Error handling: Display;
Error reset: Possible
Content: The enabled/disabled settings of multiple optional functions form an unusable combination. After the error message “Operation is not possible with the current option settings.”, the names of the 2 optional functions involved in the error are displayed.
Main causes:
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When the constant command trajectory option is enabled, an optional function that it does not support is also enabled. The optional functions are listed below (some differ depending on the software version, etc.): conveyor synchronization; separate operation; communication coordination; system switch PREFETCH.SIGINS set to ON; sensing; spin; positioner coordination/rotary axis coordination.
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While the constant command-value trajectory function option is enabled, an option function that must be enabled to use this function is disabled. The option functions are as follows (some options differ depending on the software version, etc.): Servo Specification 2; 2-stage command value averaging.
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When servo specification 2 is enabled, an optional function that must be enabled for servo specification 2 has been disabled. These optional functions are as follows (some options vary with the software version, etc.): · Constant command trajectory function · 2-stage command value averaging
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Other combinations of multiple option function settings cannot be used.
Countermeasures:
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Cause 1 concerns the combination of the constant command-value trajectory function and the conveyor synchronization function. To use conveyor synchronization, disable the constant command-value trajectory function in auxiliary function 2101 and check whether the error can be reset. Disabling the constant command-value trajectory function changes the motion path, so if motion programs have already been created, take care to avoid interference, etc. If this error still cannot be reset, refer to countermeasure 2.
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In cases other than combination with conveyor synchronization in cause 1, or if the error remains after countermeasure 1 when combined with conveyor synchronization, disable the constant command trajectory function or the other option involved in the error. When disabling the constant command trajectory function, servo specification 2, two-stage command value averaging, and other motion settings must also be changed. Disabling the constant command trajectory function changes the motion path.
If the error still cannot be cleared using the above procedure when disabling the constant command trajectory function, report all details to Kawasaki Service, including the complete message at the time of the error, robot model, controller model, machine number, AS/servo software versions, operation at the time of the error, program listing, optional functions, etc.
- Causes 2 and 3 are due to incorrect current settings. Report all details to Kawasaki Service, including the complete message at the time of the error, robot model, controller model, machine number, AS/servo software versions, operation at the time of the error, program listing, optional functions, etc. For cause 4, disable either option according to the displayed message, then reset the error.