Kawasaki D Series Controller MPVDCONTV113E-3 - Manual (Page 25)

TROUBLESHOOTING
D SERIES CONTROLLER
TROUBLESHOOTING AND COMPONENT REPLACEMENT
1-22 August 9, 2005
Ka a a w s k
ERROR CODE D1007 Regenerative time over [XX].
This error occurs when current is sent to regenerative resistors for six or more consecu-
tive seconds.
When the robot decelerates, the motors enter the power generation state to absorb the
inertia energy from the arm. When the P-N power voltage exceeds the rated value (390
VDC), the current is split from the power block to the regenerative resistor. When the
voltage drops to a safe level (365 VDC) the resistor is removed from the circuit.
Regenerative
signal
1KB board
Controller
P-N power
voltage
monitoring
circuit/
Regeneration
controlling
circuit
Drive circuit
1KC: IGBT
1KD: IGBT
1KL/1KR: FET
Regenerative
resistor
Motor power
(P-N power
voltage)
Motor power circuit
Motor power
Power block
Gate Array
Servo
CPU
Interface
CPU
Main causes include:
1. Abrupt direction changes at high speed.
2. Burned out regenerative resistors in the power block.
3. Defective power block.
4. Defective servo board (1KB board).
5. Loose or disconnected harness between 1KX board (mother board) connector X211
or X212 and the 1KB board (servo CPU board) connector X501 or X502.
6. Defective/incorrect optional second regenerative resistance unit (when used).
⇒
Avoid abrupt high speed direction changes. Change accuracy, speed, add points.
⇒
Replace defective regenerative resistor.
⇒
Install/replace optional second regenerative resistance unit.
⇒
Replace defective 1KB board.
⇒
Replace defective power block.
⇒
Check connections described in item 5 and repair as necessary.
_____________________________________________________________________