Kawasaki D Series Controller MPVDCONTV113E-3 - Manual (Page 87)

TROUBLESHOOTING
D SERIES CONTROLLER
TROUBLESHOOTING AND COMPONENT REPLACEMENT
1-84 August 9, 2005
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ERROR CODE E1042 Limit switch signal line is disconnected.
This error occurs when the axis restriction limit switch is activated and the robot did not
move beyond the set working range (restricted space).
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. Axis restriction limit switch activated by brake release or unexpected robot motion.
2. Axis restriction limit switch installed inside motion range set in AUX 0507.
3. Incorrect zeroing data.
4. Defective axis restriction limit switch.
5. Defective signal harness.
6. Defective 1KP board.
⇒
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.
⇒
Check harness and limit switch and replace as necessary.
⇒
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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ERROR CODE E1043 Teach-plug is abnormal.
This error occurs in teach mode if the teach plug is not installed or in repeat mode if the
teach plug is connected.
⇒
Ensure the teach-plug is in the proper state for the mode used.
⇒
Check and repair the teach-plug circuit as necessary.
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