The E-controller after a long downtime (about a few months) began to issue errors E1337 [MC1]Brake power is abnormal. E1342 Motor harness disconnected or robot temperature exceeded limit.
E1337 + E1342 (E-controller)
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Schalk -
September 15, 2022 at 9:18 AM -
Thread is Unresolved
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Welcome to the forum...........
Which controller are you using - Exx?
- E2/3/4x refers to MC Unit.
- E0x refers to Power Unit.
Either unit provide power to amplifier, brake power, fan supply and Motor harness/thermal monitoring as well as other functions.
Both units are responsible for power distribution inside controller.
Check incoming supplies, if a phase is lost, dependent on which phase can cause this error.
Check all connections to MC Unit, Power Unit are secured.
Check umbilical between controller and robot arm is secured, no pin damage or cable damage.
Sometimes you may notice operation of fans do not spin up on power up, and spin up when powered off, or fan warning too.
If all above ok, suspect 1TU, 1TV, 1WU, 1VU board component failure inside MC Unit/Power Unit and require replacement.
Easiest option is to replace complete MC Unit or Power Unit with new one.
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Thank you very much for your help
controller E42F-A002
Check the incoming power supplies (in process)
Make sure that all connections to the control unit, power supply are securely fastened. (normal)
Make sure that the umbilical cord between the controller and the robot arm is securely attached, the contacts or cable are not damaged.(normal)
They sent a request to the service for a new module, they said they would have to look for such an old model
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E42 controller is a current model, so complete spares still available.
Depending on your location, your local Kawasaki distributor should be able to provide spare parts.
MC Unit 1TU board X360 connector is single phase LV from secondary of transformer for brake power.
Brake power internally also supplies fan circuits and other electronics.
If incoming supply phase is lost, could result in LV not available and brake power error.
If internal MCB (CP1) trip activated, the LV not available and brake power error.
If LV is available at X360:
- Brake power also supplies fans.
- If brake power is abnormal, then also fan warning is usually displayed.
- You can check fan rotation in monitor screen on TP in DIAG monitor section.
- Try manual brake release buttons for brake test on joints - just try JT1 for safety.
- You should hear brake release clicking.
- If no brake release available, then brake power is not available internally.
Report any results, I suspect 1TU board failure inside MC Unit if LV supply on X360 is ok.
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Replaced the board on the front side, no results
replaced the board on the back side where the connector is X360, no results. the fan does not turn on, the magnetic contactors do not work, it does not respond to pressing the brake release button
we replaced the part where there is a large capacitor and two magnetic contactors with a similar but not similar one (there are no contactors, only a board and a large capacitor),
the errors disappeared, the fan started working, but there were module mismatch errors
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No idea what you are talking about...........front side, back side.........
Please be more specific, what boards?
Have you even checked the incoming supplies and internal MCB's?
the errors disappeared, the fan started working, but there were module mismatch errors
So what errors and error codes are you talking about?
Are 'we' supposed to guess what you are doing, and what error codes are being produced?
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There is power on this board, the diodes are green and red, the board was changed to a new one, the errors did not disappear
This board was also changed to a new one, no changes
In the central part, the fan did not work and the magnetic contactors did not work, after replacing it, the fan started working and the errors E1337 [MC1]Brake power is abnormal, E1342 went away.
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So the fan was causing the problem then?
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The following components are located in the faulty part of the module: A fan, 2 Magnetic contactors, a large capacitor and a long narrow board. They were given to the service to find out the cause of the malfunction. When powered directly, contactors and fan work, most likely it's the board.
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As viewing the unit from the side (cut out window to contactors).
You have 4 boards contained in the E4x MC Unit.
- Board located directly above the contactors is an SMPS board, supplies power to the main module.
- 2 Boards to the left (1TQ/1TV pair) receiving power from 1TB for LV logic and error reporting.
- 1 Board to the right (1TU) board, is DC bus supply for amplifiers and 24V for brakes and fan supply.
In most cases when I have this error, it is due to 1TU board.
However the top board (SMPS) does have a built in fuse which can pop and also cause error.
Hope you get it sorted soon.
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Thank you so much for the information, if there is a positive result, I will inform you
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Found damaged elements, replaced. But the mistakes remained. The 24v does not come to the X361, hence the subsequent errors are most likely. The reason for the loss of 24v is not yet clear
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If that voltage is not present, then the brakes will not release and the fans will not work.
That voltage is produced from the base of the MC Unit (board on the heatsink - 1TU).
If you have direct shorts out in the field due to umbilical/internal robot harness failure, this could pull the brake supply down.
So simply disconnecting the umbilicals from the controller could prove/disprove that.
Also check the incoming 3 phases are present, loss of a phase could also create that issue too as the MC unit brake circuit receives the secondary AC from the transformer (approx 40vac) via the MCB CP1 (worth checking that too).
Also check ALL fans, again a short in one of those babies could pull the rails down too.
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There are phases, no fan turns on when turned on, but when turned off, the FAN6 fan on the unit turns on for a short time.
there is no 24V on the x361 connector, maybe there is some kind of blocking from the control board due to encoder errors or any other errors of this kind? the robot was out of work for a long time and most likely the encoder batteries ran out.
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There are phases, no fan turns on when turned on, but when turned off, the FAN6 fan on the unit turns on for a short time.
So what about X360 - what voltage is there?
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So what about X360 - what voltage is there?
instead of AC40v there is 38V
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What is it 1.8 or 38?
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Sounds like 1TU is buggered inside the MC Unit.
Either get a replacement 1TU or the MC Unit completely.
Both are available as spare parts from Kawasaki.
X360 goes into the rectifier circuit to produce the brake and fan supplies.
So unless a fan/motor brake/external harnessing/robot internal harnessing is shorted out, then the issue is local to the MC Unit.
FYI, it is nothing to do with encoder batteries being flat, replaced or ANY encoder related fault.
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What is it 1.8 or 38?
38v, the first time there was a bad contact at the multimeter
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