Kawasaki D Series Controller MPVDCONTV113E-3 - Manual (Page 90)

TROUBLESHOOTING
1-87 August 9, 2005
D SERIES CONTROLLER
TROUBLESHOOTING AND COMPONENT REPLACEMENT
Ka a a w s k
ERROR CODE E1054 Cannot execute motion instruction.
Main causes include:
1. A motion instruction is executed for the slave robot during cooperative motion.
2. A motion instruction is executed in soft absorber mode (from SASTART to SAEND).
⇒
Correct the slave robot program. Only non-motion instructions can be used for the
slave robot in the cooperative motion program.
⇒
Do not use program motion instructions while in soft absorber mode. Only motion
instructions specific to the soft absorber function can be used in soft absorber mode.
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ERROR CODE E1055 Start point position error for circle.
The robot is stopped after it began executing a circular motion and moved 4 mm or more
away from its calculated path (jogging or brake slippage, etc.). Attempting to continue
execution of the path from this position results in this error.
⇒
Move the robot closer to the calculated path or restart the program a step prior to the
circular path.
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ERROR CODE E1056 MASTER robot already exists.
This error occurs when MASTER instructions are executed for both robots during coop-
erative motion.
⇒
One robot must be configured as the MASTER robot and the other robot must be
configured as the SLAVE robot.
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ERROR CODE E1057 Check to which robot MASTER/ALONE were instructed.
This error occurs when a robot other than the MASTER robot executes the ALONE,
MJMOVE, or MLMOVE instructions.
⇒
Make program corrections as required.
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