Hi guys
i am facing error in jt4 in Kawasaki BA robot, welding robot , since the motion range for jt4 is +- 180
the problem joint 4 will move in positive fine +180 , but in negative only -71 then error pop up (E1124)
your help and advice as usual .
Hi guys
i am facing error in jt4 in Kawasaki BA robot, welding robot , since the motion range for jt4 is +- 180
the problem joint 4 will move in positive fine +180 , but in negative only -71 then error pop up (E1124)
your help and advice as usual .
one more thing , i did temporary zeroing for jt4 at -60 to check the robot will pass that point but unfortunately, it moves only to -11 then error pop up , i think the problem in that area,
Possible problems for occurrence of that error I have seen:
- Motor/Encoder failure.
- Brake not released properly.
- Gear box damage through collision/impact.
- Gear box tight, too much grease applied during service.
If you can obtain brake release box (E0x Controllers) or access brake release buttons (E20,E30,E40 Controllers) then check if you can hear brake release and rotate joint by hand (both directions through software limits and return).
- If no sound from brake release action, rotation, or too tight, I suspect gearbox/brake/brake release circuit.
- Free rotation, then suspect motor/encoder.
Thanks a lot for ur usual support
I did brake checker procedure and it was okay as follows:
Axis 1 2 3 4 5 6. Ok torque
Axis 1 2 3 4 5 6. Ok release
I do not know if that will help . Thats why i think the problem will be on motor or encoder i will check and let u know
Thanks again
You could do with obtaining manual brake release box also, to check rotation, it is possible that gearbox is tight and you may feel this by hand.
thanks a lot
robot is working in good condition right now , i released the brake and rotation was free except that area, it was stuck, by rotating CW and CCW many times it became free
i think the problem was in grease became rigid . because since 3 months did not move.
Thanks Again for your support
That's good news.
I have never come across instance of 'grease' viscosity causing issues if left standing except if wrong type, or too much applied during service.
I would remove fill/drain plugs for JT4 grease points and run exercise program for JT4 between software limits for couple of hours and work grease around and catch excess, then refill and seal back up.
It is possible foreign body/pending gear box failure is working it's way around and may cause future error - so I would monitor for this.
But good news all the same and thank you for the update.