Kawasaki D Series Controller MPVDCONTV113E-3 - Manual (Page 149)

TROUBLESHOOTING
D SERIES CONTROLLER
TROUBLESHOOTING AND COMPONENT REPLACEMENT
1-146 August 9, 2005
Ka a a w s k
ERROR CODE E6512 Undefined mother or daughter work.
(Touch sensing)
Main causes include:
1. A previous work instruction is not completed before another work instruction is ex-
ecuted.
2. Program execution is started at a step in that does not allow completion of a previous
work instruction.
Example:
1. AC JOINT SPEED9 ACCU4 TIMER0 MOTHER_RESET
2. AC LINEAR SPEED9 ACCU4 TIMER0 DAUGHTER_WORK2 (error occurs at this
step)
⇒
Add the required steps in the program to complete the first work instruction before
another work instruction is executed (in this example a step is inserted before step 2).
Example:
1. AC JOINT SPEED9 ACCU4 TIMER0 MOTHER_RESET
2. AC LINEAR SPEED9 ACCU4 TIMER0 MOTHER_WORK1
3. AC LINEAR SPEED9 ACCU4 TIMER0 DAUGHTER_WORK2
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ERROR CODE E6513 Too many sensing points.
(Touch sensing)
Occurs when a work instruction is completed and another work instruction is executed
without a reset instruction.
Example:
1. AC JOINT SPEED9 ACCU4 TIMER0 MOTHER_RESET
2. AC LINEAR SPEED9 ACCU4 TIMER0 MOTHER_WORK1
3. AC LINEAR SPEED9 ACCU4 TIMER0
4. WS LINEAR SPEED9 TIMER0
5. WE LINEAR WELD_COND0
6. AC LINEAR SPEED9 ACCU4 TIMER0
7. WS LINEAR SPEED9 ACCU4 TIMER0 MOTHER_WORK1 (error occurs at this step)
⇒
Add a reset instruction before the next work instruction .
Example:
6. AC LINEAR SPEED9 ACCU4 TIMER0 MOTHER_RESET
7. WS LINEAR SPEED9 ACCU4 TIMER0 MOTHER_WORK1
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