Kawasaki D Series Controller MPVDCONTV113E-3 - Manual (Page 108)

TROUBLESHOOTING
1-105 August 9, 2005
D SERIES CONTROLLER
TROUBLESHOOTING AND COMPONENT REPLACEMENT
Ka a a w s k
ERROR CODE E1128 Uncoincidence error betw destination and current Jt XX
pos.
This error occurs during program execution, if all joints do not reach total coincidence
within the commanded accuracy and time.
Main causes include.
Mechanical-
1. Damaged bearings.
2. Insufficient gear backlash.
3. Motor brake not released.
4. Arm movement restricted by harnesses or peripheral devices.
Electrical-
1. Motor power line U, V, and W phase are disconnected.
2. Defective 1KB servo board.
3. Defective 1KQ/1NR board (malfunction in the brake circuit).
3. Defective power block.
4. Disconnected motor power or brake lines.
5. Defective encoder or encoder harness.
Program data-
1. The difference in the angle of the wrist at the start and end steps is too great.
Example: 180 degrees at the start step and -180 degrees at the end step.
⇒
Repair mechanical or electrical failures as necessary.
⇒
Check interference from external devices.
⇒
Modify taught wrist positions as required.
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ERROR CODE E1129 Jt XX is moved during regulation of external axis.
(External axis restriction function)
This error occurs when an attempt is made to move the robot in teach or repeat mode
while the external axis restriction signal is present.
⇒
Ensure the internal interlock circuit is operating normally.
⇒
Ensure the robot program is written correctly.
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