Kawasaki FS030L no cotrol power

Hello,

Greetings to you all at this amazing forum, I've been reading your experiences for couple of days, you are amazing!

We got Kawasaki robot model FS030L-B in my company last week, it was taken form production while it was functioning, but that was at least 3 years ago ( maybe even more). So when we plugged it in first thing we hear is some sound coming from controller C41F-A020, something like "tump" we checked all switches and everything is on. What we could locate is that sound is coming form lower side of controller. And control power light is turned off.

After Turn on touch panel turns on and we got some errors which we solved by reading this forum including error based on encoder batteries and encoder zeroing.

Next we tried to turn Motor power on but it just blinks. In the touch panel e-stop is always active even when we reset both e-stop buttons so these are not activated and we still have e-stop active on touch panel.

Reading your forum I came across dip switch 8 method but I wanted to check with you guys before we try that. Or if you have diagram for jumper for this controller that would be helpful.

Let me know what you think.

Hello,

Sorry for not responding, we went on holiday after we talked last time.

I just got an opportunity to try what you have sent me, and this is the situation. I have removed and added all jumpers as on scheme, now we can turn on motor power it lights on and stays on but control power is still not on. After I try to move axis it triggers error code that motor power is off.

I am not sure about 1-2 should this be connected with jumper or to external power, or left open?

I have attached some photos. What should we do next?

Thank you very much.

Hi,

We do thank You.

we have solved this now when I click trigger/deadman switch we hear click in robot arm but no movement in teach mode and we have error code 1337. Which says Two MC lines are not consistent.

How can we resolve this?

Robot is moving

So we made a lot of progress today. We can move robot in teach mode, but when we try to run a program we get 1337 error again

- I'll check F2 and F5
- I dont have that information how can I check this?
- By back cover you mean where power cables are pluged in?
- Yes, I can hear a click in controler and in robot
- K1, K2 and K3 are working
- 1HY board is plugged in and working

As I have stated before this robot was used in combination with other machines so we have one extra board in SLOT 1 which is connected to cables that are no longer in use. ( White cables) Could this be a cause of our problem? Also, I would like to remove these cables as these are large in size and we don't use those. Can I remove this extra board? Is there some proceudre for doing this?

Hi,

Yes we are making a lot of progress.

- I have checked jumpers and these are fine
- CN2 connector is also fine

About Teach/Repeat Switch

When we turn from teach to repeat we lose motor power and trigger 1337 error. So I have checked switches brown NC and black NO on top side so black switches are working as described NO but on lower side brown ones front and back are NC but middle one is NO allways so we will try some contact spray.

Photos are attached. Is this causing our problem?

This is an update,

I have resolved issue with switches so these are now working properly. But I still get 1337 when I switch from teach to repeat.

We have tried that and we cannot reset error 1337.

Yes when change from teach to repeat motor power does go off. But even if we turn motor power off by e-stop reset then change to repeat few seconds after turning the key we get error 1337. Then we turn key back to teach and turn motor power on and it works fine.

My bad. Motor power is not turning on by it self when you go from teach to repeat and back. So when we activate repeat without touching anything elese after couple of seconds we get 1337 error.

Thank You.

I will check this tommorow morning. We took this switch appart today when we had issue ti NC/NO but we can do it again tommorw.

One more thing that I have noticed when I try to run program in check mode in teach nottingh happens but when I go to keyboard menu it says "Program Held". Also I have conneced to robot through terminal and when I try to run a program in check mode in terminal I get message Program hold. Can this be related? I'll attach photo from keyboard menu

Thank you once more

1. I load a program from program list. We have lot of programs, but also we have simple program we wrote to move one joint. As described in AS language manual.
2. Then I click check mode. Turn motor power on hold deadman switch and then I click on arrows to move down through program lines. Lines move but robot doesn't.
3. After this I go to keyboard and I see message program held. Also when connected KRTerm as I click on arrows with holding deadman we get message on terminal "program hold."

Are we doing something worng here?