Kuka krc2

[SkyeFire]

I swapped the 2 servo amps A5 and A6
When all was swapped (cables etc) the problem shifted onto A6!!!
So am i correct in saying its the servo amp?
Is there anything i can do to fix it?

Sure sounds like the amp is the issue.  Just to be certain:  you physically swapped the modules (so the cables could reach), and plugged the A6 cables into the amp marked N5, and the A5 cables into the amp marked N6?

Unfortunately, if the amp has gone bad, I'm not sure there's anything to do but replace it.  You could poke around the amp, see if there are any fuses or things on it that can be replaced, but from what I recall, those white modules are pretty much "line replaceable units," to steal a military term -- you're not supposed to fix them, just replace them. 

Your best bet might be to contact KUKA Service, describe the test steps you've performed so far, and see if they have some further ideas that I haven't thought of.

[the leg]

Swapped sevo 5 with 6 that i understand but cables ?

If you swapped cables then then does the controller not see A6 as A5

try this below for me

If you swap drive amp A5 with Amp A6 and the fault moves then the drive amp is faulty 

You then have 2 choices

1 Buy a new one from Kuka , ebay , ect

2 get it repaired by someone or do a service exchange with Kuka (fixed price excahnge)

[Clano]

Sorry lads i should have been more clear,

I physically pulled both a5 and a6 from the cabiunet disconnected their cables, swapped each of there loacations, a5 is now where a6 was etc, and then put the cables from the original location into the different boxes, ie cables for a6 now in a5.
Now all errors show up as a6!!

Also i tried switching the moror cables on the arm, i think i swapped a4 with a5 or a6 (whichever would reach) and both of the swapped axis were now erroring when i moved them.

As regards buying a new one i checked ebay - 1500 euros  there is no way we could afford that as it is a college project and the budget is small. If there was anyway to fix it myself or source a cheap one second hand it would be the only way.

The leg who would repair them and how much?? thanks

[the leg]

Still not clear

Put it all back as was

Then remove drive amp 5
Remove amp 6 and put it it slot 5
put the amp 5 into slot 6

Dont swap any cables just plug it all back in and try it again

Also have you tried taking off the wrist like i said and running it as i am 99% sure the problem was the wrist unit

[Clano]

  sorry
we are talking about the white amp boxes in the kuka cabinet yes??
If so thats what i have done both boxes are swapped and error moves to a6 axis when i try run a program.

No leg i havent tried that yet as i had limited time in the lab on friday in which to carry this out but i will as soon as i am back next week, but if the errors moved around with the servo amps would this not be the problem?? I hope its not as iv seen their price lol

[SkyeFire]

Unfortunately, replacing the servo amp is likely to be less expensive than replacing the motor, and replacing the wrist assembly will likely be much more expensive than either. 

Before you try spending any money, though, try the other tests -- with your budget you'll want to be absolutely certain about which parts you need.