Kawasaki D Series Controller MPVDCONTV113E-3 - Manual (Page 86)

TROUBLESHOOTING
1-83 August 9, 2005
D SERIES CONTROLLER
TROUBLESHOOTING AND COMPONENT REPLACEMENT
Ka a a w s k
ERROR CODE E1041 Limit switch (JT XX) is ON.
This error occurs when the robot moves beyond the set working range (restricted space)
and activates the axis restriction limit switch.
The mechanical stopper and the axis restriction limit switch are optional and the axis
they are installed on varies with machine type and configuration.
Controller Robot
1FG/1HG board
Axis
restriction
LS
Axis
restriction
LS
1KP board
EPLD
1KB board
1KX board
Local bus
Main causes include:
1. Software limits are set incorrectly in AUX 0507.
2. Axis is moved using the manual brake release and the limit switch is turned ON.
3. The limit switch is turned ON by overshoot from inertia.
4. Incorrect zeroing data.
5. Defective axis restriction limit switch or signal harness.
6. Defective 1KP board.
⇒
Check the limit switch and limit switch harness; replace as necessary.
⇒
Set the software limits in AUX 0507 to an appropriate value.
⇒
Change the installation angle of the axis restriction limit switch to an appropriate
value.
⇒
Replace the 1KP power sequence board.
⇒
Return robot within the motion range using the manual brake release or press and
hold the overtravel override switch on the 1KP board, reset the error, set motor power
ON in teach mode and jog the robot off of the axis restriction limit switch.
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