Kawasaki D Series Controller MPVDCONTV113E-3 - Manual (Page 206)

TROUBLESHOOTING
1-203 August 9, 2005
D SERIES CONTROLLER
TROUBLESHOOTING AND COMPONENT REPLACEMENT
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ERROR CODE W1013 Encoder battery low voltage [Servo (XX)].
Voltage of the encoder back up battery on the 1FG/1HG board decreased to 3.3 volts or
less, or the encoder battery alarm signal (BAL_AL) is disconnected. This error is only
detected at control power on or motor power on.
Power circuit/
battery power
monitor circuit
Battery
Encoder Encoder
1FG/1HG board
Robot Controller
1KB board
Encoder I/F
Servo
CPU
Encoder +12 VDC power supply
Battery alarm
error
Main causes include:
1. Discharged batteries.
2. Defective encoder battery board (1FG/1HG board).
3. Defective encoder.
4. Short in the harness from the encoder battery backup board to the encoder.
5. Short in the harness or defective encoder causing increased battery discharge.
6. Battery alarm signal line from the 1FG/1HG board is disconnected.
7. Defective servo board (1KB board).
⇒
Replace the battery. There is a possibility that internal encoder data may be lost.
Check the robot zeroing.
⇒
Check each harness for short circuit.
⇒
Replace the encoder, the 1KB servo board, or the 1FG/1HG encoder battery backup
board, if necessary.
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ERROR CODE W1014 Number of Axis Changed. Reinitialize.
The number of axis assigned to the robot has changed.
⇒
Change the number of axes and initialize the system.
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