Disabling a 7axis

  • hi!


    I have an old kawasaki 1998 A83 controller, JS 30 arm, and one of the boards (9ZA) needed replacement after some errors that prevented me from even boot the robot. After the replacement from one ebay board i can now turn on the robot but got a "-1553 encoder response error jt7". Since i cant work with the error, and the robot only have 6 axis is there a way to disable the 7 axis or a work arround?


    Thanks in advance!

  • AD
  • Welcome to the forum........:beerchug:

    Could you provide a list of just what boards you have installed in the Controller?


    Depending on these may require some additional jumpers/switches changing or possibly just by carrying out (I would make a backup/save to floppy first):


    - SYSINI/U command to remove user data.

    - ZROBOT command.


    This maybe worth trying (at your own risk)........:top:

  • Hi,

    thanks for the reply,

    Its 9ZA-51 and 1GE.


    I have and old save of the robot data, "ZOPTION_7 0 0 0 0 0 0 0 0 0 0 0" is it related the 7 axis? some bits of the parameters?


    * ZROBOT.TYPE JS030F-A004_580 ( 2020-07-10 13:05 )

    .* SOFTWARE VERSION 15C4H4-5YE

    .* SERVO VERSION E03-S0D-JD05 : SID=0059 1997-1-20 JS030-A005/JS040-A005 AD-HQ 1GE Servo software

    .* E03-S0D-JD05 : SID=0059 1997-1-20 JS030-A005/JS040-A005 AD-HQ 1GE Servo software

    .**************************************************************************

    .ROBOTDATA

    ZROBOT.TYPE JS030F-A004_580 ( 2020-07-10 13:05 )

    ZZERO 422089804 222446156 163285679 268450979 268572831 268435456 1048576 18755 -5629 -13300 3 7 27208 0 -2121896589

    ZAXIS 6 1 2000.000000 2000.000000 1 1 2.647693 0.000000 1000.000000 0.384000 0.000000 262565

    Z2AXIS 0 1 0 1.000000 -1 -1 -1 -1 -1 -1 45373

    ZULIMIT 160.000000 140.000000 150.000000 400.000000 130.000000 36000.000000 2000.000000 234277

    ZLLIMIT -160.000000 -120.000000 -150.000000 -400.000000 -130.000000 -36000.000000 -2000.000000 255493

    SPIN_DATA 655636 268572596 137140 0 861546516

    ZSPINDELAY 4 0 136

    ZSETACCEL 1.000150 0.800150 0.800150 1.000150 1.000150 1.000150 1.000140 186456

    ZSETDECEL 1.000150 0.800150 0.800150 1.000150 1.000150 1.000150 1.000140 186456

    ZSETENVCHK 1.000000 1.000000 1.000000 1.000000 1.000000 1.000000 1.000000 182308

    ZSETSPCHK 1.000000 1.000000 1.000000 1.000000 1.000000 1.000000 1.000000 182308

    ZOPTION_1 0 0 0 0 0 0 -1 -1 -1 -1 -170

    ZOPTION_2 1 0 0 1 0 0 1 1 -1 -1 357

    ZOPTION_4 1 0 1 0 1 1 0 0 0 0 493

    ZOPTION_5 0 0 0 0 0 0 0 0 0 0 0

    ZOPTION_6 1 1 1 1 1 1 0 1 1 -1 833

    ZOPTION_7 0 0 0 0 0 0 0 0 0 0 0

    ZSPEC1 0 3 0 0.300000 30 0 0 28016

    ZSPEC2 -1 -1 0.000000 -1 -1 -1 -1 -1 0.000000 -1 64175

    ZCHECKSPEC 0 0

    ZBUNRI 0 0

    ZPARA7_B2_1 0423 0423 04f7 04f7 0423 0800 0000 0000 0000 0000 0000 0010 0004 7fff 0434 07ff 0020 7fff 0040 5555 8501496

    ZPARA7_B2_2 0054 00e2 4100 49c3 04f7 0ac3 0501 0344 0572 0028 0000 0004 346d a776 0000 0000 0000 0000 0000 0000 0041 21103800

    ZSIGSPEC 32 544

    ZDFF 0 0

    ZSWITCH ZADMAX.OLD ON

    ZSWITCH ZADMAX.NEW ON

    ZSWITCH ZCONFIGINS OFF

    ZSWITCH ZSEPSPIN OFF

    ZSWITCH ZINTEGRAL.CIR OFF

    ZSWITCH ZPLK.CHK OFF

    ZSWITCH Z9894WX ON

    ZSWITCH ZTPLOG OFF

    ZSWITCH ZNEW.CHECK OFF

    ZSWITCH ZWS.ZERO OFF

    .END

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