Kawasaki D Series Controller MPVDCONTV113E-3 - Manual (Page 207)

TROUBLESHOOTING
D SERIES CONTROLLER
TROUBLESHOOTING AND COMPONENT REPLACEMENT
1-204 August 9, 2005
Ka a a w s k
ERROR CODE W1015 Possibility of failure.
The monitored value of I 2 (current squared) exceeds the normal value for the monitored
program and indicates excessive wear in the cyclo reduction unit or a servo motor/brake
problem.
Current increase may be caused by program modifications.
⇒
If the robot control program is modified, the monitored value of I 2 may need to be re-
evaluated and changed.
⇒
Check and replace the worn cyclo reduction unit.
⇒
Check and replace the defective servo motor/brake assembly.
_____________________________________________________________________
ERROR CODE W1016 Torque of motor is over limit. JTXX
This error occurs when the current value exceeds the permitted set value. This error
may also occur if the overspeed load torque or inertia force is too high.
⇒
Ensure the robot program moves do not cause excessive load torque or inertia force.
⇒
Reduce the robot program speed or accel/decel parameters.
⇒
Ensure the load on the robot arm does not exceed the robot’s capacity.
_____________________________________________________________________
ERROR CODE W1017 Encoder battery low voltage. [External axis (XX)]
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. Battery discharge.
6. Defective servo board (1KB board).
⇒
Exchange 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.
_____________________________________________________________________