Kawasaki D Series Controller MPVDCONTV113E-3 - Manual (Page 106)

TROUBLESHOOTING
1-103 August 9, 2005
D SERIES CONTROLLER
TROUBLESHOOTING AND COMPONENT REPLACEMENT
Ka a a w s k
ERROR CODE E1124 Deviation error of Jt XX.
Spot Welding and Material Handling
The difference between the current value from the encoder and the command value in
the AS software exceeds the regulated value (varies by robot model).
Main causes include or the following abnormalities:
Mechanical -
1. Singularity motion.
2. The robot arm has contacted an external item hindering movement.
3. The harness is caught in the robot arm.
4. The cyclo reduction unit, the gear, or the bearing are damaged.
5. Cyclo reduction unit gear backlash is too narrow.
6. Payload weight exceeds robot specifications for capacity.
7. Robot motion pattern exceeds ratings of the motor.
8. Motor brake is not released.
Electrical-
1. Motor power line U, V, and W phase are disconnected.
2. The brake line is disconnected or brake drive circuit is damaged.
3. Defective 1KQ/1NR board.
4. The power block is damaged.
5. Defective 1KB servo board.
6. Malfunction of the motor.
⇒
Check the cyclo reduction unit, etc. for mechanical failure. Replace as necessary.
⇒
Re-teach robot motion as necessary.
⇒
Check the harnesses and power block unit for electrical malfunctions and replace as
necessary.
⇒
Replace the 1KB board.
⇒
Replace the 1KQ/1NR board.
⇒
Correct the teach data in case of singularity motion.
Servo Spot Weld Gun
The thickness of the workpiece at the weld point is greater than the thickness when the
point is taught. The thickness difference required to set this error is approximately 10
mm, depending on the gun type.
⇒
Inspect the workpiece; replace it if necessary.
_____________________________________________________________________