Can you definitely confirm your operation of Teach Pendant deadmans switch is correct?
Kawasaki D+ series D1512 Error
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Atanas Goranov -
June 24, 2019 at 10:40 AM -
Thread is marked as Resolved.
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I think we need to summarise where we are, as doing to many changes may introduce further problems...….do you agree?
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the problem with deadman switch was unplug in connector on 1KP X6
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There is no X6 on 1KP.
- Are you saying, you have removed X8 connector (no links) and Deadmans is working? -
Are you still here?
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Quote
There is no X6 on 1KP.
- Are you saying, you have removed X8 connector (no links) and Deadmans is working?
I mean X8QuoteI think we need to summarise where we are, as doing to many changes may introduce further problems...….do you agree?
We have ERROR CODE D1512 Brake line error for Jt 1 2 3 4 5 6
1. Disconnection/short-circuit/ground fault/poor connection at the brake line axis motor
harness.
no - they works manual2. Defective connection for the brake power line.
no - they works manual3. Defective connection or harness between the 1KB and 1KQ/1NR boards.
x206 => x321 looks good /visual inspection/. other connection ?4. Defective connection or harness between the 1KB and 1KX/1NX boards.
slots looks good /visual inspection/5. Defective connection or harness between the 1NR and 1NX boards.
what is 1NR?6. Incorrect 1KP board safety circuit setting.
where I cen find this setting and how can I set it?7. Defective 1KB or 1KQ/1NR board.
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I know what is written in manual..but..
Based on summarising the history:
1. Fail to boot (Cpu error).
2. 1RA replaced and AS/SV reloaded.
3. Controller bootup ok.
4. Earlier backup reloaded.
5. Teach Pendant connector resolved for teach pendant display.
6. Repeating Brake line errors for all joints when motor power applied.
7. Brake release buttons working for individual joint release circuit intact - but no brake line monitoring when using push button.
8. Brake line error comes from 1KQ board when short circuit detected.
9. Brake line error can occur when MC Unit/1KQ and 1KP mismatch part no.s (your part no.s correct per revision manual).
10. Brake line error can occur when mismatch in software for 1KQ and 1KP operation (used supplied as/sv and also latest with same result).Assuming CPU was the only problem, let's assume other hardware is good.
So check your PM, I am sending you something to try for me.
Please only do what I ask and report back result, good or bad. -
PERFECT !!!!!!!
It works !!! No ERROR
the beers became two
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Wokka wokka wokka…….
Ok, can you spare 5 mins just to confirm some settings etc as you will also need to re-zero. -
We have to revise the mechanical parts before we move it and battery replacement for encoders.
We have to change lubricant ?
Anything else about mechanical parts -
Ok, but you can confirm that:
AS/SV is at the lateset level.
X8 connection is back to normal.
Brake Line error is cleared now.
All appears normal and error free.
Make a backup as the 'missing' link is not enabled on your original backup.Attached is the maintenance manual for the ZX Series, which contains the correct type of grease and also grease points etc.
When you get the encoder batteries sorted, you could do with moving it around and checking for 'grinding' noises and smooth motion.
Maybe a routine to just cycle the joints etc as long as the robot is bolted down securely etc. -