Hello Everyone,
we plan to shut down the plant for 2 week. is it possible to shut down robot controller for that long? how can we check the back-up battery to make sure it still good?
thank you in advance
power off controller
-
qtech -
December 20, 2012 at 3:31 AM -
Thread is Resolved
- Go to Best Answer
-
If shut down to robot during two weeks, after you need mastering all. Because battery is discharging. if you battery have problem displaying "Accu voltage 22 V below after last buffered" message. (KSS 5.X.X)
-
Shutting the robot down for two weeks should be fine, as long as you are not receiving any error messages regarding battery (Accumulator) voltage.
When the robot is powered down, the batteries allow the controller to keep running long enough to save critical status data, like the mastering values. As long as the batteries are sufficiently charged when you shut down the robot, the robot can remain shut down for weeks, months, or even years.
The potential issue that can arise when the robot are re-started is that the batteries may have lost most of their charge during the down time. Once the robots are powered up, they should not be shut down again for several hours (12-24hrs preferrred). This will charge the batteries back to capacity. Otherwise, if the robots are shut down again before the batteries are recharged, loss of mastering could result.
-
Exactly as SkyeFire said
the batteries act as a UPS for the PC when you shut down the controller. It takes the time to save critical data (incl mastering info) to the hard disk and close Windows. After that you have no problem, even if you remove the batteries from the system.
The next power up will also be no problem. The controller will read all the data from the hard disk and it will be OK. But if you shut down again without batteries or if your batteries are not sufficiently charged, the PC will just drop dead without having the time to save data. That's where you loose your mastering. It will ask you to re-master the next time you turn it on. -
Hi Fellows.
One little hint to add : on KRC2 cabinet there is LED visualisation comming from Siemens recharging module, when this Led is blinking You have information voltage on batteries are below good value . When this LED is ON You are right that is everything fine with batteries and recharging process.
Marek.
-
This is exactly what happened to me as SkyeFire said
It has not been connected to the power supply for a long time, the battery of the controller turns on after a few minutes of disconnection, which leads to the loss of Mastering and henceforth PAIN, and a big one. Maybe a reinstallation of KSS is next because there is an energy stop and the robot does not move! I don't know any other solution.
-
Maybe a reinstallation of KSS is next because there is an energy stop and the robot does not move! I don't know any other solution.
"energy stop"? Do you mean an emergency stop? Re-installing KSS will not help, that is a purely hardware problem. Check your safety wiring.
Re-Mastering the robot should not be an issue. However, if your batteries are more than 3 years old, I recommend replacing them (and fully charging the new batteries) before re-Mastering.
-
No. First I turned on the controller and I see an orange battery light. As you say - I had to leave it on for 12-20 hours to charge.
Out of ignorance, I made a gross mistake, turned off the controller, replaced 3 pcs. batteries 1.5v,
Error Z 217 appeared again on power on,
EMERGENCY STOP, ALERX STOP
This is what I think about reinstalling KSS.
If there is another solution that would be great.
It lost MASTERING, I can't fix it because the robot doesn't move. BAD
-
KRC32
Yeah, that's a pain
-
replaced 3 pcs. batteries 1.5v
What? The KRC2 uses 2 12V batteries. What batteries are you referring to? The only 1.5V battery I can think of in a KRC2 is the motherboard CMOS battery.
Error Z 217 appeared again on power on,
EMERGENCY STOP, ALERX STOP
An Emergency Stop error will not be fixed by re-installing KSS. You need to track down the root cause.
Is it internal or external E-Stop?
-
It's KRC32, Sky
Everything what valkamar says, makes sense for KRC32
-
even "ALERX STOP"?
have no experience with KRC32 but as SkyFire stated, EStop message should be making safety circuit wiring is correct and hardware is ok. (blown fuse...?).
the charging time that SkyFire mentioned is for the SLA batteries (2pcs 12V). they work as UPS for KRC PC.
some robots have other batteries (or sets). an example is 3x 1.5V for encoder backup. this is NOT the same as SLA batteries in the controller. i recall seeing them on Denso arms but i do not think those are rechargeable type. also one should follow the instructions when replacing batteries. such batteries may need to be replaced while controller is powered up to prevent data loss. if replaced while powered off, encoders will lose power and thus mastering. then relevant procedure is to to be followed to master the robot...
which is why i really like resolvers - no batteries on the robot arm, when servicing arm one can power down robot, unplug any cable (motor or feedback), do the measurements, connect the cables back, powerup and life is good. the only thing needed is to replace batteries when controller tells that they are weak. and even mastering procedure is so quick, simple and accurate. got to love that.
-
It's KRC32, Sky
Everything what valkamar says, makes sense for KRC32The last post in the thread that mentioned controller version was about KRC2, and I just ran with that.
How does losing batteries on a KRC32 lead to E-Stop errors, though?
-
- Best Answer
even "ALERX STOP"?
The KRC32 had two batteries
- Inside the A2 board, it had two NiCd packs, totaling 24V. Their job was to supply the resolvers for a couple of seconds until their values were stores into the system. If you lose the batteries, you lose the mastering; no big deal.
- It had also a small battery box, with 3x alkaline 1.5V AA batts whose job was to suppy the eprom on the main cpu. That's were everything was stored. Programs, vars, the KSS of the era, everything...
Leaving the robot running for hours, makes no difference, because the important batteries are non-rechargeable alkaline.
Unlike modern KUKAs, you exchange the 1.5V batts only with power ON. Otherwise you loose everything. The error message in this case is
A 217 /:EMERGENCY STOP FROM ACR
(ALARM STOP) <-- "ALERX STOP"
and you have to connect a laptop and re-upload everything (something like today's WoV)
As for the orange battery light....
On the cabinet one can see some buttons.
There is this...
and there is that...
When the controller is powered ON, one light comes on for a couple of seconds, indicating that the system is booting.
I cannot remember which one is it. But both icons can be misleading as "battery low".
What looks like battery, is actually referring to Drives ON and what looks like thunder is Fault.
KRC32....unforgettable experience
-
that explains a lot.
It had also a small battery box, with 3x alkaline 1.5V AA batts whose job was to suppy the eprom on the main cpu.
that would be RAM, ROM does not need battery backup.
-
There is an inscription next to the orange lamp
BATTERY. A red light glowed in the upper left corner.
After replacing 3 pcs. 1.5v batteries each with controller on, orange and red lights gone.
I don't know about 24v rechargeable batteries. If there are any, they have long since been replaced - the robot has not been turned on for more than 4 years.
-
I would be interested in a photo of that, if you could please
-
I can't upload the photos!
Give an email if possible
-
I am writing from Sofia, Bulgaria
-
KRC32 had two versions
The oooold one and then there was a facelift before switching to KRC1
Yours is the oooold one. The pictures that I sent before are from the facelift
Advertising from our partners
