Hello Everyone,
we have a Kawasaki RA10L robot arm, with 3600 Servo hours. E series controller.
i am hoping someone can assist with our situation, in the very least some may benefit from our experience should it unfortunately cross your own path.
We have had E1029 (Encoder Rotation data Abnormal) appear on the controller, randomly during operation.
This was in relation to joint 1.
To reset this error a reboot was required in our instance.
After rebooting E1030 (Encoder data is abnormal) appears. Reset this error, and the robot is ready to drive.
However Joint 1 is out by 2.108 degrees.
I rezeroed the axis by following the zeroing procedure, (AUX 050103, then AUX 050101)
After this ordeal the robot ran for approx. 1.5 hours.
The same error appeared as per the above, and the above procedure was followed again.
this continued to happen until the point where by the error occurred too often to limp the robot along.
To try & identify where the fault lies in the robot, i swapped joint one & joint two encoders with each other.
A reset of the rotation encoder data, and zeroing procedure was completed for both joints (with motor power off).
With Motor power on, robot in teach, speed of 2, and deadman buttons pulled (no check button pressed), the robot moves uncontrollably at an incredible speed to an unknown location.
Thinking i had not followed the rezeroing procedure correctly a reset and zero was completed again.
Same uncontrollable movement as the first time again.
Encoders have been moved back to original positions, and reset & zero procedure has been followed again.
Robot still moves in uncontrollable way.
*Has the community got any suggestions on,
- How to restore normal movement now encoders are back to original positions
- how to further fault find to find the root cause of the initial error E1029 JT1 to enable us to buy the correct parts to repair?*
appreciate any help given, please be free to request more infomation,
Regards,
Michael