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TROUBLESHOOTING
1-53August 9, 2005
D SERIES CONTROLLER
TROUBLESHOOTING AND COMPONENT REPLACEMENT
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ERROR CODE D2020 [ARM CTRL BOARD] servo control software no response.
1KB board software stopped.
Main causes include:
1. Servo software is not installed correctly or is corrupt.
2. Defective 1KB board.
⇒
Reinstall correct 1KB board servo software to the 1KA board.
⇒
Replace 1KB board
.
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ERROR CODE D2021 Arm data file is not found.
When robot model is selected, data file corresponding to the installed arm is not found
in the system file.
⇒
Contact KRI customer service (include operating conditions/settings at the time the
error occurred)
.
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ERROR CODE D2022 Arm data is not found.
When robot model is selected, the arm data in the arm data file did not match the se-
lected robot.
⇒
Ensure the correct model setting is used
.
⇒
Ensure the correct software version is installed.
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ERROR CODE D2023 Failed to load arm data.
When robot model is selected, the arm data file for the selected robot model is incom-
patible with the AS software.
⇒
Ensure the correct model setting is used
.
⇒
Ensure the correct software version is installed.
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