Kawasaki duaro1 won’t move, gives axis error after being off for some time

    Hi everyone,


    Our office has a Kawasaki Duaro1 robot that hasn’t been powered on in a few months. I wanted to give it a try today but I cant get the robot to jog, return to origin or run a program. It was working last time I used it for a sample program to show a customer a few months back. Now it’s giving two error codes:

    1024 - movement not possible because target position is out of range (when I try to start a program or do automatic origin return

    2032 – Axis two rotation error (When I try to jog).


    Any suggestions? The manual I have doesn’t give much more information that what’s written in the error codes. Maybe the servo encoder batter is dead? Thank you

    (As it’s a stand alone unit I don’t have a controller model or I would include it, I’m communicating with the robot using an android tablet Kawasaki app that came with the robot)

    You have 2 arms available, is this issue applicable to one or the other or both arms?

    Can you move any of the arms?

    Can you display the current position of each arm and see if any lie outside of their limits?

    Usually with encoder battery exhaustion, joint angles will show ridiculous values as a sign of depletion.

    Quote from Woebot

    Duaro1 robot that hasn’t been powered on in a few months

    Usually the encoder batteries will last > than a few months, but it depends on when they were last changed and their state at the point of power off.

    Based on what you've written, I would recommend obtaining replacement batteries and then carrying out re-zero procedure.

    Thansk kawkisaki. Right now neither arm will jog or move in any way. I will get some replacement batteries and see if that remedies it. In the mean time maybe I will leave it on for a while to see if the current batteries charge. This robot sits in our showroom and is infequently used.

    Quote from Woebot

    I will get some replacement batteries and see if that remedies it.

    That will not remedy it if the current batteries are exhausted as the zeroing will be lost and you will have to re-zero it after replacing them.

    You could try using 'out of the box thinking' leave it powered on, re-zero the joints and see if that remedies it.

    Quote from Woebot

    In the mean time maybe I will leave it on for a while to see if the current batteries charge.

    Non-rechargeable Lithium cells are used (2 pairs of batteries sit inside of the controller (one for each arm).

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