VRS-1 "safety circuit K2 joint error"

[ScanRobot]

Hello

Then I switch to single step mode from teach mode, I get this "safety circuit K2 joint error"

Screenshot:



Nothing seems to be wrong with the safety circuit, so could this be because the robot axes is not mastered proberly?

Thanks........please

Simon

[markopo]

Hi ScanRobot.
I don't know exactly VRS-1 system but in KRC1, KRC2 cabinet from kuka robots, there is a ESC card (in a front of cabinet when you open it). This card is responsible for electronic safety circuit of robot (one of few). All the time system check this circuit for any anomalia. Mayby in your case is the same situation. I've had similar problem couse on this card is many (36 nodes build on relays). We had problem because one of relay (k1) was working not propertly ( one of node of this relay was broken - bent). When we changed this relay everthing return to proper work. My suggestion is: check relays, maybe some node which is NO (normal open) is closed and vice versa. On ESC card is a few blocks safety block, automatic mode (if you change on pendant manual on automatic mode some relays go active and etc. Simply check card relays, each relay gives back signal to system and geenerate error. That's what I can tell you in this case, if you are SURE that your circuit for safety is good. ( Maybe try to bridge this socket in cabinet (eplan is available on this forum for KRC but for VRS im not sure.)
Best greets
Marek

[Werner Hampel]

is the wirng of your Safty-Gates OK ?

Was the Robot already with this wiring in Production or did you baught it from someone ?

[ScanRobot]

Thanks for your answers

Well.... I bourght it from a guy who had made all the nessary "jumpers" to short-circuit the safety circuits. And I actually got it to work (also in automatic mode) with one manipulator (I have two VK120) But then I connected the cables to the other manipulator and got this error (also after normalizing all the axes).

After that I tried with the first manipulator again and now I get this error all the time...

Thanks

Simon

[SkyeFire]

Hm.  I'm afraid I'm not familiar with your specific system, but in *most* KRC cabinets of that age, K2 was a name usually given to one of the safety relays on the safety interlock board (unfortunately, different safety boards were made for different customers and interlocking styles).  Usually, K1, K2, and K3 all operated together in an odd pattern -- when safety was satisfied, K1 and K2 would close together while opening K3.  K1 and K2 had to close within a certain time of each other or K3 would prevent the slow relay from closing.  It was all hardwired relay logic, sort of an early presursor to modern safety-relay setups.  If you can find the safety board in your robot, you might be able to locate K1, K2, and K3.  They should have chip LEDs on the board, associated with each relay, and they should change from red to green as each relay is closed.  Often, K1 and K2 to wired to separate parallel safety channels for redundancy, so if you can determine the wiring setup of your safety system (if its anything like a regular KRC1/2 controller, you've got a chance to track down which safety, or which jumper wire, is specific to relay K2.
Getting a wiring diagram of the robot's safety system is going to be a major help to you.