I killed KcpService.exe
the installation starts but the 5009 error is still there.
Anything else to close?
KRC2 startup errors - the robot won't move
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vvelikov -
November 11, 2013 at 3:47 PM -
Thread is marked as Resolved.
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Do a cold reboot, hold the shift key while the controller is booting. That should prevent KUKA software from starting.
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I already tried, no chance to start it.
But no problem, i'll recover from previous hard drive image and restart from the beginning, changing language etc.
I found out that some emergency stops are related to my external plug not beeing connected,
and my cabinet has XS2, no X11.
But i also don't have a dummy plug to use,
anyone can help me doing the wiring at the ESC card, and finding schematic? -
I have multiple VKRC robots running a used this forum to get the first one working
https://www.robot-forum.com/robotforum/kuk…-c2-controller/ -
Hi Leon,
thanks for stepping in,
you wrote on that thread that the wiring you have done is for Audi version (with XS5),
i don't see XS5 on my cabinet.
Are you sure that it is the proper wiring that i have to make?
Thank you -
Then i have to admit that i am not sure, I need XS5 to do wiring of E2/E7 keys which i need to have to be able to switch between T1 en T2. In the same topic there is another configuration for a vkrc1 but i have no idea if that is suited for your version.
**I have to redact a bit of my above statement. Turns out is was talking out of my ass. The first robot is ever did was a VKRC2 with a XS5 exstension. The last 2 i did however did not have this and they use the same wiring.
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Hi everyone,
looking at the schematic of my cabinet, the wiring suggested by Leon make sense,
so i have done it on XS2 plug.
I cleared the external emergency!
I also solved the software problem,
since every time i did a forced reboot from "Configure > 5 On/Off Options > 0 Force cold Startup" Windows was giving me a BSOD,
the only solution was to backup from image every time;
so i modified iosys.ini file inside the controller instead, commenting ";INTERBUSPCI" by going the way around: "Configure > 0 I/O > 3 I/O Driver" (there is Iosys button on the bottom)
saving modified file and reloading configuration from "Configure > Miscellaneous > 3 BOF Reinitialization" solved that.But now i'm still stuck on "Drives contactor off"
the controller also gives:SoftPLC: EMZ: Zange auf unzulaessiger Position
SoftPLC: EMZ1: kein Lebensbit - Bus pruefenIs the external unconnected PLC preventing me from jogging?
Thank you -
I remember having those exact messages the first time i tried to move the robot, not sure what i did about them. But they should not prevent you from jogging. If i remember correctly these are only warnings.
Drives contactor off means that when you are in T1 or T2 (when you are in T2 make sure gate contacts are closed) you have to hold the deadman switch on the back of the pendant. Then drives should be enabled. -
I'm having these 3 message lines:
Drives contactor off
SoftPLC: EMZ: Zange auf unzulaessiger Position
SoftPLC: EMZ1: kein Lebensbit - Bus pruefenWhen i press the deadman switch on the back of the pendant i'm having these 4:
Drives contactor off
SoftPLC: EMZ: Zange auf unzulaessiger Position
SoftPLC: EMZ1: kein Lebensbit - Bus pruefen
Operator safety / Gate openSo, do i have to wire something else to get rid of the gate contacts?
I don't have T1 or T2 on the pendant to select, but simply a "hand" symbol.
The "I" on the bottom where S I R icons are, stays red. -
you can make safety circuit happy, close gate and acknowledge operator safety.
switch mode to T1 and GO (currently single step T2).
press enabling switch on teach pendant and drives will turn on...
messages mean tool is not in expected position and no heartbit to PLC. not enough info to help with resolving those.... -
Hi, panic mode
which are the pins that i need to bridge to simulate a closed gate?
How can i switch from T2 to T1?
Thank you -
read pinned topic READ FIRST
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I already read the READ FIRST,
but apparently you didn't read the thread since Reply #33
Do you think i'm not giving enough details?
You were going off topic by simply saying to "close gate"
I know i need to wire XS2 plug on my VKRC2 to clear gates warning,
and i also need another wiring to change from T2 into T1,
anyone can help me?
I didn't find the solution anywhere.
Thank you -
Gate should not matter in manual mode (T1 orT2) as long as there is no message to acknowledge user safety.
Can you try holding enabling switch in mid position to get the drives enabled? -
Selector Switch on the teach pendant is mode selecting switch. This looks different from conventional KUKA pendants but hand means manual mode (T1 or T2), while loop with arrows is automatic mode (AUT or EXT). Normally this would be 4-position switch but VW edition is different.
You tried reloading software without success (only VSS but not windows). Do these versions even match? Was the robot operational before? Have you seen it or you just got zombie with parts from several different systems?
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Today i have done a few more tests,
there is no way to jog the robot with "gate open" warning.
So i tried to bridge these others pins:
B5-B6
B7-B8
the only ones that could make sense from the VKR C2 cabinet schematic.
And it works!
I can now jog the robot in T2 mode, but i think i have to wire something else on XS3 plug to get into T1?!panic mode
The robot is directly from ex VW/Audi production line, it was working before,
but i got it without anything connected.
The key switch on the pendant has only 2 positions as mentioned.
Every time i do a forced cold reboot Windows XP gives a BSOD,
and even after checkdisk there is no way to reinstall control software
( yes, the installed version match the installer in D:\ ),
so i keep hibernating as usual and between tests i always recovered from backup image. -
What is the exact BSOD screen?
this could be valuable info
either way it will point to hardware or software issue.
BSOD is sign that something is not normal. did you consider reloading Windows from scratch? -
I didn't take a picture of the BSOD,
but that is not my main problem since i never do a cold reboot,
i think it is related to both software and hardware,
because windows take a long time to shutdown and the batteries don't hold a good charge to finish the shutting down properly,
and even the hardware is not perfect, i noticed some leaked capacitors around the CPU on the motherboard.
I didn't install Windows from scratch, i don't have a Windows XP embedded install CD,
Event Robotics sent me a new clean image with KSS 5.6, but i can live with that for now.My main problem was to find out how to wire the XS2 port, and now how to connect other jumpers to get into T1.
I found my way by reading here (thants to Leon):
https://www.robot-forum.com/robotforum/kuk…-c2-controller/
https://www.robot-forum.com/robotforum/kuk…kuka-vkrc2-(w95)
https://www.robot-forum.com/robotforum/kuk…o-external-mode
but i still need to find out how to wire the other jumpers (i suppose i need to),
around i see people talking about D pins on XS2, but my XS2 has nothing connected to D pins -
batteries can be replaced or don't use hibernate mode.
when hibernating, shutdown takes long and boot is faster
with cold start, shutdown is faster and boot is longer
if batteries fail before hibernation image is saved, you WILL have BSOD on startup...XS2 should be just DC power and have nothing to do with this.
VKRC has mode switch with just two position as mentioned before.
choosing between T1 and T2 is done through external switches E2/E7.
E7 must be off and E2 must be on to put robot in T1 mode.Check manual for more detail (VKRC2 Assembly instructions etc).
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