Kawasaki c series controller with ux12 error -1909 servo type mismatch after battery exhaustion in controller

Another ex JLR (X400), those guys were sorry to see these go from what I heard.

AC Primary Power off is a common message produced when powered off/under voltage.

So unless it is under voltage, this message is normal and I would not be concerned with this.

The internal batteries backup the internal ram (SRAM) and upon replacing them and the fact you have carried out dipswitch procedure, would remove the Robot Model information and empty the controller.

Usually this just requires reloading of a backup and re-zeroing of the robot joints to return it to operation.

1. What information is displaying in Aux 90 screen, can you provide a screenshot?

2. Do you have a previous file save?

3. Can you make a file save, even though it is in error, please try and can you post it?

4. Do you know whether this was a 6 axis or 7 axis system?

Thanks for that perfect.

Yes, I mean creating a full file save of the controller data.

Use one of the editors (KCWin32 or KRTerm) or the built in PCMICA Slot in the MFP to create one.

You can find a PC application here (KCWin32, KCWintcp, KRTerm) to do a file save here to download:

Kawasaki Online Terminal Editors - Manuals, Software and Tools for Kawasaki Robots - Robotforum - Support and discussion community for industrial robots and cobots (robot-forum.com)

Your issue is that your Motion and Servo Type is incorrect and should be set to 2.

Check your 'Conversation' on Robot Forum, I've sent you the procedure to set it correctly.

Once you have done this, the error should be resolved.

If you are then error free, try and get motor power on and move the joints.

If you can't get motor power, you may need to check TB2 and the External IO Manual for the correct jumper configuration.

JLR use X15 (usually) as there External EStop and External Safety Fence Circuit connection to the field.

These are directly connected to TB2 interface.

You will then need to move the joints to the scribe lines and use Aux 140 and Aux 41 to zero the joints.

If you can get motor power, but the robot will not move with the MFP, then let me know, as another setting maybe required due to the hardware initlialization.

Cool.............

I thought that's what you may have.

Can you confirm on the main STATUS screen that it is showing RELEASE EXT HOLD?

Your HOLD/RUN switch is in HOLD, when you toggle the switch on the Controller, does that change state?

(not the switch on the screen - this is just an icon, the one on the Cabinet Panel).

So I'm assuming on the main status page, you are now displaying Run and Release Ext Hold.

- Check your conversation again.

That should allow you motion now.

If not, then you may need to confirm TB2 connections and check Aux 111 Ext_IT is set to RESET.

Have you managed to get it to move now successfully?

Good man.

Yes, JLR spec was no local IO board fitted (1HW) but replaced with Interbus Master/Slave boards.

Interbus.

So in it's current state, you have no inteface for local IO except via Interbus IO Modules.

Therefore you can either:

1. Need to obtain some Interbus IO modules or a single remote field rack like below:

Phoenix Contact INTERBUS-S Ibs St 24 Bk-T + Interbus-S Ib Stme 24 Bdi | eBay

2. Need to obtain the standard Kawasaki IO board 1HW like below:

Kawasaki Robot I/O Board 1HW-50 (50999-2146R11) | eBay