Block Select : BCO reaching T1/T2 required

[tomasss]

Hi all,

We use Kuka KRC1 Robots with software KRC 4.1.7 SPO8 HF1


What happened:
We modified the program (lest_097).
then we restart the program and robot moved in to main program (hla_97).
In the middle path, the robot stopped. and shown to this report.
Block Select : BCO reaching T1/T2 required

I opened the main program(hla_97)
Selected line was INI
I press the enable switch under KCP-panel
but nothing happened.
I tried it on T1/T2/ Auto
 
Always is S(green) O(red) R(gray) and the robot can not move
as you see in the picture.

http://imageshack.us/photo/my-images/141/bllllo.png/

Can you help me please?

[tomasss]

In the next picture I'm trying to move the robot in the main program.
S(is green) O(is red) R(Yellow)
I do not know why but O light is not green. When i press the enable button to drive on.
http://imageshack.us/photo/my-images/717/lolfod.png/

the robot can not move

[kr16_2]

You can't get the drives on.
Try X11 jumper plug (if you have one) to eliminate posibility of external safety signals being wrong.
If this does not help more likely your main power module is not working (PM6-600)
Check fuses on PM6-600.

[the leg]

check the move_enable signal

[SkyeFire]

$MOVE_ENABLE would not prevent the drives from coming on.

It is possible that the $DRIVES_OFF signal is not active.  This signal needs to be on at all times to allow the motors to turn on.

The screenshot shows the robot is in T2 mode.  Try T1 and see if anything changes.

[tomasss]

Where can I find please move_enable signal ?

I tried T1 mod, but still I can not get drives on.

[kr16_2]

$drives_off is only used in automatic external mode so you don't need to adjust it for T1
$move_enable will not prevent drives from turning on - it is software stop (like red stop button)

Both of them are input signals used by automatic external interface to controll KRC from PLC.
Configure->I/O->AutExt

Sounds like you have hardware problem.

[tomasss]

The mainly failure was in the Powermodul PM6-600. I changed this powermodul and everything works