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TROUBLESHOOTING
D SERIES CONTROLLER
TROUBLESHOOTING AND COMPONENT REPLACEMENT
1-76 August 9, 2005
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ERROR CODE E1031 Miscount of encoder data (Jt XX).
The servo gun or tool changer harness is defective.
⇒
Inspect the servo gun and tool changer harnesses; replace if necessary.
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ERROR CODE E1032 Mismatch ABS and INC encoder data (Jt XX).
Occurs when there is a large difference between the value in the serial encoder data
and the calculated data using the incremental technique.
Power
circuit
Battery
EncoderEncoder
1FG/1HG board
Robot
Controller
1KB board
Encoder I/F
Servo
CPU
Encoder +12 VDC power supply
Main causes include:
1. Defective encoder or encoder harness.
2. Defective 1KB board.
3. Noise related malfunction.
4. Defective 1FG/1HG board.
5. 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.
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Check for noise and shield integrity.
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Replace 1FG/1HG board.
For additional information on error code E1032, see section 1.4.
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