Kawasaki D Series Controller MPVDCONTV113E-3 - Manual (Page 36)

TROUBLESHOOTING
1-33 August 9, 2005
D SERIES CONTROLLER
TROUBLESHOOTING AND COMPONENT REPLACEMENT
Ka a a w s k
ERROR CODE D1505 Motor harness disconnected or over heat. (XX)
Motor thermal circuit is open due to motor overheat or harness problem. Not all robot
models utilize thermal switches in the motors. Some robot models may have multiple
thermal switches connected in series (see diagram below). The FS03/06/10/20 robot
models have the thermal switch mounted near JT1 motor. The FS03 model is calibrated
to 55° C and FS06/10/20 models are calibrated to 65° C
1KB board
Gate Array
Servo
CPU
Interface
CPU
1KQ/1NR board
Controller
Photo coupler
Upper arm
Rotor trunk
Thermal switch
Thermal switch
Thermal line
(TH)
Robot
Main causes include:
1. Disconnected thermal line.
2. Defective connection in the separation harness.
3. Defective 1KB servo board.
4. Defective 1KQ/1NR board.
5. When the motor thermal switch is used:
– The robot rated weight capacity is exceeded.
– The ambient temperature exceeds limits for use.
– Excessive execution of abrupt high speed direction changes.
– Defective controller cooling fan or cooling air purge system.
– Servo system holding the robot arm in high load position for extended periods.
– Defective thermal switch.
⇒
When the thermal switch opens, error cannot be reset until cooling is complete.
⇒
Confirm continuity of thermal line.
⇒
Replace the harness or the 1KB servo board as necessary.
⇒
Replace the 1KQ/1NR board.
⇒
Use the auto servo off function, AUX 0808, to prevent the servo system holding a
high load arm position for extended periods.
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