Greetings
what are the generally used methods for Diagnostics & maintenance of a KUKA KRC4
i just need the big titles " a little explanation would be appreciated "
maintenance of KUKA KRC4
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THD -
April 5, 2014 at 7:14 AM -
Thread is marked as Resolved.
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the question is very vague, so will be the answer:
1. power up (can't do much without it)
2. ask questions ("what changed"...)
3. read messages/logs/archives
4. get archive/project from robot and verify it
5. swap (hardware/software)
6. cold boot -
thank you for the anser
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As far as actual maintenance there is not much to it.
Visual inspection - check for excessive dirt.
There is only one fan in a back that is responsible for cooling entire controller.
Fan is sucking the ambient air ("dirty air") so make sure there is some room behind controller and not a lot of heat sources.
Fan cools down Main Power Supply, 27V Power Supply, Servo Drives 2x, Ballast Resistors, Power Filter and Heat Exchanger for inside of cabinet.
On yearly bases it is a good idea to take back cover of and do visual inspection - cleanup.
If fan makes unusual noise - replace it.Second fan is installed inside PC hanging on the door.
This fan circulates "clean" air inside controller to cool down computer parts (CPU,memory,PC power supply)
For this to work correctly controller door needs to be closedBoth fans are 24V with speed monitoring. KRC4 speeds up or slows down the fans depending on the temperature (temperature sensor outside and inside) If the fan fails (fuse blows, defect) you will get a message but KRC4 still runs.
Do NOT run robot with fan failures messages - you are asking for trouble
It will eventually overheat.12V batteries (2x) located inside KRC4 are under constant monitoring.
In case of low power/not holding power you will get messages.
Again robot will still run but do not ignore those messages - it will lead to loosing mastering on all 6 motors.Second battery is motherboard battery.
Recommendation is to change those every five years.
In reality you can wait 10 years or longer.
Worst case scenario KRC4 does not start up because there is BIOS error on boot up.
Replace battery. Set time and date and you are good to go.There is a small air filter located on right hand side inside controller next to bottom of Power Supply.
Filter is responsible for equalizing pressure between inside and outside.
It should be white. If its black it may be good indication that its time for cleanup in a back. -
that was really helpful i thank you for your answer sir