February 17, 2019, 08:02:55 AM
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 My new used kuka KR200L170 comp

Author Topic:  My new used kuka KR200L170 comp  (Read 1428 times)

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March 24, 2018, 01:00:08 PM
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cientista


Hello,
My first post on this forum. I think that this forum doesn't have presentation category.

First of all i want to say thank you to you all (specialy to panicmode and skyfire, sory if i forget more but i had read lots of posts) and say that this is the best forum on the web about kuka robots.

I bought a used kuka
KR200L170 comp Serie number 887770 2005-11 KR200L170_CPT S C2 FLR ZH04
with cabinet
(V)KRC2 ed05 No se série 37113 22/2005
with pc
KPC ed05 NO serie 00164 35/2008.

So, i know that i bought a used robot, and now i know some errors on kuka, more than 30 errors that i can solve only reading lots of posts about that errors and with help of mostly panic mode and skyfire i can solve almost them all. Thank you so much for that !!!
This cabinet is not from this robot, this KPC is not from this cabinet, and motors already changed i think.
I already configure correct mada. loose wires, burned fuses, x11, etc, etc etc...

I can sucessfully move the robot in T1 T2 and AUTO mode with some code from CAM software.
Already mount on robot flange a 11KW motor with 625mm diameter disc to cut with Variable Frequency Drive.

So, the reason for this post, besides being to thank you all for being able to do all this in 3 days is to try to resolve the last 3 erros that show on my KCP2.

Error 26 - Module 1 KSD-32 Required
Error 26 - Module 2 KSD-32 Required
Error 26 - Module 3 KSD-32 Required


I already know what this mean. KSD not correct for the motors.
I have inside my cabinet for my first 3 axis KSD1-48 KSD's.

axis 1 ksd = axis 2 ksd = axis 3 KSD =N1=N2=N3 :
E93DA123i4B531XX3B23
Input: 2/PE DC 0-565/675VG 20.9/16.8A
Output: 3/PE AC 0-400/480V 17.0/13.6A 0-480HZ
Type: E93DA123I4B531
ID NO: 00492426
Prod No 01292933
Ser no 000068

I have in the robot for first 3 axis the foloing motors:

axis 1: 1FK7100-5AZ91-1ZZ9-Z S05
SerNR YF T950 3820 30 014
3.2KW 7,3A 181V
4300/5000min-1

axis2: 1FK7101-5AZ91-1ZZ9-Z S06
Ser.Nr.: YF T850 3781 20 021
3,3KW 7,0A 200V
3750/5000min-1

axis3:1FK7101-5AZ91-1ZZ9-Z S06
YF T850 3781 20 018
3.3 KW 7.0A 200V
3750/5000 min-1

So, MADA call for ksd-32 for this particular robot.
Is that a problem ?
Can i replace in mada for KSD48 for the errors disapear ?
Is some type of problem for the motors and cables ?
I attach my machine.dat and robcor.dat

Thank you in advance.
KR200L170 with rotary table Ruckle PKT1200

Today at 08:02:55 AM
Reply #1

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March 26, 2018, 12:09:01 PM
Reply #1
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panic mode

Global Moderator
that should do it although motors for arm are powered by undersized drives. (should be 48A units).
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

March 26, 2018, 12:51:39 PM
Reply #2
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cientista


The info that i had provide is from axis 1 2 and 3.
Are you refering to axis 4 5 and 6?

March 26, 2018, 01:39:43 PM
Reply #3
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panic mode

Global Moderator
A1, A2, A3 are "robot arm"
A4, A4, A6 are "robot wrist"


i was referring to robot arm.

March 26, 2018, 02:27:12 PM
Reply #4
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cientista


Thank you panicmode for help.

Ok.
It makes sense however I'm still not familiar with this robot terminology.

So i am good ?
Default KR200L170 Mada requires KSD32 but in my krc2 i have 3un of KSD 48.

My machine.dat now have:
CHAR $SERVOFILE1[16]
$SERVOFILE1[]="KSD_32_MG1_S7_0"
CHAR $SERVOFILE2[16]
$SERVOFILE2[]="KSD_32_MIall"
CHAR $SERVOFILE3[16]
$SERVOFILE3[]="KSD_32_MIall"
CHAR $SERVOFILE4[16]
$SERVOFILE4[]="KSD_16_MH_L"
CHAR $SERVOFILE5[16]
$SERVOFILE5[]="KSD_16_MH_L"
CHAR $SERVOFILE6[16]
$SERVOFILE6[]="KSD_16_MH_L"


I need to replace first 3 to ksd 48 .servo files so the errors disapear.
i dont know wich is the correct one. For KSD48 i have possible .servo files:

KSD_48_Iall
MA_A
MG1_S
MG1all
MI_S
MI1_S
Mi1all
MIall
MK_S7_0

Can you advise me wich one is the correct one that i can put to correct the errors ?
Do i need to change anything more ?

Thank you.
« Last Edit: March 26, 2018, 02:36:29 PM by cientista »

March 26, 2018, 02:35:18 PM
Reply #5
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cientista


KSD_48_Iall.servo refer motor 1FK7101S06 i think is good for axis 2 and axis3.
****************************************
;*** KUKA   Parametersatz             ***
;*** Servoregler: KSD1-48             ***
;*** Motortyp:  I     1FK7101S06      ***
;*** Motortyp:  I     MCS19F 47       ***
;*** Version 0   vom 02.01.03          ***
;****************************************

No servo file refer motor 1FK7100 that i have in my axis 1. :(

March 26, 2018, 05:12:15 PM
Reply #6
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panic mode

Global Moderator
1FK7xxx is a Siemens article number which is not easy to work with as it is not mentioned in Kuka documentation.
Kuka has own article numbers such as 00-116-606


Both article numbers are printed on motor label. Please use Kuka #


Today at 08:02:55 AM
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March 26, 2018, 05:47:31 PM
Reply #7
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cientista


one more point learned.
kuka art numbers:
axis1:   art nr 0000117606  kty84
axis2=axis3= art nr 0000119766 kty84

March 28, 2018, 03:01:06 PM
Reply #8
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cientista


Still trying to find possible servo file to use to my axis 1 2 and 3 motors kuka art numbers:
axis1:   art nr 0000117606  kty84
axis2=axis3= art nr 0000119766 kty84

KSD_48_Iall.servo
Quote
;****************************************
;*** KUKA   Parametersatz                ***
;*** Servoregler: KSD1-48                ***
;*** Motortyp:  I     1FK7101S06        ***
;*** Motortyp:  I       MCS19F 47       ***
;*** Version 0   vom 02.01.03            ***
;****************************************
;
;
PI   1069,  0 =    75    ;VP_Isq-Regler
PI   1070,  0 =   155    ;KI_Isq-Regler
PI   1071,  0 =    74    ;VP_Isd-Regler
PI   1072,  0 =   155    ;KI_Isd-Regler
PI   1073,  0 =   150    ;Back_EMF
PI   1092,  0 =    18    ;Reglervorsteuerung
PI   1018,  0 =     0    ;Schaltfrquenz 4kHz
;

KSD_48_MA_A.servo
Quote
;****************************************
;*** KUKA   Parametersatz                     ***
;*** Servoregler: KSD1-48                     ***
;*** Motortyp:  A         KK65Y               ***
;*** Lieferant: Fa. PacSci                    ***
;*** Versionsstand1 vom 25.02.2000            ***
;****************************************
;
;
PI   1069,  0 =    50    ;VP_Isq-Regler
PI   1070,  0 =   188    ;KI_Isq-Regler
PI   1071,  0 =    49    ;VP_Isd-Regler
PI   1072,  0 =   188    ;KI_Isd-Regler
PI   1073,  0 =   196    ;Back_EMF
PI   1092,  0 =    18    ;Reglervorsteuerung
PI   1018,  0 =     0    ;Schaltfrequenz 4kHz
;

KSD_48_MG1_S.servo
Quote
;****************************************
;*** KUKA   Parametersatz             ***
;*** Servoregler: KSD1-48             ***
;*** Motortyp:  G1      1FK6100 S41 Rev. 1  ***
;*** Lieferant: Fa. Siemens             ***
;*** Version 1   vom 08.06.2000          ***
;****************************************
;
;
PI   1069,  0 =    48    ;VP_Isq-Regler
PI   1070,  0 =   334    ;KI_Isq-Regler
PI   1071,  0 =    47    ;VP_Isd-Regler
PI   1072,  0 =   334    ;KI_Isd-Regler
PI   1073,  0 =   123    ;Back_EMF
PI   1092,  0 =    18    ;Reglervorsteuerung
PI   1018,  0 =     0    ;Schaltfrequenz 4kHz
;

KSD_48_MG1all.servo
Quote
;****************************************
;*** KUKA   Parametersatz                ***
;*** Servoregler: KSD1-48                ***
;*** Motortyp:  G1      FK7100 5AZ9 S41 ***
;*** Motortyp:  G1       MCS19F 43      ***
;*** Version 0   vom 02.01.03            ***
;****************************************
;
;
PI   1069,  0 =    55    ;VP_Isq-Regler
PI   1070,  0 =   108    ;KI_Isq-Regler
PI   1071,  0 =    54    ;VP_Isd-Regler
PI   1072,  0 =   109    ;KI_Isd-Regler
PI   1073,  0 =   121    ;Back_EMF
PI   1092,  0 =    18    ;Reglervorsteuerung
PI   1018,  0 =     0    ;Schaltfrquenz 4kHz
;

KSD_48_MI_S.servo
Quote
;****************************************
;*** KUKA   Parametersatz                     ***
;*** Servoregler: KSD1-48                     ***
;*** Motortyp:  I         1FK6101S43          ***
;*** Lieferant: Fa. Siemens                   ***
;*** Versionsstand2 vom 11.10.2000            ***
;****************************************
;
;
PI   1069,  0 =    48    ;VP_Isq-Regler
PI   1070,  0 =   292    ;KI_Isq-Regler
PI   1071,  0 =    47    ;VP_Isd-Regler
PI   1072,  0 =   292    ;KI_Isd-Regler
PI   1073,  0 =   154    ;Back_EMF
PI   1092,  0 =    18    ;Reglervorsteuerung
PI   1018,  0 =     0    ;Schaltfrequenz 4kHz
;

KSD_48_MI1.servo
Quote
;****************************************
;*** KUKA   Parametersatz                     ***
;*** Servoregler: KSD1-48                     ***
;*** Motortyp:  I1         1FK6101S44         ***
;*** Lieferant: Fa. Siemens                   ***
;*** Versionsstand1 vom 11.10.2000            ***
;****************************************
;
;
PI   1069,  0 =    33    ;VP_Isq-Regler
PI   1070,  0 =   390    ;KI_Isq-Regler
PI   1071,  0 =    32    ;VP_Isd-Regler
PI   1072,  0 =   390    ;KI_Isd-Regler
PI   1073,  0 =   178    ;Back_EMF
PI   1092,  0 =    18    ;Reglervorsteuerung
PI   1018,  0 =     0    ;Schaltfrequenz 4kHz
;

KSD_48_MI1all.servo
Quote
;****************************************
;*** KUKA   Parametersatz                ***
;*** Servoregler: KSD1-48                ***
;*** Motortyp:  I1    1FK7101S07        ***
;*** Motortyp:  I1      MCS19F 33       ***
;*** Version 0   vom 02.01.03            ***
;****************************************
;
;
PI   1069,  0 =    90    ;VP_Isq-Regler
PI   1070,  0 =   220    ;KI_Isq-Regler
PI   1071,  0 =    89    ;VP_Isd-Regler
PI   1072,  0 =   220    ;KI_Isd-Regler
PI   1073,  0 =   174    ;Back_EMF
PI   1092,  0 =    18    ;Reglervorsteuerung
PI   1018,  0 =     0    ;Schaltfrquenz 4kHz
;

KSD_48_MIall.servo
Quote
;****************************************
;*** KUKA   Parametersatz                ***
;*** Servoregler: KSD1-48                ***
;*** Motortyp:  I     1FK7101S06        ***
;*** Motortyp:  I       MCS19F 47       ***
;*** Version 0   vom 02.01.03            ***
;****************************************
;
;
PI   1069,  0 =    75    ;VP_Isq-Regler
PI   1070,  0 =   155    ;KI_Isq-Regler
PI   1071,  0 =    74    ;VP_Isd-Regler
PI   1072,  0 =   155    ;KI_Isd-Regler
PI   1073,  0 =   150    ;Back_EMF
PI   1092,  0 =    18    ;Reglervorsteuerung
PI   1018,  0 =     0    ;Schaltfrquenz 4kHz
;

KSD_48_MK_S7_0.servo
Quote
;****************************************
;*** KUKA   Parametersatz                     ***
;*** Servoregler: KSD1-48                     ***
;*** Motortyp:  1FK7103 I          ***
;*** Lieferant: Fa. Siemens                   ***
;*** TestVersion 0   vom 16.12.02                  ***
;****************************************
;
;
PI   1069,  0 =    46    ;VP_Isq-Regler
PI   1070,  0 =   139    ;KI_Isq-Regler
PI   1071,  0 =    45    ;VP_Isd-Regler
PI   1072,  0 =   139    ;KI_Isd-Regler
PI   1073,  0 =   152    ;Back_EMF
PI   1092,  0 =    18    ;Reglervorsteuerung
PI   1018,  0 =     0    ;Schaltfrequenz 4kHz
;

March 28, 2018, 03:17:13 PM
Reply #9
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cientista


Only .servo files that refer my axis 1 motor siemens reference is:

Search "FK7100" (3 hits in 3 files)
  C:\Users\Raquel Antunes\Desktop\mada\Mada\KSD_32_MG1_7.servo (1 hit)
   Line 4: ;*** Motortyp:  G1      FK7100 5AZ9 S41 ***

PI   1069,  0 =    55    ;VP_Isq-Regler 
PI   1070,  0 =   100    ;KI_Isq-Regler 
PI   1071,  0 =    54    ;VP_Isd-Regler
PI   1072,  0 =   100    ;KI_Isd-Regler
PI   1073,  0 =   122    ;Back_EMF
PI   1092,  0 =    18    ;Reglervorsteuerung
PI   1018,  0 =     0    ;Schaltfrquenz 4kHz


  C:\Users\Raquel Antunes\Desktop\mada\Mada\KSD_32_MG1_S7_0.servo (1 hit)
   Line 4: ;*** Motortyp:  G1      FK7100 5AZ9 S41 ***

PI   1018,  0 =     0    ;Schaltfrquenz 4kHz
PI   1069,  0 =    64    ;VP_Isq-Regler
PI   1070,  0 =   236    ;KI_Isq-Regler
PI   1071,  0 =    63    ;VP_Isd-Regler
PI   1072,  0 =   236    ;KI_Isd-Regler
PI   1073,  0 =   123    ;Back_EMF
PI   1092,  0 =    18    ;Reglervorsteuerung

  C:\Users\Raquel Antunes\Desktop\mada\Mada\KSD_48_MG1all.servo (1 hit)
   Line 4: ;*** Motortyp:  G1      FK7100 5AZ9 S41 ***

PI   1069,  0 =    55    ;VP_Isq-Regler
PI   1070,  0 =   108    ;KI_Isq-Regler
PI   1071,  0 =    54    ;VP_Isd-Regler
PI   1072,  0 =   109    ;KI_Isd-Regler
PI   1073,  0 =   121    ;Back_EMF
PI   1092,  0 =    18    ;Reglervorsteuerung
PI   1018,  0 =     0    ;Schaltfrquenz 4kHz


diferent proprieties. any help ?

December 30, 2018, 07:23:36 PM
Reply #10
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cientista


Hi,
I still dont resolve the issue about the three erros about diferent KSD.

Robot is moving but with this 3 errors.


https://www.facebook.com/permalink.php?story_fbid=2078838608863823&id=100002131128428

Any help about the correct file to put in mada ?

December 30, 2018, 10:50:21 PM
Reply #11
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SkyeFire

Global Moderator
See the attached file.

January 02, 2019, 05:04:11 PM
Reply #12
Offline

cientista


Thank you. Thank you very much. SkyeFire !!!
That's exactly what I needed.
But I have a problem.
The robot did not come with documentation and next to the engines I only have the siemens reference.
Is there any siemens-> kuka reference conversion table to find the appropriate servofile?

axis 1: 1FK7100-5AZ91-1ZZ9-Z S05
SerNR YF T950 3820 30 014
3.2KW 7,3A 181V
4300/5000min-1

axis2: 1FK7101-5AZ91-1ZZ9-Z S06
Ser.Nr.: YF T850 3781 20 021
3,3KW 7,0A 200V
3750/5000min-1

axis3:1FK7101-5AZ91-1ZZ9-Z S06
YF T850 3781 20 018
3.3 KW 7.0A 200V
3750/5000 min-1

January 02, 2019, 05:19:30 PM
Reply #13
Offline

cientista


sorry.

Thank you..

Already founded but dont remember:

motors kuka art numbers:
axis1:   art nr 0000117606  kty84   ---> KSD_48_MG1all
axis2=axis3= art nr 0000119766 kty84  ->  KSD_48_MIaII

Today at 08:02:55 AM
Reply #14

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January 02, 2019, 05:24:34 PM
Reply #14
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panic mode

Global Moderator

1FK7100-xxx = G1 (Mx_180_180_40_S0)
1FK7101-xxx = I / I1 (Mx_228_180_30_S0 / Mx_260_180_30_S0)

January 02, 2019, 05:41:13 PM
Reply #15
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cientista


Now, i am in process of adding one external axis.

A beautiful Ruckle PKT1200 Rotary Table from 1982.

I will buy another 1FK7101-5AZ91-1ZZ9-Z S06.
I think it will do the job.
Need another KSD1-48.
And cables that i still dont know the correct references.

I let you see some photos from the rotary table.
I made resize of photos.
If needed less size tell me please.

Thank you for your support.

January 03, 2019, 12:10:26 PM
Reply #16
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cientista


Hi,

I need cable kit to add 7th axis .
I think i need cables W108661 W108631 W108632 W108632BR X7.1 N7X1.1
Big problem i dont see any of them on ebay.
At least with that references.

I saw on one website for 8000 € ?
for 3 cables ? is this normal ?

January 03, 2019, 02:26:12 PM
Reply #17
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SkyeFire

Global Moderator
Well, the cables are nothing terribly exotic --  the wiring and connectors are all standard component, not KUKA-only.  You could probably have a local custom cable builder make them for you, although they might need samples of the cables you already have as an example.

I'm working from memory, here, but when adding a 7th axis to a 6-axis KRC2, the wiring for connecting the 7th KSD to the KPP should already be present in the controller, with the plugs dangling empty.  What you'll need will be:
1.  IBus cable for daisy-chain from KSD6 to KSD7 (look at the white cables between existing KSDs).  This should be a standard RJ45 Ethernet cable, IIRC
2.  Motor output cable from KSD7 to Servo 7.  The KUKA kit for this usually has a short internal cable, which includes a "bulkhead" socket to be mounted in one of the unoccupied spots in the lower bulkhead (where all the Harting connectors plug into the KRC).  Then, from there to the motor, there's a cable with the standard KUKA/Siemens "servo" connector on each end (one male, one female).
3.  Resolver cable.  This does not connect to the KRC.  Rather, it runs from the Resolver connector on the motor, to one of the unoccupied slots in the RDC card in the base of the robot.  If you open up the junction box at the base of the robot arm (where the main motor cable and resolver cable from the KRC attach), you'll see the RDC board.  On one side, you'll see a row of 8 flat connectors -- the first 6 will be occupied with cables from A1-A6.  You will need to connect the 7th axis Resolver to the 7th connector.

The attached PDF has some instructions on replacing the KPP or KSDs -- the process for adding a KSD is essentially the same, except that you need to remove the blank metal plate that covers the cooling vent access for KSD 7.  The wiring for all KSDs is standardized, so it's just a matter of keeping the cables organized.

February 06, 2019, 05:07:39 PM
Reply #18
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cientista


Thank You !

I already identified all the plugs i need and bought them, and make a hole in the mounting plate to receive the ksd48 that i bought.

Now i am trying to buy a I/O module, so when i go to robot assemble everything try to add some I/0 on the robot.

I am looking to Beckhoff BK5200 or Beckhoff LC5200 because there are some posts on this forum about that brand with very good help to configure them.
Because i already have X801 Devicenet on the KRC2. It is the simplest way and cheapest ?

Beckoff LC5200 is 70€
Beckoff BK5200 is 204 €
It is the same thing LC5200 or BK5200 ?
Only diference is LC is a chep, low cost solution ?
I only need one of this and then the inputs and output cards right ?
And cables and some work wiring them, i already read some posts.
Thank you in advance

February 06, 2019, 05:56:02 PM
Reply #19
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panic mode

Global Moderator
i don't know about "the only" difference but yes, both products are meant for same job, they are DeviceNet bus couplers. then you add IO modules and end cap. Bus wiring is absolutely the same.

February 06, 2019, 06:17:02 PM
Reply #20
Offline

cientista


Thank you Panic Mode On(e)

The more I learn the less I know.

Let the LC5200 come then !

Today at 08:02:55 AM
Reply #21

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