Kawasaki D Series Controller MPVDCONTV113E-3 - Manual (Page 104)

TROUBLESHOOTING
1-101 August 9, 2005
D SERIES CONTROLLER
TROUBLESHOOTING AND COMPONENT REPLACEMENT
Ka a a w s k
ERROR CODE E1119 Commanded value for Jt XX beyond motion range.
Spot Welding and Material Handling
The commanded position for the joint identified exceeds the software limits. Condition is
monitored in both the check and repeat modes.
⇒ Correct taught positions to avoid the software limits.
⇒ Adjust the software limits in AUX 0507 to provide the necessary motion range.
Servo Spot Weld Gun
If a taught point is near a servo gun or arm axis range of motion limit, the combination of
tip wear and deflection correction can prevent the robot from reaching the taught point.
⇒
Do not teach points that are near axes range of motion limits.
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ERROR CODE E1120 Current command causes interference betw Jt2 and Jt3.
A posture is attempted which causes Jt2 and Jt3 to interfere with each other.
⇒
Change the taught poses.
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ERROR CODE E1121 Other robot is in the interference area.
This error occurs when the zone interference signal is not received.
⇒
Ensure the zone interference signal is set-up correctly and the program is written
correctly.
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