Posts by SINTETIKA

    Thanks a lot,


    we have disassembled motor 5 to replace it with a refurbished motor we bought.


    Before mounting it, we have tested the motor connected to the robot (the two connectors) but not mounted with the belt, and when starting the motors, the motor vibrates a lot and gets hot.


    Is there any adjustment operation I have to do?

    Is there anything I don't know how to do?

    I understand that the motor must move and then adjust the zero.


    Could this be a defect in the engine?

    Best regards

    Good morning, I need to change the motor axis A5 in KUKA KR15/2 (KRC1).


    The motors of a A4, A5 and A6 have the same characteristics label and description: 1FK6032-6AK71-1ZZ9-ZS06, but some partners say me that the motors can have a pulley or pinion depending on the axis.

    Would be the motors different with pinion or pulley? or the motors have the same axis shape.


    Someone could have a explotion view of motors-gears-transmision for axis A4-A5-A6 in KUKA KR15/2 (KRC1), and technical manual to dismantle those motors?


    Thanks in advance.

    Regards

    Good afternoon,


    sorry I didn't answer you two question:


    - I checked bateries in 9ZA and they are right. I measured 3.6V tried with two different bateries kit. The same wit baterires in 9GZ in the base of the arm.


    - The softwsre in roms 9ZA is release 12C005-46 JS-E. These are the roms I received with the robot. It was a second hand robot, but we have worked fine until now. When you say "in therm of AS and SV". Are you speaking about these rooms? AS is include here, isn't it? The chips in servo board 1AE has the release 1AE 0262 (please see attached pictures).


    Could be a 9ZA worng software in my unit?

    Would be possible to confirm the right software for my unit?


    Best regards

    Good morning


    issue of -1418 is solved.


    This problem at start-up, after 8 hours at a standstill, appeared shortly thereafter.


    My mistake may have been to continue with the same thread.


    The 9ZA barter was changed in 2020.

    I have also changed for another 9ZA and re-initialized the whole system.

    I have loaded a full back up, prior to the problem, several times.


    What sense does it make that with switch 8 on SW3 of the 9ZA set to ON everything works fine?

    The system does not re-initialize it because I answer NO when it asks for confirmation, but after all works fine.


    Has this ever happened to you?


    What could be the reason?


    Regards

    Sorry for my poor explanation of the problem.


    After the card changes indicated above, one by one we see that the problem is not solved.


    But we have managed to eliminate the error in the axes with the switch 8 of SW3 on the 9ZA board ON.

    I mean, asking it to initialize the system, but answering NO (0) when it asks for confirmation at startup.


    In this way, with switch 8 ON, everything works perfectly!


    What can be the reason? How is the process with switch 8 ON, even if you answer NO (0) to the confirmation request to initialize the card?


    Does it prevent a communication between the 9ZA and the 9ZG of the robot?


    The 9ZG does not give any battery or performance errors, but could it be that it is not backing up the zeros properly?


    Switch 8 may be a clue to find the source of the problem?


    Best regards

    Hi good afternoon, sorry for my confuse explication.


    Let me explain again.


    Always at the first time in the morning , we execute a simple program to move all axis and heating the grease.


    The problem we have is robot-forum.com/attachment/35892/some axis (number 6, number 3 or today numbre 2) move with strikes (sorry to said jumping) with shorts movements and then produce the error:

    (-1504) POSITION ENVELOP JT3

    (-1503) SPEDD ERROR JT2

    (-1500) JT2 OVERLOAD


    Just to get the error, we pass to TEACH MODE and try to move the axis, but it does not move.

    Neither JT2 nor anyone.


    I'm attaching the screems today 11-02, also i'm sending you a video when the robot try to move (sp 5%), and the stroke you can see, just before the error appears.


    When this happen we switch off the cabinet and switch on again. The second time we had a stange very quick movement of JT2 (see video), this has happend today and days before. Then we could move in TEACH MODE the JT2 to marks. Swith off and swith on the cabinet again (4 times) and all worked fine.


    This happens in first time in the morning, and later, we are working two swifts witout any issue.

    Once it gets moving, it works well all day long.


    From the last two weeks we have changed:


    1 - SERVO BOARD

    2 - POWER SUPPLY AVR (+24 vdc)

    3 - BOARD 1DP

    4 - GENERAL SWITCH ON/OFF

    5 - DIODES OVER CONTACTORS K4-K5-K6-K7

    6 - CPU BOARD 9ZA

    7 - POWER SUPPLY +/- 5v IN THE SLOTS


    Any change, the issue continues.


    I thought in the diodes brige for +24V for brakes, thinking about this could fail just in starting.

    It isn't easy to check the didoes bridge becuase the terminal are welding and protected.


    Thanks for your time, I don't know if this explication have sense for you.


    Best regards

    Jose

    Hi good morning,


    the defect was the wires , because the issue has appears again.

    But know we have the issue concentrated all the morning since my last contact with you.


    The secuence is:


    1.- SWITCH ON THE ROBOT

    2.- MOTOR POWER - no errors

    3.- EXECUTION SAMPLE PROGRAM - CYCLE START BEGIN

    4.- THE ROBOT BEGING TO MOVE SOMETIMES "BY STROKES" AND SOMETIME A BIG SPEED IN AXEL 2,

    AND AFTER AN "POSITION ENVELOP OF JTX" APPEARS

    5.- SWITCH OFF THE ROBOT TWO OR THREE TIMES AND START TO MOVE FINE.

    6.- DURING TWO SWIFTS WORKS WITHOUT ERRORS, 16 HOURS. BUT IN THE FOLLOWING DAY, 8 HOURS AFTER. THE ISSUE APPEARS AGAIN.


    I don't know is this issue could be relation with the power block error.


    But we have change

    1 - SERVO BOARD

    2 - POWER SUPPLY AVR (+24 vdc)

    3 - TARJETA 1DP (

    4 - GENERAL SWITCH ON/OFF

    5 - DIODES over CONTACTORS K4-K5-K6-K7

    6 - CPU BOARD 9ZA

    7 - POWER SUPPLY +/- 5v IN THE SLOTS


    Now I'm monitoring the contactors "K"; in TEACH mode never we had this issue and move fine.

    When push MOTOR POWER button the contactors K1 y K3 switch ON, and also K7 when CYCLE start begins.


    By other hand K4, K5 and K6 swith ON with MOTOR POWER button, but K6 is switch OFF in TEACH MODE.


    What could be in your opinion? Could be a contactores the origin? CPU board?


    Thanks in advance for your help.


    Best regards

    Good morning,


    I did,t answer you because following your indications, we found a wire defect in the connector with the servo board 1AE.


    We are working from last Thursday evening without issued.


    Bellow I'm answering your question:


    1. Controller version - Full model no.

    CONTROL A83

    ROBOT DATA - JS030F-A004_321

    SOFTWARE VERSION 12C005-46E

    SERVO VERSION 0262=3DJ3A4

    2. Have you checked incoming supplies to controller are correct and balanced.

    YES. IT'S RIGHT

    3. Does problem occur in same part of process and program.

    YES AT BEGINNING, AND WE TRIED TO REDUCE SPEED WITHOUT RESULT AND AFTER IN DIFFERENT PARTS

    4. Does problem occur during motion or at start of motion.

    DURING MOTION

    5. Have you tried slowing robot speed down to see if error still occurs.

    YES, i WROTE IN POINT 3

    6. Can you repeat error using teach mode and manually moving robot.

    NEVER IN TEACH MODE OR MANUAL MOVEMENT

    7. Can you provide small video showing occurrence when it happens.

    8. Can you provide any pictures of controller with door open.

    ATTACHED


    I are continuing in production, I'll keep you informed if the wire defect is confirmed.


    Thanks a lot

    ERROR apears in POWER BLOCK A according with mesage.

    Then there are not resistors conectect!.


    I've read in Electrical Manteniance book and regarding ABNORMAL P-N VOLTAGE DETECTION CIRCUIT:


    The voltage in the P-N line is monitored by a comparator circuit located on the 1DD

    board. If the voltage in the circuit drops below 50 VDC or exceeds 400 VDC for one (1)

    second, the circuit opens causing relay RY7 on the 1BP board to drop out. When RY7

    drops out, the LED labeled LD1 HV turns ON and the normally open RY7 contacts

    open. The RY7 normally open contact provides a path for ground for the motor power,

    brake, and servo ON processing circuit located on the 1AE board. When ground is

    removed from this circuit, the motor power and brake signal that is normally supplied to

    the 1BP board from the 1AE is disabled. This turns motor power off and removes 24

    VDC brake coil voltage which engages the brakes. In addition, error code 1418 (Amp

    main circuit voltage of power block is abnormal) is displayed.


    I don't know what os the 1DD board, to try to repace.

    Do you know if 1DD will be in the power block board?

    Where it can be?


    Best regards

    José


    Good afternon,


    we are working with a KAWASAKI AD CONTROLLER with a JS30 ROBOT,

    from two days ago, we get this error code (-1418) AMP MAIN CIRCUITE VOLTAGE OF POWER BLOCK A.

    If we reset the RED error light, the error desapears and we can work, but we get againg it in short time.


    Someone knows this error mensage?


    Which could be the origin?


    Manual says that it is a specific error from AD KAWASAKI controls due to principal circuit of servo amplifier is out of range (50-400 VDC).

    We get the error always during operation, and the manual speak about the regenerative resistance.

    Where the resistance regenerative in AD controllers?


    Thanks in advance for your help.

    Best regards

    José

    Hi, in teach is clear and works.

    But in repeat model, with program in execution and perimeter security confirmed, we we should be able to start the engines. But we can't. When we press the yellow button the motor turns on and just a second later it turns off and the red error light comes on.


    I think the origin could be a security component, because we don't get any message on the robot's screen, only that the motors are switched off.


    My question is whether there could be something else that shuts down the motors, one second after switching on, and without an error message.


    Note. the heat wave has passed, now the cabinet has an inside temperature of 35 C, and the problem has not recurred since last Saturday.


    Have the AD controls problems with temperature? With others AD-HQ working with inner 45 Celsious never we had issues.


    Thanks for the ideas.

    Good morning,


    the problem is there is not error code really.


    When we push the yellow button to swith on motors the red error the red error light comes on. But there is not a error code in disply. Ony "In error now. Reset error and then turn motor power ON".


    We reset the error but apeears again when we push yellow ones.


    The funny thing is that when in teach mode, pressing dead man, we can swith on motors. Then exit teach mode, and we can start motors with yellow buton.


    What can prevent engines from starting? Could it be a security issue? Why can we start with teach?


    Thanks a lot for your support.


    Best regards

    José

    Good afternoon,


    we have recovered a AD controller working fine till last week. The last Friday, with a temperature inside control of 45 celsius, we couldn't connect the motors and the red error light came on.


    The only way to star motors was throught the teach. Throught the teach mode it was able to conect motors and continue cycle and after was able to swich off motors and switch on again from the sreen withoput issues.


    It could be a temperature issue?. Other controls AD-HQ works with similar inner teperatures without this kind of problems.


    In other case, What can prevent connect motors with the yellow button next to the display and be able from the teach?


    Thsnk for your suggestions.


    Best regards

    Jose



    Allways had worked fine until now

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