Joint Error - Troubleshooting

[RoboFutbol]

   I am working with a FS06N arm.  I get two errors on joint 2 when I try to move it.

(-1503) Speed Error Joint 2
(-1504) Position Envelope Error Joint 2

I moved the joint by hand when releasing the brakes manually and it moves easily.

What do I check next to find the problem?  I have never preformed any maintenance on it.  It's more or less just for R&D and not used much.

Thanks in advance...

[najafabadi]

First check the controller type (C or D controller) and then go to the link below (thanks to Rosy for the link) and find the error code manual and download it and try to find the error code numbers and continue.
http://www.kawasakirobotics.com/srchdatabase/sessearch.cgi?ae=%C3%9F&q=Manual&op=and

[RoboFutbol]

Thanks for the help.   

I have narrowed it down to either the motor or power block.  I need to see if I can swap the motor for joint 2 with another one so I know which part it is.

Kawasaki gives two spare part manuals and I am trying to narrow down which is the correct one.  I have a C Controller.

[roboperson]

The errors your showing are more a motor/encoder error. Move the motor and encoder harnesses from JT2, and move them to JT1. See if the problem moves to JT1. Those are not typical power block errors.

[RoboFutbol]

   Well, I switched the motor leads and the encoder leads for joints one and two.  Powered up the arm and wasn't able to get it to fault.  Powered down and put the wires back where they belong.  Moved joint two and got the same errors.

My thought is a power block issue based on joint one not having any forces applied with the arm straight up in the air.  Joint two would have gravity pulling on it when moved in either direction.

Thoughts?

[roboperson]

JT1 and JT2 SHOULD be the same motor. Look at the kw ratings, etc. and confirm. Pull the motors (lower JT2 first to the hard stop), pull the motors, switch the in put gears, zero the joints and see if the problem follows. This would confirm the motor.

You can also meter from the separation harness where it plugs into the bottom of the controller out. Ohm it to see if you have the same resistance. Look for a short or cross. This should point you in a direction of contoller, robot or harness.

[RoboFutbol]

Jt 1 & 2 are the same motors.

I am going to order a power block as recommended from a Kawasaki support email.