Kawasaki D Series Controller MPVDCONTV113E-3 Manual do Utilizador

D SERIES CONTROLLERTROUBLESHOOTING ANDCOMPONENT REPLACEMENTMPVDCONTV113E-3KaaawskKawasaki Robotics (USA), Inc.Kaaawsk

TROUBLESHOOTING1-7August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawsk⇒Ensure primary power supply is within specificati

TROUBLESHOOTING1-97August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE E1100 Cannot execute in sealing specif

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-98 August 9, 2005KaaawskERROR CODE E1106 Cannot execute in this robot.Th

TROUBLESHOOTING1-99August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE E1113 Work sensing signal is not detec

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-100 August 9, 2005KaaawskERROR CODE E1117 Process time over.Lack of syst

TROUBLESHOOTING1-101August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE E1119 Commanded value for Jt XX beyon

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-102 August 9, 2005KaaawskERROR CODE E1122 Unexpected motor power OFF.Occ

TROUBLESHOOTING1-103August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE E1124 Deviation error of Jt XX.Spot W

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-104 August 9, 2005KaaawskERROR CODE E1126 Commanded speed error Jt XX.Th

TROUBLESHOOTING1-105August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE E1128 Uncoincidence error betw destin

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-106 August 9, 2005KaaawskERROR CODE E1130 Jt XX collision was detected.M

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-8 August 9, 2005Kaaawsk1.2.1.2 TEACH PENDANT IS INOPERABLEThe teach pen

TROUBLESHOOTING1-107August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE E1134 Abnormal work transfer pitch.Th

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-108 August 9, 2005KaaawskERROR CODE E1138 Aux. terminal is not connected

TROUBLESHOOTING1-109August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE E1143 Conveyor axis number is not set

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-110 August 9, 2005KaaawskERROR CODE E1149 Cannot open setting data, so c

TROUBLESHOOTING1-111August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE E1154 Option SIO port is not installe

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-112 August 9, 2005KaaawskERROR CODE E1157 Arm ID I/F board error. (code

TROUBLESHOOTING1-113August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE E1162 Buffer overflow occurred gravit

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-114 August 9, 2005KaaawskERROR CODE E1167 Unable to download ext. axis p

TROUBLESHOOTING1-115August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE E4000 Data communication error.Main c

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-116 August 9, 2005KaaawskERROR CODE E4004 Communication retry error.Comm

TROUBLESHOOTING1-9August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawsk1KX/1NX Mother Board1KA Main CPU BoardDisplay Devi

TROUBLESHOOTING1-117August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE E4009 Communication time out error.Du

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-118 August 9, 2005KaaawskERROR CODE E4014 TELNET) RECV error. CODE=XX.Du

TROUBLESHOOTING1-119August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE E4018 TELNET) System error. CODE=XX.P

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-120 August 9, 2005KaaawskERROR CODE E4021 TCP/IP) Communication Error. C

TROUBLESHOOTING1-121August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE E4025 TCP/IP) Connection aborted.Comm

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-122 August 9, 2005KaaawskERROR CODE E4029 FTP) Data send error. (code=XX

TROUBLESHOOTING1-123August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE E4034 FTP) failed to receive HOST OS

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-124 August 9, 2005KaaawskERROR CODE E4052 [FDD/PC_CARD] Failed to set ve

TROUBLESHOOTING1-125August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE E4056 TCP) This port is not in LISTEN

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-126 August 9, 2005KaaawskERROR CODE E4501 ANYBUS) OUT/FB.CTRL release ti

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-10 August 9, 2005Kaaawsk1.2.1.3 MOTOR POWER CANNOT BE ENABLEDThis condi

TROUBLESHOOTING1-127August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE E4521 ABMA-PDP) Status OFFLINE. XXAn

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-128 August 9, 2005KaaawskERROR CODE E4525 ABMA-PDP) Timeout of sending m

TROUBLESHOOTING1-129August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE E4529 PROFIBUS) Statistic counter-err

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-130 August 9, 2005KaaawskERROR CODE E5003 Illegal extend (retract) outpu

TROUBLESHOOTING1-131August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE E5007 Servo weld gun not connected or

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-132 August 9, 2005KaaawskERROR CODE E5010 Servo weld gun mechanical para

TROUBLESHOOTING1-133August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE E5015 Gun status data disagrees with

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-134 August 9, 2005KaaawskERROR CODE E5018 Weld completion signal has not

TROUBLESHOOTING1-135August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE E5021 Extend pos. monitor error.Occur

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-136 August 9, 2005KaaawskERROR CODE E5024 Pressurization comp. signal ha

TROUBLESHOOTING1-11August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawsk1.2.1.4 ROBOT DOES NOT MOVEThis condition exists

TROUBLESHOOTING1-137August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE E5027 Robot stopped during weld.(Spot

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-138 August 9, 2005KaaawskERROR CODE E5030 Copper plate wear exceeds limi

TROUBLESHOOTING1-139August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE E5033 Cannot weld because of abnormal

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-140 August 9, 2005KaaawskERROR CODE E6002 Signal condition already input

TROUBLESHOOTING1-141August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE E6007 Wrist can’t be straightened any

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-142 August 9, 2005KaaawskERROR CODE E6012 Relative distance between guns

TROUBLESHOOTING1-143August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE E6502 Arc failure.The signal (current

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-144 August 9, 2005KaaawskERROR CODE E6505 Arc weld insulation defect.Thi

TROUBLESHOOTING1-145August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE E6510 Undefined sensing direction.(To

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-146 August 9, 2005KaaawskERROR CODE E6512 Undefined mother or daughter w

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-12 August 9, 2005Kaaawsk1.3 ERROR CODESThis unit provides information a

TROUBLESHOOTING1-147August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE E6514 Work specification incorrect.(T

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-148 August 9, 2005KaaawskERROR CODE E6516 Wire check failure.(Touch sens

TROUBLESHOOTING1-149August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE E6519 Weld condition data out of rang

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-150 August 9, 2005KaaawskERROR CODE E6522 Laser sensor cannot detect wel

TROUBLESHOOTING1-151August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE E6526 No response from laser sensor c

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-152 August 9, 2005KaaawskERROR CODE E6529 Finish point not found by lase

TROUBLESHOOTING1-153August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE E6533 No RTPM board.Main causes inclu

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-154 August 9, 2005KaaawskERROR CODE E6536 RTPM current deviation error.O

TROUBLESHOOTING1-155August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE E6538 Beyond RTPM tracking ability.Oc

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-156 August 9, 2005KaaawskERROR CODE E6540 Beyond AVC tracking ability.Oc

TROUBLESHOOTING1-13August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawsk1.3.1 ERROR DISPLAYError messages are displayed

TROUBLESHOOTING1-157August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE E6543 Too many taught points for AVC.

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-158 August 9, 2005KaaawskERROR CODE E8200 Not in cooperative mode.Cooper

TROUBLESHOOTING1-159August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawsk1.3.2.3 PXXXX OPERATION ERROR CODESERROR CODE P

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-160 August 9, 2005KaaawskERROR CODE P0106 Illegal priority.Priority leve

TROUBLESHOOTING1-161August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE P0111 Cannot use this command/instruc

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-162 August 9, 2005KaaawskERROR CODE P0117 Invalid variable (or program)

TROUBLESHOOTING1-163August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE P0121 Expected to be a binary operato

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-164 August 9, 2005KaaawskERROR CODE P0126 Illegal switch name.Displayed

TROUBLESHOOTING1-165August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE P0131 No. of dimension in array excee

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-166 August 9, 2005KaaawskERROR CODE P0135 Local variable expected.A glob

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-14 August 9, 2005Kaaawsk1.3.2.1 DXXXX FATAL ERROR CODESERROR CODE D0001

TROUBLESHOOTING1-167August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE P0139 Illegal control structure.Main

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-168 August 9, 2005KaaawskERROR CODE P0144 Step:XX Preceding IF missing.D

TROUBLESHOOTING1-169August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE P0149 Variable (or program) already e

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-170 August 9, 2005KaaawskERROR CODE P0153 Illegal clock value.Time or da

TROUBLESHOOTING1-171August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE P0158 Missing “BY”.The argument is mi

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-172 August 9, 2005KaaawskERROR CODE P0162 Cannot modify position data in

TROUBLESHOOTING1-173August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE P1003 Cannot execute a program becaus

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-174 August 9, 2005KaaawskERROR CODE P1009 Program is already running.Mai

TROUBLESHOOTING1-175August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE P1014 Cannot execute because program

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-176 August 9, 2005KaaawskERROR CODE P1019 PC program is running.Occurs w

TROUBLESHOOTING1-15August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE D0003 VME BUS error. (PC=XX)This error

TROUBLESHOOTING1-177August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE P1024 Statement cannot be executed.Oc

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-178 August 9, 2005KaaawskERROR CODE P1029 Program name not specified.Dis

TROUBLESHOOTING1-179August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE P1034 This program is not editable.Th

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-180 August 9, 2005KaaawskERROR CODE P1039 Teach pendant is not connected

TROUBLESHOOTING1-181August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE P2000 Turn OFF motor power.An attempt

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-182 August 9, 2005KaaawskERROR CODE P2006 Option is OFF.Selected option

TROUBLESHOOTING1-183August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE P2011 Invalid disk format.Incorrect d

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-184 August 9, 2005KaaawskERROR CODE P2016 Cannot open the file.The file

TROUBLESHOOTING1-185August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE P2022 Cannot use DOUBLE OX.When DOUBL

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-186 August 9, 2005KaaawskERROR CODE P2026 Invalid coordinate value Z.Thi

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-16 August 9, 2005KaaawskERROR CODE D0005 [ARM CONTROL BOARD] CPU BUS err

TROUBLESHOOTING1-187August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE P2032 Incorrect number input as WHERE

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-188 August 9, 2005KaaawskERROR CODE P2039 Cannot start cycle from FN ins

TROUBLESHOOTING1-189August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE P2045 Cannot format this card.An atte

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-190 August 9, 2005KaaawskERROR CODE P2051 Illegal sequence numbers for f

TROUBLESHOOTING1-191August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE P2055 [LSEQ] Program is already runni

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-192 August 9, 2005KaaawskERROR CODE P2059 [SerialFlash] data write error

TROUBLESHOOTING1-193August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE P2064 [FDD] No space available.Floppy

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-194 August 9, 2005KaaawskERROR CODE P2069 [FDD/PC_CARD] Device already i

TROUBLESHOOTING1-195August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE P2074 Floppy disk is broken.This erro

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-196 August 9, 2005KaaawskERROR CODE P4502 DEVNET) Already in that mode.A

This publication contains proprietary information of Kawasaki Robotics (USA), Inc. andis furnished solely for customer use only. No other uses are a

TROUBLESHOOTING1-17August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE D0901 AS Flash memory sum check error.

TROUBLESHOOTING1-197August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE P5002 Spot sequence is running.Step c

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-198 August 9, 2005KaaawskERROR CODE P6500 Cannot generate working line d

TROUBLESHOOTING1-199August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE P7000 Cannot program reset, because n

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-200 August 9, 2005Kaaawsk1.3.2.4 WXXXX MECHANICAL/CONTROL WARNING ERROR

TROUBLESHOOTING1-201August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE W1005 Illegal center of gravity, defa

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-202 August 9, 2005KaaawskERROR CODE W1010 RAM battery low voltage.Main c

TROUBLESHOOTING1-203August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE W1013 Encoder battery low voltage [Se

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-204 August 9, 2005KaaawskERROR CODE W1015 Possibility of failure.The mon

TROUBLESHOOTING1-205August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE W1018 Network parameter is changed. T

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-206 August 9, 2005KaaawskERROR CODE W4501 FIELD-BUS) Master port OFFLINE

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-18 August 9, 2005KaaawskERROR CODE D0904 Memory is locked due to AC_FAIL

TROUBLESHOOTING1-207August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE W5004 Weld controller XX response err

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-208 August 9, 2005KaaawskERROR CODE W5007 (Spot welding) Weld fault XX.T

TROUBLESHOOTING1-209August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE W5010 (Spot welding) Main cable excha

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-210 August 9, 2005Kaaawsk1.4 TROUBLESHOOTING FLOWCHARTSThe following fl

TROUBLESHOOTING1-211August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskFigure 1-5 Error E1029 Flowchart (1)Error E1029

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-212 August 9, 2005KaaawskFigure 1-6 Error E1029 Flowchart (2)Service ca

TROUBLESHOOTING1-213August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskFigure 1-7 Error E1032 Flowchart (1)Error E1032

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-214 August 9, 2005KaaawskFigure 1-8 Error E1032 Flowchart (2)Service ca

TROUBLESHOOTING1-215August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskFigure 1-9 Error E1034 Flowchart (1)Error E1034

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-216 August 9, 2005KaaawskFigure 1-10 Error E1034 Flowchart (2)Replace 1

TROUBLESHOOTING1-19August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE D1002 Init. error of servo software.Se

TROUBLESHOOTING1-217August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskFigure 1-11 Error E1035 Flowchart (1)Error E103

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-218 August 9, 2005KaaawskFigure 1-12 Error E1035 Flowchart (2)Service c

TROUBLESHOOTING1-219August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskFigure 1-13 Error E1036 Flowchart (1)Error E103

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-220 August 9, 2005KaaawskFigure 1-14 Error E1036 Flowchart (2)Service c

TROUBLESHOOTING1-221August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskFigure 1-15 Error E1037 Flowchart (1)Error E103

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-222 August 9, 2005KaaawskFigure 1-16 Error E1037 Flowchart (2)Service c

TROUBLESHOOTING1-223August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskFigure 1-17 Error E1038 Flowchart (1)Error E103

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-224 August 9, 2005KaaawskFigure 1-18 Error E1038 Flowchart (2)Service c

TROUBLESHOOTING1-225August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskFigure 1-19 Error E1039 Flowchart (1)Error E103

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-226 August 9, 2005KaaawskFigure 1-20 Error E1039 Flowchart (2)Service c

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-20 August 9, 2005KaaawskERROR CODE D1004 [ARM CTRL BOARD] watch dog erro

D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT 2-1 Kaaawsk 2.0 COMPONENT REPLACEMENT This chapter describes replacement procedure for

D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT 2-2 Kaaawsk 2.1 GENERAL SAFETY PRECAUTIONS ON REPLACEMENT This section describes th

D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT 2-3 Kaaawsk 7. Use only Kawasaki approved parts during replacement. 8. When replac

D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT 2-4 Kaaawsk 18. Printed boards and power blocks are designed differently for each robot

D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT 2-5 Kaaawsk 2.2.1 1KA BOARD (USER I/F BOARD) 1. This is the user I/F board used f

D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT 2-6 Kaaawsk 2.2.2 1KB BOARD (ARM CONTROL BOARD) 1. Turn OFF the cont

D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT 2-7 Kaaawsk 2.2.3 1KP BOARD (POWER SEQUENCE BOARD) 1. Turn OFF the control power.

D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT 2-8 Kaaawsk 6. Confirm the voltage at each check pin on the 1KA and 1KP as shown below.

D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT 2-9 Kaaawsk 2.2.5 1NR BOARD (BRAKE CONTROL BOARD) 1. Turn OFF the control power. 2

D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT 2-10 Kaaawsk 2.3 REPLACEMENT PROCEDURE FOR POWER BLOCK UNIT This section describes

TROUBLESHOOTING1-21August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE D1006 AMP power unit error.General ser

D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT 2-11 Kaaawsk 1. Remove all connectors connected to the power block unit. 2. Loosen the

D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT 2-12 Kaaawsk 2.3.3 1KD POWER BLOCK UNIT (FOR D7X CONTROLLER) 1. Remove the con

D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT 2-13 Kaaawsk Fixing screws (two in lower corners)

D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT 2-14 Kaaawsk 2.3.4 1KL POWER BLOCK UNIT 1. Remove all connectors connected to

D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT 2-15 Kaaawsk 2.4 REPLACEMENT PROCEDURE FOR MC UNIT PARTS (FOR D3X CONTROLLER) This

D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT 2-16 Kaaawsk 2.4.2 1KQ BOARD (POWER CIRCUIT BOARD) 1. Remove the MC uni

D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT 2-17 Kaaawsk 4. Loosen the five nuts fixing the 1KQ to the plate (1 to 5 in figure belo

D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT 2-18 Kaaawsk 2.5 REPLACEMENT PROCEDURE FOR 1NQ BOARD (FOR D7X CONTROLLER) This section

D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT 2-19 Kaaawsk 2.6 REPLACEMENT PROCEDURE FOR FAN (FOR D3X CONTROLLER) Fans are instal

D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT 2-20 Kaaawsk 2.6.2 FANS ON THE BACK OF CONTROLLER This section describes the replac

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-22 August 9, 2005KaaawskERROR CODE D1007 Regenerative time over [XX].Thi

D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT 2-21 Kaaawsk 2.6.2.2 LOWER FAN ON BACK OF CONTROLLER 1. Turn OFF the control power.

D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT 2-22 Kaaawsk 2.6.3 MC UNIT FAN 1. Turn OFF the control power. 2. Remove the two sc

D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT 2-23 Kaaawsk 2.7 REPLACEMENT PROCEDURE FOR FAN (FOR D7X CONTROLLER) Fans are instal

D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT 2-24 Kaaawsk 2.7.2 FAN FOR POWER BLOCK UNIT 1. Turn OFF the control power. 2. Remo

D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT 2-25 Kaaawsk 2.7.3 HEAT EXCHANGE FAN (FOR D71/74/77 CONTROLLER) Heat exchange fan i

D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT 2-26 Kaaawsk 2.8 REPLACEMENT PROCEDURE FOR BATTERIES This section describes the rep

D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT 2-27 Kaaawsk 2.8.2 BATTERY ON 1FG/1HG BOARD 1. Record the encoder value for all axe

D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT 2-28 Kaaawsk 2.9 REPLACEMENT PROCEDURE FOR FUSES This section describes the replace

D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT 2-29 Kaaawsk 2.9.2 FUSES ON 1NQ BOARD (FOR D7X CONTROLLER) 1. Turn OFF the control

D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT 2-30 Kaaawsk 2.10 REPLACEMENT PROCEDURE FOR FILTER Wash filters periodically to kee

TROUBLESHOOTING1-23August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawsk! WARNINGERROR CODE D1008 P-N low voltage [XX]

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-24 August 9, 2005KaaawskERROR CODE D1009 P-N- high voltage [XX].The volt

TROUBLESHOOTING1-25August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE D1010 Regenerative resistor over-heat

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-26 August 9, 2005Kaaawsk⇒Reteach program steps to eliminate sudden high

REVISION HISTORYD SERIES CONTROLLERTROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawsknoisiveRrebmuNesaeleRetaDegnahCfonoitpircseDslaitinI0-30/02/11ypoct

TROUBLESHOOTING1-27August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE D1013 P-N capacitor is not discharged.

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-28 August 9, 2005KaaawskERROR CODE D1016 Data applicable to the robot mo

TROUBLESHOOTING1-29August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE D1500 Encoder misread error JtXX.Immed

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-30 August 9, 2005KaaawskERROR CODE D1501 Defective gun changer connectio

TROUBLESHOOTING1-31August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE D1503 Current detector type (XX) misma

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-32 August 9, 2005KaaawskERROR CODE D1504 Abn. curr. feedback Jt XX. (Am

TROUBLESHOOTING1-33August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE D1505 Motor harness disconnected or o

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-34 August 9, 2005KaaawskERROR CODE D1506 Power module error JtXX.An erro

TROUBLESHOOTING1-35August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE D1507 AC primary power OFF.This error

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-36 August 9, 2005KaaawskERROR CODE D1508 24VDC power source is too low.2

TROUBLESHOOTING1-1August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawsk1.0 TROUBLESHOOTING ...

TROUBLESHOOTING1-37August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE D1509 Primary power source is too high

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-38 August 9, 2005KaaawskERROR CODE D1510 Primary power source is too low

TROUBLESHOOTING1-39August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE D1511 +12VDC or -12VDC is abnormal.+/-

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-40 August 9, 2005KaaawskERROR CODE D1512 Brake line error for JtXX.This

TROUBLESHOOTING1-41August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawsknecessary.⇒Check and repair brake power line and

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-42 August 9, 2005KaaawskERROR CODE D1514 I/O 24V fuse is open.Fuse F2 on

TROUBLESHOOTING1-43August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE D1517 Blown fuse on safety circuit eme

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-44 August 9, 2005KaaawskERROR CODE D1519 Mismatch of the safety circuit

TROUBLESHOOTING1-45August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE D1522 Mismatch in cond. of safety circ

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-46 August 9, 2005KaaawskERROR CODE D1525 Incorrect operation of MC (K1).

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-2 August 9, 2005Kaaawsk1.0 TROUBLESHOOTINGThis unit provides error reco

TROUBLESHOOTING1-47August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE D1528 Controller temperature is out of

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-48 August 9, 2005KaaawskERROR CODE D1531 Heat sink on power block overhe

TROUBLESHOOTING1-49August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE D2002 No response from the arm ID boar

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-50 August 9, 2005KaaawskERROR CODE D2006 Communication board to explosio

TROUBLESHOOTING1-51August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE D2011 Parameter download error between

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-52 August 9, 2005KaaawskERROR CODE D2016 No response from the arm contro

TROUBLESHOOTING1-53August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE D2020 [ARM CTRL BOARD] servo control s

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-54 August 9, 2005KaaawskERROR CODE D2024 [ARM CTRL BOARD] robot type set

TROUBLESHOOTING1-55August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE D2028 (SSCNET) initialization error. (

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-56 August 9, 2005KaaawskERROR CODE D2031 Codes set in software and on ad

TROUBLESHOOTING1-3August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskFigure 1-1 Troubleshooting ProcessSource of error

TROUBLESHOOTING1-57August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE D2035 Program execution error.Program

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-58 August 9, 2005KaaawskERROR CODE D4502 FIELD-BUS-INIT) Error Reply. XX

TROUBLESHOOTING1-59August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawsk1.3.2.2 EXXXX NON-FATAL ERROR CODESERROR CODE E0

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-60 August 9, 2005KaaawskERROR CODE E0103 Location data is not defined.Ma

TROUBLESHOOTING1-61August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE E0108 Divided by zero.Occurs when the

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-62 August 9, 2005KaaawskERROR CODE E0113 No expressions to evaluate.The

TROUBLESHOOTING1-63August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE E0118 Too many subroutine calls.Occurs

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-64 August 9, 2005KaaawskERROR CODE E1001 ADC input range error.This erro

TROUBLESHOOTING1-65August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE E1004 Interbus board is not ready.At 1

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-66 August 9, 2005KaaawskERROR CODE E1008 No.2 power sequence board is no

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-4 August 9, 2005KaaawskFigure 1-2 Troubleshooting Process (Continued)Co

TROUBLESHOOTING1-67August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE E1010 Power sequence board detects err

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-68 August 9, 2005KaaawskERROR CODE E1013 InterBus board is not installed

TROUBLESHOOTING1-69August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE E1021 Arm ID board error. (code XXX).e

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-70 August 9, 2005KaaawskERROR CODE E1023 Communication error in robot ne

TROUBLESHOOTING1-71August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE E1025 EXT AXIS connecting error. (code

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-72 August 9, 2005KaaawskERROR CODE E1027 Safety circuit was cut OFF.The

TROUBLESHOOTING1-73August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawsk6. Malfunction of the motor.7. Servo spot weld gu

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-74 August 9, 2005KaaawskERROR CODE E1029 Encoder rotation data is abnorm

TROUBLESHOOTING1-75August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE E1030 Encoder data abnormal. (Jt XX)Wh

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-76 August 9, 2005KaaawskERROR CODE E1031 Miscount of encoder data (Jt XX

TROUBLESHOOTING1-5August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawsk1.2 PRELIMINARY TROUBLESHOOTINGPrior to following

TROUBLESHOOTING1-77August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE E1034 Encoder initialize error (Jt XX)

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-78 August 9, 2005KaaawskERROR CODE E1035 Encoder response error (Jt XX).

TROUBLESHOOTING1-79August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE E1036 Encoder communication error. (Jt

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-80 August 9, 2005KaaawskERROR CODE E1037 Encoder data conversion error.

TROUBLESHOOTING1-81August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE E1038 Encoder ABS-track error. (Jt XX)

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-82 August 9, 2005KaaawskERROR CODE E1039 Encoder INC-pulse error. (Jt XX

TROUBLESHOOTING1-83August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE E1041 Limit switch (JT XX) is ON.This

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-84 August 9, 2005KaaawskERROR CODE E1042 Limit switch signal line is dis

TROUBLESHOOTING1-85August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE E1045 Gun-clamp Mismatch.(Spot weld sp

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-86 August 9, 2005KaaawskERROR CODE E1050 Encoder and brake power off sig

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-6 August 9, 2005Kaaawsk1.2.1.1 CONTROLLER POWER CANNOT BE SET TO ONThis

TROUBLESHOOTING1-87August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE E1054 Cannot execute motion instructio

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-88 August 9, 2005KaaawskERROR CODE E1058 SLAVE robot already exists.This

TROUBLESHOOTING1-89August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE E1063 JT2 and JT3 interfere during mot

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-90 August 9, 2005KaaawskERROR CODE E1067 Illegal pattern type.Main cause

TROUBLESHOOTING1-91August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE E1071 XMOVE signal is already input.An

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-92 August 9, 2005KaaawskERROR CODE E1076 Cannot use negative time value.

TROUBLESHOOTING1-93August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE E1081 Cannot use negative value.Displa

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-94 August 9, 2005KaaawskERROR CODE E1086 Start point for Jt XX beyond mo

TROUBLESHOOTING1-95August 9, 2005D SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENTKaaawskERROR CODE E1090 External modulation data is not

TROUBLESHOOTINGD SERIES CONTROLLER TROUBLESHOOTING AND COMPONENT REPLACEMENT1-96 August 9, 2005KaaawskERROR CODE E1095 Cannot execute motion instructi