Panasonic Robot Amplifier Fault Analysis and Treatment


Published:

2023-03-28

When starting up and adding servo, the servo CPU does not receive the normal servo ready signal returned by the servo amplifier, and the teach pendant displays the alarm code "A7010 Abnormal amplifier ready".

Symptoms: one

When the servo is turned on, the teach pendant displays the alarm "A7010 Amplifier is abnormally prepared"


one. Failure cause analysis:

When starting up and adding servo, the servo CPU does not receive the normal servo ready signal returned by the servo amplifier, and the teach pendant displays the alarm code "A7010 Abnormal amplifier ready".

two. Repair method:

Confirm the connection between the servo CPU and the servo amplifier, the AC200V power supply of the servo amplifier, and the integrity of the servo CPU, servo amplifier and power board.

Check steps:

1. Check whether the DRV line on the servo CPU is normal, as shown in Figure 1.

2. Referring to Figure 2, use a multimeter to measure whether there is AC200V voltage at the AC200IN terminal of the amplifier when the robot is powered on with the servo.

3. If the voltage is normal, please refer to Figure 2 to replace the servo amplifier.

4. If the above operations still cannot eliminate the fault, please refer to Figure 4 to replace the servo CPU board. (For the replacement method, please refer to the servo CPU board replacement manual).

Symptoms: two

When the servo is turned on, the teach pendant will display an alarm of “A7020 Amplifier Voltage Low”.


one. Failure cause analysis:

When the servo is turned on and the robot is powered on, the robot detects that the power supply voltage of the servo amplifier is low, and the teach pendant displays the alarm code "A7020 Amplifier voltage low".


two. Repair method:

Confirm the AC200V input of the robot control box, confirm the AC200V power supply of the servo amplifier, confirm whether the ALM signal connection between the servo power supply and the servo amplifier is normal, and confirm whether the servo CPU and servo amplifier are normal.


Check steps:

1. Referring to Figure 1, measure whether the three-phase AC200V input voltage of the robot control box is normal

2. Referring to Figure 2, use a multimeter to measure whether there is AC200V voltage at the AC200IN terminal of the amplifier when the robot is powered on with the servo.

3. Refer to Figure 4 to confirm whether the ALM1 and ALM2 signal lines connecting the servo amplifier and the servo power supply are normal.

4. If the inspection in the previous step is normal, please refer to Figure 2 to replace the amplifier.

5. If the above operations still cannot eliminate the fault, please refer to Figure 5 to replace the servo CPU board. (For the replacement method, please refer to the servo CPU board replacement manual).