Kawasaki D Series Controller MPVDCONTV113E-3 - Manual (Page 150)

TROUBLESHOOTING
1-147 August 9, 2005
D SERIES CONTROLLER
TROUBLESHOOTING AND COMPONENT REPLACEMENT
Ka a a w s k
ERROR CODE E6514 Work specification incorrect.
(Touch sensing)
Occurs when a previous work instruction is not completed before another work instruc-
tion is executed.
Example:
1. AC JOINT SPEED9 ACCU4 TIMER0 MOTHER_RESET
2. AC LINEAR SPEED9 ACCU4 TIMER0 MOTHER_WORK2
3. AC LINEAR SPEED9 ACCU4 TIMER0
4. AC LINEAR SPEED9 ACCU4 TIMER0 MOTHER_WORK1 (error occurs at this step)
⇒
Add the required steps in the program to complete the first work instruction before
another work instruction is
executed.
Example:
4. AC LINEAR SPEED9 ACCU4 TIMER0 MOTHER_WORK2
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ERROR CODE E6515 Incorrect sensing point specified.
(Touch sensing)
Occurs when points are taught in incorrect order.
Example:
points should be taught in order A1, B1, A2, B2, A3, B3.
Occurs when the distance between two points taught on the same check plane is
10 mm, or less, or the angle, between the two sensing surfaces, is out of range (30 to
150 degrees).
⇒
Reteach points to comply with parameters described above .
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