I have acquired a used kuka kr 150 with a C2 controller and unfortunately i can't get it to function. The robot boots up fine and seems to load the right program. but when it is al done i have a list of errors that dint go away. and i can't do anything with the robot.
- error 1034 Error writing to interbus
- error 1033 Error writing reading inderbus
- error 205 Software end A2
- error 1 Emergency stop off
- error 20 External emergency stop off
- error 200 Drives not ready
- error 0 Zange auf unzalaessiger position
the first two i can easily explain. the robot used to be a welding robot that communicated with the welding controller through the interbus. those systems haven been cut from the machine. the only remaining part is the interbus card in the computer.
the software end isn't a problem because the axis is at is end position.
Both the emergency stop errors i don't understand. the emergency stop button on the teach panel isn't pressed and the external stop isn't attached. I have tried attaching a switch to the external emergency stop but the error doesn't go away.
The last one is the problem i think, only i have no idea what it is.
Unfortunately the robot came without manuals or anything like it so i don't know where to start. if there is anybody familiar to this problems or has other suggestions please do. for now i want to be able to manually move the robot, but for the long term plan is to convert the robot to a milling robot with multiple workstations.