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TROUBLESHOOTING
D SERIES CONTROLLER
TROUBLESHOOTING AND COMPONENT REPLACEMENT
1-74 August 9, 2005
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ERROR CODE E1029 Encoder rotation data is abnormal. (Jt XX)
Occurs when there is a difference (+2 rotations or more) between the rotation data in
the serial encoder data and the rotation data calculated using the incremental tech-
nique.
Power
circuit
Battery
EncoderEncoder
1FG/1HG board
Robot
Controller
1KB board
Encoder I/F
Servo
CPU
Encoder +12 VDC power supply
⇒
Check connections at encoder, 1FG/1HG board, and separation harness.
⇒
Check for noise and shield integrity.
⇒
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.
⇒
Replace the 1KB board.
⇒
Replace the encoder.
For additional information on error code E1029, see section 1.4.
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