Hello. Can u help me with trouble in Kawasaki controller type D40F-D002, and arm FA0060775. The manufacturing have 2 robots with synhronize. This system stayed 1 years. I dont know what peoples did with this system:D But controller 1, have errors ED2023 (look pic 1), before pushed reset next errors D1017, D1016, E0903 (look pic 2). Second controller have errors only in cartesian degrees W1000 (look pic3), in joint mode have trouble with mechanical system (some axes do not rotate in the opposite direction) .
Kawasaki D40F-D002
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NickBabin -
December 4, 2020 at 10:37 AM -
Thread is Unresolved
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Controller inside
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kwakisaki
December 4, 2020 at 10:54 AM Moved the thread from forum Yaskawa Motoman Robot Forum to forum Kawasaki Robot Forum. -
kwakisaki
December 4, 2020 at 10:55 AM Changed the title of the thread from “Yaskawa Motoman D40F-D002” to “Kawasaki D40F-D002”. -
This system stayed 1 years. I dont know what peoples did with this system:D
This may take sometime, as I will have many questions.
1. The cabinet is picture of D+ Controller not D Controller - are both Controllers the same model?
2. FA Series is usually Arc Spec Arm - are both Arms the same model?
2. Have you file save for both robots?
3. Have you checked/replaced batteries on CPU or Robot Arm?
4. What have you done to try and resolve problem - BE VERY SPECIFIC TELL EVERYTHING?
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This may take sometime, as I will have many questions.
1. The cabinet is picture of D+ Controller not D Controller - are both Controllers the same model?
2. FA Series is usually Arc Spec Arm - are both Arms the same model?
2. Have you file save for both robots?
3. Have you checked/replaced batteries on CPU or Robot Arm?
4. What have you done to try and resolve problem - BE VERY SPECIFIC TELL EVERYTHING?
1. All arms and models controllers are the same. 2. I don't have any Files. 3. the Batteries were changed before me, this was the first thought about the problems. 4.I only examined them since there is no representative office in Kawasaki in our city, I myself deal with KUKA and Panasonic.
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This may take sometime, as I will have many questions.
1. The cabinet is picture of D+ Controller not D Controller - are both Controllers the same model?
2. FA Series is usually Arc Spec Arm - are both Arms the same model?
2. Have you file save for both robots?
3. Have you checked/replaced batteries on CPU or Robot Arm?
4. What have you done to try and resolve problem - BE VERY SPECIFIC TELL EVERYTHING?
I Just need to understand what's wrong with the system.
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Well that's easy.
W1000 is a warning to say robot cannot move along straight line - Singularity, usually when JT4/JT5/JT6 are in alignment at 0 degree.
- So in BASE/TOOL Interpolation modes motion is not possible.
- So change to JOINT Interpolation mode and you should be able to move it freely.
- If there is still a problem, I suspect Robot requires re-zeroing.
Regarding the other Robot.
Sounds like it's been re-initialized and is completely emptied of all system and user data and is basically an empty controller.
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Well that's easy.
W1000 is a warning to say robot cannot move along straight line - Singularity, usually when JT4/JT5/JT6 are in alignment at 0 degree.
- So in BASE/TOOL Interpolation modes motion is not possible.
- So change to JOINT Interpolation mode and you should be able to move it freely.
- If there is still a problem, I suspect Robot requires re-zeroing.
Regarding the other Robot.
Sounds like it's been re-initialized and is completely emptied of all system and user data and is basically an empty controller.
About second controller, the Director of the company claims that the controllers were not touched. What other problems are associated with this type of error?
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Which controller problem are you referring to, the one with the W1000 warning or the other one showing D errors?
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Which controller problem are you referring to, the one with the W1000 warning or the other one showing D error
Sorry very hard day. First controller with error ED2023, which has no software as you say.
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Either:
- 1RA or 1RB not seated correctly.
- Hardware initialized - No system data (empty controller).
- 1RA CPU board is bad.
- 1QJ board installed on CPU board is not correct Servo firmware.
- 1RB board is bad.
- 1RB board dipswitch settings have been changed.
- 1RB board incorrect 1GM board installed.
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Either:
- 1RA or 1RB not seated correctly.
- Hardware initialized - No system data (empty controller).
- 1RA CPU board is bad.
- 1QJ board installed on CPU board is not correct Servo firmware.
- 1RB board is bad.
- 1RB board dipswitch settings have been changed.
- 1RB board incorrect 1GM board installed.
thx u very match! Have a nice weekend!
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You're welcome, you too.........