June 18, 2019, 01:33:20 PM
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 KSS26012 Error in start-up mode for the fisrt time run of a new KR6 R900 sixxx

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January 11, 2019, 02:56:00 PM
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Anis Meguenani

Good morning/evening to all of you,
I just finished installing and cabling  a KUKA KR 6 R900 sixx (Kuka Agilus) robot and i am unable to move it. I understand that the X11 port must be wired so the robot can be moved but even in the "Strat-up mode" the robot does not move. The following error (KSS26012) shows up : "Ackn. General servo error (A6) - Originator : Drive". I also tried wiring the X11 port (pins 1-2 together and pins 10-11 together). See the joined photos.
How can i make this error disappear and be able to jog the robot in the start-up mode ?
Which of the X11 pins should i wire together to be able to use the robot out of the strat-up mode ?

Thank you.

Today at 01:33:20 PM
Reply #1



January 11, 2019, 08:30:00 PM
Reply #1

panic mode

Global Moderator
It depends.....

On MOST compact controllers, safety interface is X11.  But maybe it is passive on your system (if using safety PLC and one of three Ethernet based options).

Startup mode can be used only if there is a valid safety interface confuged (so there is something to bypass).

You also show only two messages but screenshot tells there are still 20 more to be seen. What are they? 12 of them can be acknowledged but you need see them all.

When using X11 interface, all circuits must be wired, not just EStop.
1) http://www.robot-forum.com/robotforum/kuka-robot-forum/read-first/
2) if you want reply about robot, post it in forum
3) read 1 and 2

January 14, 2019, 04:38:49 AM
Reply #2


Look in the manual. You need to jump all the signals. There are 2 estop. 2 gate. 2 safe stop 1 and 2 . There are more jumpers needed. I cant recall right now which one they are so have a look in the manual .

January 14, 2019, 10:24:43 AM
Reply #3

Anis Meguenani

First of all thanks to all of you for your responses.  The error KSS26012 for me was caused by a "NOT WELL CONNECTED" X20 cable ! (See the photo) . The robot is jogging well in start-up mode. I will connect the X11 as in the schematics in the joined figure. 

Thank you.

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