Kawasaki D Series Controller MPVDCONTV113E-3 - Manual (Page 148)

TROUBLESHOOTING
1-145 August 9, 2005
D SERIES CONTROLLER
TROUBLESHOOTING AND COMPONENT REPLACEMENT
Ka a a w s k
ERROR CODE E6510 Undefined sensing direction.
(Touch sensing)
Occurs when the step proceeding the WORK_DETECT instruction is not an air_cut
point.
⇒
Insert an air_cut point in the program before the WORK_DETECT instruction .
⇒
When using step select to chose the start step, select the air_cut point before the
WORK_DETECT instruction in the program
.
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ERROR CODE E6511 Insufficient num. of sensing points.
(Touch sensing)
The number of steps taught with the work deviation compensation function is insufficient
for the number of sensing points, or an air_cut point is not taught immediately following
the sensing point.
Example:
1. AC JOINT SPEED9 ACCU4 TIMER0 MOTHER_RESET
2. AC LINEAR SPEED9 ACCU4 TIMER0 MOTHER_WORK2 (error occurs at this step)
3. WS LINEAR SPEED9 TIMER0
Step set two pattern 2 (with 2 sensing points) and step 3 is a weld start point instead of
an air_cut point.
⇒
Add the required air_cut sensing points (two points in this example) .
Example:
2. AC LINEAR SPEED9 ACCU4 TIMER0 MOTHER_WORK2
3. AC JOINT SPEED9 ACCU4 TIMER0
4. AC LINEAR SPEED9 ACCU4 TIMER0 MOTHER_WORK2
5. WS LINEAR SPEED9 TIMER0
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