SRVO-043: DCAL alarm (regenerative discharge)
The amplifier couldn't dump all the energy the motors generated while decelerating - regenerative discharge exceeded what can be dissipated as heat.
What it means
The amplifier couldn't dump all the energy the motors generated while decelerating - regenerative discharge exceeded what can be dissipated as heat. Classic on hard-working vertical axes and rapid-fire cycle testing. Reported per amplifier (posts on axes 1-2 or 1-2-3), and needs a power cycle to clear.
Common causes
Ranked by what technicians most often find, most likely first.
- Duty cycle too aggressive: frequent hard accel/decel.
- Vertical axes generating heavy regenerative energy on the way down.
- Amplifier or discharge-resistor circuit fault if it alarms under mild conditions.
How to fix it
- Relax the duty: slow the cycle, soften accelerations, add dwell where the program hammers reversals.
- Cycle power to release the alarm.
- If it persists under conditions the robot previously handled, escalate to the maintenance manual's amplifier checks.
Quick facts
- Category
- Servo
- Affected series
- R-30iB; R-30iB Mate; R-30iB Plus; R-30iB Mate Plus
- Alarm family
- SRVO