KRC 4 External Axis

    Hello. Does any one knows what does message KSS00066 "Error in axis position from motor driver" . I think this is for E1 cause i'm trying to configure ServoGripper on KRC4 on KR180 R3200 PA robot(this robot has only(5 axis).

    Is it the only message?


    check KCB connections between CCU and drives.
    make sure you have the ground connected (from robot to robot cabinet and from cabinet to building ground) then do a cold boot with reloading files.
    if all fails, you may have faulty RDC.

    1) read pinned topic: READ FIRST...

    2) if you have an issue with robot, post question in the correct forum section... do NOT contact me directly

    3) read 1 and 2

    Edited once, last by panic mode ().

    Thank you for your answer. If i disable the E1 i can drive the robot OK, so the RDC should be OK, also i can see the in diagnosis monitor that increments are coming from E1 motor to RDC E1 channel. I think it's related something to configuration for E1.

    Edited once, last by DannyDJ ().

    This were erros that generated when i activated the project. But i have fixed the problem. The problem was that WorkVisual stubbornly generates CFCoreWaggonDriverConfig.xml in RDC3.xml section to read E1 positions from 7 or 8 channel on RDW3 regardless what axis ID you put in for E1. From KRC2 E1 setups i know that i couldn't leave any space beetween channels on RDW2. If you had 4-axis robot, for E1 you had to connect rdw cable to 5 channel, not to 7 or 8(and also you have to define #PMCHANNELS and #DSECHANNELS in odd way because 4-axis robot)


    In this case because the robot came directly from KUKA and E1 was already connected on channel 6 because it is a 5-axis palletizing robot(if you are comparing to RDW2 it's OK), so it mislead me. When i connected E1 rdw cable to channel 7 because i observed what WorkVisual generates in CFCoreWaggonDriverConfig.xml in RDC3.xml section then i just gave it what WorkVisual wanted to have(also i had to use Axis ID parameter 7 for E1 not 6).


    I'm using the new WorkVisual v3.0.6
    and KRC v8.2.22 installed on the robot.


    Now i'm off to optimizing the E1.


    I also have to tell you if i try to optimize E1 on robot side from External Axes(not from WOV) the robot coruppts the KRCAxes.xml and NextGenDriveTech.xml in folder C:\KRC\Roboter\Config\User\Common\Mada.
    Everytime i change some parameter under the EXTERNAL AXES menu on the robot, the files KRCAxes.xml and NextGenDriveTech.xml in folder C:\KRC\Roboter\Config\User\Common\Mada gets corrupted and the I get like 10 errors. Changing the parameters from that menu puts twice the lines(duplicates the AXIS 7 ID's in those files, again i think it's due to i'm using 5-axis robot)


    <Axis ID="7" Mode="StandAlone">


    <StandAlone Name="E1" /> </Axis> inside KRCAxes.xml and


    <Axis ID="7" SupplyChannel="1" ConfigFile="Mada/NGAxis/E1.xml" /> in NextGenDriveTech.xml


    Then i have to go back in the files manually erasing the sufficient lines in those files and viola robot works again. I think it's due to a fact that it's 5-axis robot.
    I spent the hole week on this matter. :waffen100:

    Edited once, last by DannyDJ ().

    Does anyone have some manual for Soft servo on KRC4. I found some little info in system variables about SET_TORQUE_LIMITS().


    Are the variables from KRC2 $CURR_RED[] and $TORQUE_AXIS and $TORQ_VEL all in SET_TORQUE_LIMITS()?

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