Goodmorning everyone,
I wanted to ask you for help to fix my old Kawasaki robot type FA006E-B.
Every time I turn on the robot I am forced to reset the encoder as it loses my position. In my opinion I have to replace the buffer batteries present in the various drives. Can anyone give me some info on how to replace them?
At startup it also gives me another problem. It gives me error 800 program does not exist. How can I go about resolving this error?
Thank you.
Greetings.
Each time you turn off the controller and on and seeing joint abnormality errors on each boot up, and having to re-zero each time, it suggests the encoder battery assembly is exhausted.
Attached is the Maintenance manual for F Series Arms.
Even though it states D Controller, it is also applicable for the C Controller too as they made the D Controller compatible with older arms (except for changing the umbilical connectors).
Section 12 covers the procedure to replace the encoder battery assembly attached to the 1HG board located behind the rear cover of the arm.
Take a full file save before replacing just in case.
It is important to note, you also have a RAM battery inside the controller (for memory backup).
This also requires periodic replacement too.....something to consider when replacing the encoder battery assembly......RAM battery assembly is the same battery assembly as the encoders, so get 2 of them.
As for the program does not exist error.
This error relates directly to trying to use a program that doesn't exist.
Whether you have a pc program that is trying to execute a program that doesn't exist or you are using RPS ON and External Program Reset dedicated functions which point to pg0.
If this program does not exist, then this error is produced.
Something you need to check on, if not post a full file save here and we'll take a look over it.
