Kawasaki D Series Controller MPVDCONTV113E-3 - Manual (Page 144)

TROUBLESHOOTING
1-141 August 9, 2005
D SERIES CONTROLLER
TROUBLESHOOTING AND COMPONENT REPLACEMENT
Ka a a w s k
ERROR CODE E6007 Wrist can’t be straightened any more (Singular point 1).
The posture of JT5 is set too close to 0 degrees (or a multiple of 360 degrees) on a
robot equipped with a 3S type wrist.
This does not normally occur in joint mode, but may oc-
cur with conveyor synchronous function enabled.
⇒
Change wrist posture .
⇒
Move the robot in joint interpolation.
⇒
Change the wrist posture before enabling conveyor synchronous function, to prevent
this error.
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ERROR CODE E6008 Wrist can’t be bent any more. (Singular point 2).
The posture of JT5 is set too close to 180 degrees (or multiple of ±360 degrees) on a
robot equipped with a 3S wrist.
This does not normally occur in joint mode, but may oc-
cur with conveyor synchronous function enabled.
⇒
Change wrist posture .
⇒
Move the robot in joint interpolation.
⇒
Change the wrist posture before enabling conveyor synchronous function, to prevent
this error.
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NOTE
NOTE