Which parameters, there's a lot of them?
Why do people not take backups..............
If JT4 position is offset by 180 degrees, then like I said, prior to you re-zeroing, JT4 must have been re-zero'd 180 degrees away from scribe line.
A backup would have told you this.
I asked if you could jog it FULLY in both directions.
- What was your previous JT4 zero position?
- What is your standard HOME position?
- Can you provide backup before and after zeroing?
It sounds like your previous zero position for JT4 was 180 degrees different.
now after zeroing , and running my program, the 4th axis is rotating in -180, rest all the parts and program is working properly, why only one single axis is rotating by 180. kindly please reply.
That makes no sense, please explain more detail:
- Can you jog JT4 fully clockwise/counter clockwise.
Those screens are not from a live controller.
The second screen is the normal boot up complete screen showing the main status.
After any reinitialization or normal power on, this screen should appear after boot up is completed.
Are you saying now you have arrived at the main status screen?
Still, I am asking what procedure you are referring to?
This member here is going through exactly the same as what you're experiencing:
They are waiting on some spares being delivered and hopefully, they will be able to find the source of the problem.
Yours maybe a similar problem too...........
If I am being honest, it is very strange what you are experiencing............
Just a simple reinitialization procedure should not result in white screen.
Therefore, logic tells me:
- Either something else has been done.
- Checking information I provide is not being done.
- Something is become loose, snapped relating to cables.
So I urge you once again, check all cables by unplugging, checking for bent pins, and reconnecting again.
- Making sure connections go back in the correct place.
- 1GA/1HA check all dipswitches are clean by cycling them and air/switch cleaner.
- 1HP connections
- 1GB connections (large power block below card rack).
- 1HZ Mother board connections (all of them near where battery is connected).
- Battery is wired and connected correctly.
- Remove boards, check for bent pins and push back in correct slot firmly.
- Leave Interbus board out (not needed), just 1HP and 1GA/HA in card rack.
- Disconnect all external harnesses to arm.
- Remove all jumpers from TB2 except pins 3 and 4.
- Check MFP cable thoroughly for twists and breaks (remember 20 years of use twisting/stretching etc).
The amount of times I have asked client to check and they say they have, then they request for me to come out and assist and I find that they haven't checked and I find cables not connected, boards not located etc.......and then 'click' in a cable and 'presto' things start to work again.......
If upon first power up the screen was white with keyboard displayed and no other action could be performed, then the robot was not working........At this point I would have asked for my money back.
What procedure are you referring to - please show me?
After any reinitialization the robot would never be able to move until robot data was set.
What happens if you put teach lock on, set dipswitch 1,3,5,8 ON and press/hold 2 diagonal corners during boot up?
Starting out I used the TP, the more confidence I build up now, the more I steer towards:
- text editor.
- load into roboguide for checking/verification and debugging.
I do similar with Kawasaki too, although Fanuc has a better TP teaching facility.
Yes, I agree this is very strange.
But why did you reinitialize it in the first place?
I have tried to replicate your problem here in UK with my C Controller.
But I can only replicate it with faulty 1GA/1HA and produce same results.
This is risk of buying 2nd user system, especially ex automotive as they only dispose of when spares can no longer be obtained.
There is a member selling a UX120, C42 and a spare C42 Controller here on the forum:
Kawasaki ux120 robot for sale with c series controller and a spare controller, pendant and 2 weld timers - Used Robots and parts - Robotforum - Support and discussion community for industrial robots and cobots (robot-forum.com)
These are also ex jag and I have seen and given them a health check and confirm they are working.
Maybe worth contacting the member and see if they sell.
There is also company in UK called Global Robots, I know they have spare C42 Controllers and boards but again, all 2nd user and may not be tested.
You could also try Ebay too......if you trust them.
You need spares to troubleshoot further:
1HP leds correspond to 1GA voltages, but leds do not show you actual volts
4.96 is a little low, but I wouldn't expect that to prevent the logic from running.
Give your dip switches a good clean up and retry
DVM - Digital Volt Meter.
AVR - Auto Voltage Regulator (Power supply of controller - Right side of Card Rack).
Yes, Black is 0V and test other yellow ones +5/+12/-12
Give your dip switches a good clean up on 1GA/1HA board:
- Cycle all the dip switches on/off many times to clean them.
- Use air or good quality switch cleaner (allow to dry) and cycle switches to clean them.
- Then try 1 and 8 ON again.
You will also notice 'test rings' fitted to the 1GA/1HA board.
You can get DVM and check voltages are present, you should see:
+5DVC - If this is lower than 4.80V, then you can use pot on AVR to increase no more than 5.2V
- remove all the boards from the card rack.
- remove MFP connection.
- check all connections to the rear motherboard are correct, by disconnecting/reconnecting.
- check/inspect MFP cable from MFP to X1 of Controller for twists and breakage.
- reinsert 1GA/1HA board.
- reinsert 1HP making sure CN1/CN2/CN3/CN4 harnesses are in correct place and connected securely.
- disconnect all harnesses between arm and controller.
- try powering up again.