Controllo AD

Hello Dolomix,

If I am not mistake the Error 0955 is Sun Check Error of External Axis control Parameter.
Kawasaki also recommend to save all parameters from Robot Controller on Floppy Disk or any kind of external Storage which can work on your Controller.
Also they make very clear Caution that when you are trying to change the Battery, you must do it under 1 hour time.

I will try to read my Manual carefully to spot which page to help us solve the Error 0955.

Welcome to the forum...........

Checksum Error can be cleared if you access Aux 78.
- You can also enter the command CHSUM on the screen and enter 1.

This should allow you to clear the check sum error.
If it returns, you may need to load in data AS/SV and a possible backup (but let us know if the above works).

Sorry to hear that, can you post a picture of your screen/display and include any additional information you may have - eg is the error light permanently on.
You mention about not possible to put power to the engines (I assume Motor Power is not possible).
Either Safety circuit or Permanent error is common to prevent motor power, so can you provide further details?

Hmmm, this could be difficult to recover.

The Check Sum is error is referring to an external axis.
I think with dipswitch settings, this is activated and backup data if contain external axis data and 'clean initialisation' will cause loss of external axis parameter settings, so separate file maybe required.

1. Do you have an external axis fitted - ie servo gun, rotary positioner.
2. If you have, do you have any other information on your floppies like a file that ends with extension .mot

I think the file you refer to maybe an old file due to having a 'b' in extension, I think from memory software (servo) extension is .sv0.

I think the only possible solution is to contact KHI (or your local Kawasaki distributor) and see if they can supply correct files for external axis.
- Due to age of robot, maybe very difficult to obtain now unless a user here has these files available.

Do you have other systems available, or is this the only one you have access to?

1GE Board contains additionl Current Sense Module (1GM).
- This allows for current match for specific motor(s) fitted.

Usual issues are:
Faulty boards 9ZA or 1GE or 1GM - Replace.
Mismatch between 9ZA Software and actual hardware, Robot Model maybe incorrectly set or installed software for 9ZA is not of correct version.

See attached Troubleshooting flow.

Mmmm is hard, there are not response from the guys that made the external axis configuration.. is there a way to configure the arm as it basic functionality, just as a robot arm? I've seen too, that when i save the information of the robot on a floppy disk, it says:
.ROBOTDATA
ZROBOT.TYPE JS006-A 1AE(AD)
ZVERSION JXAWC2-1AE
ZSERVO.VER A: E03-S0D-JS11 : SID=0061 1997-03-07 JS006-C001 AD-HQ 1GE Servo software
B: E03-S0D-JS11 : SID=0061 1997-03-07 JS006-C001 AD-HQ 1GE Servo software

But in older data saved says:

.ROBOTDATA
ZROBOT.TYPE JS006-C 1GE(HQ)
ZVERSION JXAWC2-1AE
ZSERVO.VER A: E03-S0D-JS11 : SID=0061 1997-03-07 JS006-C001 AD-HQ 1GE Servo software
B: E03-S0D-JS11 : SID=0061 1997-03-07 JS006-C001 AD-HQ 1GE Servo software
C: E03-S0D-AA10 : SID=0085 1997-05-06

the dipswitch

I am not sure if you could make just standard 6 axis, because of 1GM board......but is worth a try I think.
Attached is maintenance manual and yes, the dipswitch you refer to is part of multi-axis configuration.
- In manual, check/change/confirm jumpers and switches on 9ZA and 1GE board for 6 axis only and disable JT7 references.
- Make note of old positions before you change.