Kawasaki D Series Controller MPVDCONTV113E-3 - Manual (Page 78)

TROUBLESHOOTING
1-75 August 9, 2005
D SERIES CONTROLLER
TROUBLESHOOTING AND COMPONENT REPLACEMENT
Ka a a w s k
ERROR CODE E1030 Encoder data abnormal. (Jt XX)
When control power is switched ON, the current encoder value is compared to the
stored encoder value when the power is turned OFF. If the difference is more than the
value set in AUX 0504 Encoder Error Range, or by the ENCCHK_DATA command, this
error occurs.
Power
circuit
Battery
Encoder Encoder
1FG/1HG board
Robot Controller
1KB board
Encoder I/F
Servo
CPU
Encoder +12 VDC power supply
Main causes include:
1. Value set in AUX 0504 is to small.
2. Back up battery failure due to disconnection or discharged battery (+3.3 VDC or less).
3. Control power is turned off during robot motion by an abnormal power supply, etc.,
causing the robot to stop in a position other than the last position stored in the AS
software.
4. Motor replacement/encoder replacement (zeroing must be performed).
5. Robot arm or motor operated by force when control power is off.
6. Controller was initialized (this error occurs for all axes).
7. Servo spot weld gun.
–Loose connection at tool changer.
–Defective tool changer harness.
⇒
Ensure the value set in AUX 0504 is correct.
⇒
Data may have been lost due to backup battery. See error W1013. Replace the
battery. There is a possibility that internal encoder data may be lost. Check the robot
zeroing.
⇒
Check connections at tool changer, clean connections, replace harness as neces-
sary.
⇒
Check each harness for short circuit and repair, or replace, as necessary.
⇒
Replace the encoder, the 1KB board or the 1FG/1HG encoder battery backup board
as necessary.
⇒
After repair is complete, confirm correct program playback in check mode before
running program in repeat mode
.
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