Kawasaki D Series Controller MPVDCONTV113E-3 - Manual (Page 203)

TROUBLESHOOTING
D SERIES CONTROLLER
TROUBLESHOOTING AND COMPONENT REPLACEMENT
1-200 August 9, 2005
Ka a a w s k
1.3.2.4 WXXXX MECHANICAL/CONTROL WARNING ERROR CODES
ERROR CODE W1000 Cannot move along straight line JTXX in this configuration.
When operating manually in teach mode and in base or tool mode, axis (JTXX) speed
exceeds capability with the wrist in this posture.
⇒
Change the wrist posture.
⇒
Reduce teach speed.
⇒
Reduce repeat speed.
⇒
Change the interpolation mode to joint.
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ERROR CODE W1001 Over maximum joint speed in check. Set low speed.
Commanded speed for each joint exceeds the allowable value during check operation.
⇒
Reduce check speed, re-execute.
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ERROR CODE W1002 Operation information was cleared.
The memory area used to store operational information is corrupt.
⇒
Cycle the controller power OFF and ON.
⇒
If this error recurs, replace the 1KA board.
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ERROR CODE W1003 Calibration failed. Retry after changing posture.
Auto load measurement failed.
⇒
Change the posture of the robot to allow sufficient torque load to be applied to JT3, 5,
and 6 for auto load measurement.
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ERROR CODE W1004 JTXX out of motion range. Check operational area.
The robot motion exceeds the operational area set during auto load measurement.
⇒
Increase the range of motion set for auto load measurement.
⇒
Ensure the robot posture is configured as described in the auto load measurement
procedure.
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