve (2nd order).
Remedy: Change the calibration method to the multi-linear segment method if possible. Do this
by setting the system variables $sgsyscfg.$cal_model = 12 and $sgsyscfg.$frc2spd_cnv = 3, then
perform the pressure calibration again. Alternatively, perform pressure calibration again, or reduce
max pressure.
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SVGN-123 WARN Over-torque protection disabled.
Cause: Overtorque protection has been disabled.
Remedy: This is a warning to notify the operator that overtorque protection is disabled. Enable
overtorque protection, if desired.
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SVGN-124 WARN Max gun torque must be > floor.
Cause: The Max Gun Torque parameter in OverTorque Protection is less than the Standard
OverTorque Value. The Max Gun Torque is the torque required to achieve the Max Pressure of the
gun (according to the Pressure Calibration data). The Standard OverTorque Value is the lowest torque
(i.e. floor) where an abnormal torque condition can be accurately observed due to gun friction.
Remedy: To eliminate this alarm either the Max Gun Torque must be increased or the Standard
OverTorque Value needs to be lower. If OverTorque Protection is still enabled, there might be no
action necessary. View the Parameter Summary in OverTorque Protection to judge whether the values
are acceptable. The Max Gun Torque can be increased by increasing the Max Pressure on the Servo
Gun General Setup Screen. If OverTorque Protection is presently disabled, be sure to enable it after
this. If the Pressure Calibration is not complete or the data is old, perform the Pressure Calibration
again.
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SVGN-125 WARN Max gun torque must be < ceil.
Cause: The Max Gun Torque parameter in OverTorque Protection is set higher than the maximum
torque of the servo motor.
Remedy: Make sure Pressure Calibration of the gun is complete and the data is entered correctly.
Perform Pressure Calibration again if possible. Decrease The Max Gun Torque by decreasing the
Max Pressure of the gun via the Servogun General SETUP Screen.
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SVGN-126 STOP Servo parameters exceed max gun torque.
Cause: Overtorque protection is enabled, but one or more of the parameters responsible for limiting
torque exceeded the max gun torque.
Remedy: Disable, then re-enable overtorque protection, in order to re-write servo parameters.
Alternatively, disable overtorque protection OR enable machine lock on the servogun group to disable
this alarm.
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SVGN-127 STOP DSP max gun torque update timeout.
Cause: A timeout occurred waiting for acknowledgement of new overtorque parameters.
Remedy: Cycle power or toggle the overtorque protect enable. Write the parameters again.
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SVGN-128 STOP Invalid thickness value specified.
Cause: A string parameter or a value less than 0.0 was passed into the THK_VAL macro.
Remedy: Re-enter a parameter value greater than or equal to 0.0 into the thickness value macro.
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SVGN-129 STOP Invalid thickness tolerance specified.
Cause: A string parameter or a value less than 0.0 was specified for the THK_TOL macro.
Remedy: Re-enter a parameter value greater than or equal to 0.0 into the thickness tolerance macro.
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SVGN-130 STOP Invalid thickness severity specified.
Cause: A string parameter or a value other than 1 or 2 was specified for the THK_SEV (thickness
severity) macro.
Remedy: Re-enter a parameter value of 1 or 2 into the THK_SEV (thickness severity) macro.
________________________________________________________________
SVGN-131 STOP Invalid gun index specified.
Cause: A string parameter or a value other than 1, 2, or 3 was specified for gun index in a THK_
macro.
Remedy: This parameter is optional but if it is specified, set it as follows: 1: Gun.A only 2: Gun.B
only (dual gun case) 3: Gun.A+B (dual gun case)
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SVGN-133 STOP Encoder scale is NULL.
Cause: An encoder scale value of 0.0 was detected.
Remedy: Re-enter the gear ratio on the NOBOT Maintenance menu.
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SVGN-134 STOP Thickness Check Calibration Incomplete.
Cause: Thickness Check Calibration was never performed or did not complete successfully.
Remedy: Display the Gun Setup Utility screen (Press MENUS, select UTILITIES, select GUN
SETUP) and re-execute the Thickness Check Calibration.
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SVGN-135 STOP Thickness check cal err: bad torque
Cause: A thickness check calibration point has a torque value that is not greater than 0.0, or is
not in ascending order.
Remedy: Go to the Gun Setup Utility Screen (UTILITIES-GUN SETUP) and re-execute the
Thickness Check Calibration.
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SVGN-136 STOP Thickness check cal err: bad deflection
Cause: A thickness check calibration point has a deflection value that is not greater than 0.0, or is
not in ascending order.
Remedy: Go to the Gun Setup Utility Screen (UTILITIES-GUN SETUP) and re-execute Thickness
Check Calibration. If the error still occurs, re-master and re-execute Thickness Check Calibration.
________________________________________________________________
SVGN-137 STOP Invalid Number of Thickness Cal pts.
Cause: The number of Thickness Check calibration points is less than 2 or greater than 4.
Remedy: Display the system variable screen and enter a value of 2, 3, or 4 into
$sgthkset#.$num_cal_pts, where # = gun number.
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SVGN-138 STOP Invalid tipwear ratio.
Cause: The tip wear ratio for one step wear measurement is invalid (less than 0.0 or greater than 1.0).
Remedy: Set the wear ratio in the Tip Wear measurement macro program to a value between 0 and
1. The macro program WR_UPDAT is used to perform the Tip Wear measurement with the 1-Step
Method. Set the wear-ratio which is found as a parameter in a CALL instruction to the program
TWKCALC2, or a similar name. Follow the program comments to find the proper parameter to
adjust: CALL TWKCALC2(wear-ratio,AR[2]).
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SVGN-139 STOP Could not read tip stick detect input.
Cause: Tip stick detect input could not be read, due to an I/O error.
Remedy: Check the I/O mapping/configuration and I/O device status.
________________________________________________________________
SVGN-140 STOP Uninitialized start distance number.
Cause: The specified start distance number is not valid.
Remedy: Specify a start distance number greater than or equal to 1 and less than or equal to
$sgsyscfg.$dst_elm.
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SVGN-141 STOP Uninitialized end distance number.
Cause: The specified end distance number is not valid.
Remedy: Specify an end distance number greater than or equal to 1 and less than or equal to
$sgsyscfg.$dst_elm.
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SVGN-144 STOP Min press speed < 1mm/sec.
Cause: The Minimum speed must be greater than 1mm/sec.
Remedy: Re-perform force calibration to update $sggun#.$setup.$prs_spd_min automatically
AND/OR manually set $sggun#.$setup.$prs_spd_min to a valid value.
________________________________________________________________
SVGN-146 STOP Joint velocity limit too low.
Cause: The joint velocity limit must be greater than zero, for mm/sec pressure calibration speed
specification.
Remedy: Update the joint velocity limit using one of the following methods:
1. Re-enter the gear ratio via the Servo Gun Axes item on the Maintenance menu, at Control start.
2. Directly enter the Max Joint Speed on the Axis Data screen of the Servo Gun Setup menu,
at control start.
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SVGN-147 WARN Sync/speed min distance =%s.
Cause: The minimum gun opening distance required to achieve the specified contact speed for this
Pressure Schedule is larger than the opening specified by the Start Distance schedule used in the
SPOT or Press_Motion instruction. The correct contact speed might not have been achieved during
execution of this instruction.
Remedy: Increase the Start Distances assigned to the Distance Schedule that is used when this
alarm occurs. Go to the Distance Schedule data table (DATA-DISTANCE) and increase the gun
and/or robot distances.
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SVGN-148 WARN Can’t identify routine name.
Cause: The routine name corresponding to the standalone instruction cannot be identified. Refer
to the cause code for the root cause.
Remedy: See remedy for cause error.
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SVGN-149 STOP CP enable is required.
Cause: CP mode is not enabled, but synchronize move to pressure position is enabled AND/OR
linear distance is enabled.
Remedy: Enable CP mode (set $cpcfg.$cp_enable=TRUE) or contact FANUC Robotics for
assistance.
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SVGN-150 STOP Synchronization enable is required.
Cause: The linear distance function is enabled, but synchronize move to pressure is not enabled.
Remedy: Enable synchronize move to pressure position (set $sgsyscfg.$sync_mv2prs=TRUE) OR
disable linear distance (set $sgsyscfg.$lin_dst_enb=FALSE).
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SVGN-151 WARN Cannot add file to backup/restore list.
Cause: The Servogun sysvar file(s) could not be added to the backup/restore list.
Remedy: Document the events that led to the error and call your FANUC Robotics technical
representative.
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SVGN-152 WARN Invalid increase signal(Gun).
Cause: The Digital Output assigned to notify of increased error on the Gun Tip is invalid.
Remedy: Check the present value of $sggun#.$setup.$tipincioidx (on the system variable screen).
Change this value to the number of a DO that is configured and unused. Check the Digital Output list
(I/O-Type-DIGITAL-OUTPUTS) to find an available DO point to use.
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SVGN-153 WARN Invalid increase signal(Robot).
Cause: The Digital Output assigned to notify of increased error on the Robot Tip is invalid.
Remedy: Check the present value of $sggun#.$setup.$rbtincioidx (on the system variable screen).
Change this value to the number of a DO that is configured and unused. Check the Digital Output list
(I/O-Type-DIGITAL-OUTPUTS) to find an available DO point to use.
________________________________________________________________
SVGN-160 STOP Invalid calibration point: bad torque.
Cause: A pressure calibration point has a torque value that is not greater than 0.0, or is not in
ascending order.
Remedy: Perform Pressure Calibration again. Make sure that both torque and pressure increase
at each successive calibration point.
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SVGN-161 STOP Invalid calibration point: bad speed.
Cause: A Speed value in the Pressure Calibration table is less than the min speed or greater than
the max speed.
Remedy: Perform Pressure Calibration again. Make sure that the Speed for each point in the Pressure
Calibration table is within the operating range of the gun.
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SVGN-162 STOP Invalid calibration point: bad pressure.
Cause: A pressure calibration point has a pressure (force) value that is not greater than 0.0, or is
not in ascending order.
Remedy: Perform Pressure Calibration again. Make sure that both torque and pressure increase,
at each successive calibration point.
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SVGN-163 STOP Invalid calibration model setting.
Cause: The calibration model setting ($sgsyscfg.$cal_model) is not supported. The following settings
are supported: 3: Single linear segment pressure and speed model 12: Multiple linear segment
pressure and speed model piece-wise pressure calibration.
Remedy: Change setting to one of the settings above, and reperform calibration if necessary.
________________________________________________________________
SVGN-164 STOP Invalid pressure/speed convert setting.
Cause: Pressure to speed conversion specification ($sgsyscfg.$frc2spd_cnv) is not supported. The
following setting combinations are supported: $sgsyscfg.$cal_model = 3 and $sgsyscfg.$frc2spd_cnv
= 0: Single linear segment, JNT%. $sgsyscfg.$cal_model = 3 and $sgsyscfg.$frc2spd_cnv = 3, Single
linear segment, mm/sec converted at spot. $sgsyscfg.$cal_model = 12 and $sgsyscfg.$frc2spd_cnv =
3, Multiple linear segments, mm/sec converted at spot.
Remedy: Change setting to one of the settings above, and re-perform calibration if necessary. Note:
$sgsyscfg.$frc2spd_cnv==3 is the default setting for this variable.
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SVGN-165 WARN Gun opened < equalizer trigger distance.
Cause: The open distance condition for equalization pressure trigger, was not met before the start
of motion to pressure position, for the next spot. The equalization trigger state for the next spot
might have been delayed, in this case.
Remedy: Increase the end and/or start distance value on the distance schedule screen, or decrease the
open distance for the equalization pressure trigger AFTER the SPOT.
________________________________________________________________
SVGN-166 STOP Invalid equalizer trigger type.
Cause: The specified equalization pressure trigger type is not supported.
Remedy: Select a valid trigger on the Spot equipment SETUP screen.
________________________________________________________________
SVGN-167 STOP Invalid equalizer trigger event.
Cause: The specified equalization pressure trigger event is undefined.
Remedy: Go to the Spot Equipment SETUP screen, and select a valid trigger event.
________________________________________________________________
SVGN-168 WARN Push depth %s[mm] exceeds strokelimit
Cause: The pushing depth specified in the pressure schedule or the minimum pushing depth, exceed
the strokelimit. The contact speed might be slightly lower than specified as a result of this alarm.
Remedy: Update one or more of the parameters used to specify pushing depth: $sgsch#[].$push_depth
and $sggun.$setup.$push_margin. If these parameters cannot be reduced, then increase the
strokelimit, if possible. Note that this is only a warning.
________________________________________________________________
SVGN-169 WARN PushDepth%s[mm]clampd, speed affected
Cause: The minimum push depth (internally calculated distance) required to decelerate from the
contact speed exceeds the maximum possible pushing depth: part thickness + close stroke limit. The
value of the minimum pushing depth (specified in the alarm message) was clamped to the maximum
possible pushing depth.
Remedy: Decrease $sggun#.$setup.$push_margin, or increase the close stroke limit. Although this
alarm has a warn severity, this condition should be corrected since the minimum push depth has been
clamped to a value that is small enough to affect contact speed and/or contact speed persistence. Note
1: SVGN-169, basically indicates that the close limit value is abnormal, since minimum push depth is
typically less than 5mm. Note 2: part thickness is automatically added to the pushing depth value
during tryout mode to compensate for the missing part.
________________________________________________________________
SVGN-170 STOP Incompatible PRESS_MOTN format.
Cause: The instruction format PRESS_MOTN[SD=,P=,SEL=(,)] cannot be used with the setting
$SGSYSDG.$UGA_IDX4GB=FALSE. GunB must use GunA data, for this instruction.
Remedy: If you want to use the instruction format PRESS_MOTN[SD=,P=,SEL=(,)] then
set $SGSYSDG.$UGA_IDX4GB=TRUE. If you do not want to use the instruction format
PRESS_MOTN[SD=,P=,SEL=(,)] then change the instruction to PRESS_MOTN[SD=(,),P=(,)] ( the
setting of $SGSYSDG.$UGA_IDX4GB is ignored for the format PRESS_MOTN[SD=(,),P=(,)] ).
________________________________________________________________
SVGN-171 PAUSE Requested torque > max gun torque.
Cause: The Pressure[]kgf or Pressure level Gun instruction was executed, and the requested torque >
max gun torque (OTP torque limit mode).
Remedy: Perform autotuning or disable overtorque protection.
________________________________________________________________
SVGN-172 PAUSE Can not move gun during interrupt
Cause: A SPOT[] or PRESS_MOTN[] instruction was performed during an interrupt routine (Ex.
TB,TA,DB,program monitor etc).
Remedy: Adjust the trigger timing of interrupt routine. Also, wait until the interrupt routine
completes then run the servo gun instruction
________________________________________________________________
SVGN-173 STOP Timeout G%d A%d %x %d
Cause: A timeout occurred during Gun-attach or -detach at the start.
Remedy: Document the events that led to the error and contact your FANUC technical representative.
________________________________________________________________
SVGN-201 PAUSE Gun index 1
Cause: The posted error occurred on GunA (gun index 1) of the dual gun.
Remedy: Correct the error on the gun number corresponding to GunA (gun index 1).
________________________________________________________________
SVGN-202 PAUSE Gun index 2
Cause: The posted error occurred on GunB (gun index 2) of the dual gun.
Remedy: Correct the error on the gun number corresponding to GunB (gun index 2).
________________________________________________________________
SVGN-203 PAUSE GunA, GunB contact speed is different
Cause: The contact speed used in this Pressure Schedule is different for Gun A and Gun B – but
contact speed must match to achieve synchronized contact with the part.
Remedy: Set the contact speed of the Pressure Schedule to the same value for both guns. This is done
by adjusting the pressure calibration data which determines the contact speed. The Speed at a given
Pressure must be the same for both guns. It is recommended to use matching Pressure and Speed
values for each calibration point for both guns. Then, find the unique torque% required to achieve
the pressure for each gun. OR, just set the contact speed for all points in the Pressure Calibration
table for both guns to the same value.
________________________________________________________________
SVGN-204 PAUSE GunA, GunB pushing depth is different
Cause: Pushing depth is different for GunA and GunB. Equal pushing depth is required, for
synchronized move to pressure position.
Remedy: Set $sgsch#[].$pushing depth, and $sggun#.$setup.$push_margin to same value, for both
guns.
________________________________________________________________
SVGN-205 PAUSE GunA, GunB creep distance is different
Cause: The creep distances are different for GunA and GunB. Equal creep distance is required
to achieve synchronized contact with the part.
Remedy: Set the system variable $sggun#.$setup.$creep_dst to the same value, for both guns on this
dual-gun (# represents the gun number).
________________________________________________________________
SVGN-206 PAUSE GunA, GunB part thickness is different
Cause: The Part Thickness used in this Pressure Schedule is different for GunA and GunB. Equal
thickness is required to achieve synchronized contact with the part.
Remedy: Set the part thickness to same value, for both guns.
________________________________________________________________
SVGN-209 PAUSE GunA, GunB joint velocity limits differ.
Cause: Joint velocity limits are different for gunA and gunB. The joint velocity limits must be equal
to achieve synchronized contact with the part.
Remedy: Use the Gun Setup Utility to set the Maximum Speed (i.e. joint velocity limit) of both Gun
A&B to the same value. Peform the following:
1. Press MENUS.
2. Select UTILITIES.
3. Select GUN SETUP.
4. Press F6, DG_CHECK.
5. Press F4, SETSPD and reply YES to the prompt to set the speed to the same value.
6. Cycle Power to activate the change.
________________________________________________________________
SVGN-210 PAUSE GunA, GunB accel times differ
Cause: Acceleration Times are different for gunA and gunB. The acceleration times must be equal
to achieve synchronized contact with the part.
Remedy: Use the Gun Setup Utility to set the Acceleration Times of both Gun A&B to the same
value. Perform the following:
1. Press MENUS.
2. Select UTILITIES.
3. Select GUN SETUP.
4. Press F6, DG_CHECK.
5. Press F5, SETACC and reply YES to the prompt to set the accel time to the same value.
6. Cycle Power to activate the change.