Kawasaki D Series Controller MPVDCONTV113E-3 - Manual (Page 85)

TROUBLESHOOTING
D SERIES CONTROLLER
TROUBLESHOOTING AND COMPONENT REPLACEMENT
1-82 August 9, 2005
Ka a a w s k
ERROR CODE E1039 Encoder INC-pulse error. (Jt XX)
Occurs when the encoder A and B incremental pulses are abnormal. The encoder
INALM bit is sent with the serial data=1.
Power
circuit
Battery
Encoder Encoder
1FG/1HG board
Robot Controller
1KB board
Encoder I/F
Servo
CPU
Encoder +12 VDC power supply
Main causes include:
1. Noise related malfunction.
2. Defective encoder or encoder harness.
3. Defective 1KB or 1FG/1HG board.
4. Servo spot weld gun.
–Loose connection at tool changer.
–Defective tool changer harness.
⇒
Replace encoder, replace 1KB board.
⇒
Check connections at encoder, 1FG/1HG board, and separation harness.
⇒
Ensure the 1KB board is properly seated into the card rack.
⇒
Check for continuity in the machine harness and separation harness.
⇒
Replace 1FG/1HG board.
⇒
Inspect the servo gun and tool changer harnesses; replace as necessary.
For additional information on error code E1039, see section 1.4.
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ERROR CODE E1040 Encoder MR-sensor error. (Jt XX)
The state of the MR sensor in the encoder does not match with JT ENCODER in one
rotation.
⇒
Replace the encoder or encoder harness.
⇒
Replace signal harness.
⇒
Replace 1KB board.
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