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Re in circuit ESR meter:

If you have a breadboard and an hour, this does pretty much the same
thing with £10 worth of parts, less if you have a junk box:

http://members.shaw.ca/SWSTUFF/esrmeter.html

Uses about 250mV so doesnt activate active devices, and works on charged
caps.
Also open hardware design, which is nice.
Id definately check your mains supply, under normal load and without
anything else on. You can get simple 3 phase testers quite cheaply in
case you dont have a 4 channel scope.

I dont know much about Fanuc stuff, but its posssible its a commutation
track issue, they use a 4 bit track numbered 1 2 4 8, and its possible
that the drive is seeing an illegal state. Maybe worth checking
encoder/hall wiring, encoder etc.
Some useful discussion here:
http://www.cnczone.com/forums/fanuc/80754-fanuc-encoder-lines-c1-c2-c4-c8.html

JHC



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