Kawasaki D Series Controller MPVDCONTV113E-3 - Manual (Page 97)

TROUBLESHOOTING
D SERIES CONTROLLER
TROUBLESHOOTING AND COMPONENT REPLACEMENT
1-94 August 9, 2005
Ka a a w s k
ERROR CODE E1086 Start point for Jt XX beyond motion range.
Robot pose at motion start is beyond the range set in AUX 0507.
Example:
DO HOME is executed at a point that is out of motion range set in AUX 0507.
⇒
Correct pose to within working envelope or expand software limits to accept pose.
_____________________________________________________________________
ERROR CODE E1087 End location point for Jt XX beyond motion range.
Main causes include:
1. Jt XX at a taught point is beyond the motion range set in AUX 0507.
2. With a servo spot weld gun installed, if a taught point is near the motion range limit
for an axis, the robot motion that results from performing tip wear compensation in
repeat/check mode causes the robot to exceed the motion range limit.
3. Taught data for the gun axis is out of motion range.
Example:
Taught data is changed from a gun released to a gun connected state without any
corresponding change in pose data.
⇒
Correct pose to within motion range or expand software limits in AUX 0507 to accept
pose.
⇒
Correct the correct data so that the robot motion is within motion range with the gun
connected.
_____________________________________________________________________
ERROR CODE E1088 Destination is out of motion range.
While executing a motion to a step, the software calculated the pose destination of all
joints to be outside of the allowable upper or lower software limits.
⇒
Correct pose to within motion range or expand software limits to accept pose.
_____________________________________________________________________
ERROR CODE E1089 Cannot do linear motion in current configuration.
System software determined that the start and end points of a linear or circular move
will cause the robot to exceed the acceptable motion parameters.
⇒
Change motion interpolation to a joint move; move the pose to avoid configuration
conflict.
_____________________________________________________________________