Hello All
I have Kula kr16 with krc2 control
Did you know he to resolve my problem is
Actually my problem is when I am going To move the robot by jogging on teach pendent same time robot showing error like that
" ackn. Break error A1, A2. ........At
Plz tell me if anybody know how to resolve
All information is well comed
Kuka krc2 Ackn. Break error A1
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Egaleskay -
June 19, 2014 at 2:13 PM -
Thread is marked as Resolved.
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Sounds like bad or disconnected motor cable.
What is the recent history of this robot? Has anyone worked on it, moved cables, changed parts? Was it working previously?
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check following:
a) make sure controller is powered down
b) check if all motor cable(s) connected, including X20-X30 between cabinet and robot
c) check X12 connector at the bottom of KPS (two wires on the left should have 27VDC when drives are enabled)
d) check fuses on KPS (pull them out one by one and check with meter, replace blown ones with same rating fuses)
e) check if circuit breakers for motor brakes are tripped (left side wall, bottom), note the power comes from the bottom (all three breakers are supplied from X12 on KPS) and leaves from top, check for loose wires (pull test). DC common is on the terminal beside breakers. -
Thanks for quick replay panic mode
Sent from my LG-D686
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Hi Panic Mode
I have the same problem but the output from X12 is 0.037 volts and not 24.
Do you have any idea where the problem is?The robot model is:KR 500 700-2 TUV 4 Achsen
Controller: KRC2
KSS Version is:5.4.10Thanks,
RemoteKRC -
check fuses on KPS
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Thanks panic mode for your response.
I have checked all of the fuses in the cabinet(on CI13 board, KPS, and left wall of the cabinet) and they are all good.
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the output from X12 is 0.037 volts and not 24.how did you do this measurement?
voltage on X12 only appears when brakes are to be released. if this is in T1 for example, enabling switch must be pressed and "I" in "S-I-R" is green... if nobody is holding enabling switch, no voltage on KPS X12.
if you cannot get drives enabled even when holding enabling switch, there is something going on with safety circuit and you will get messages on screen.
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I put the robot in T1 mode, pulled the X12 connector out of the KPS module and put in the voltmeter probes. Then one of my colleagues held the enabling switch on the pendant.
The relays on CI13 board clicked and the "I" turned green on the S-I-R series. Without holding the enabling switch, the output voltage was 0 volts but when it was pressed, the output voltage was 0.037 volts. Here are also some other problems I have with the robot, It may help figuring out what the problem is:
1- When the KSS software boots up. This error is shown in the message window:
“Drive bus DSE participant no 6-7 does not exist”
But once acknowledged, it goes away.
2- On CI13 board…the LEDs for fuses marked on the attached image do not lit when the fuse is pulled out.
3- When robot starts, it does not run submit interpreter and does not find the sps.sub file when submit is manually started. However, when I switch to expert mode, go to system folder and select sps.sub, submit gets activated.
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Unfortunately it does not let me to attach the picture but there are fuses number 1,4,5,6,8, and 9 from right.
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sounds like you have either hardware problem or wrong configuration.
you may also try covering things asked in very first reply along with providing more info (KSS, messages WITH message numbers, KPS LEDs status,....) etc. -
KSS version is: 5.4.10
There is no error by default; however, when I turn on the drives and want to run the robot, drives makes a wizzing sound and these errors appear on the screen:
“Ackn. Brake error A1”
“Ackn. Brake error A2”
“Ackn. Brake error A3”
“Ackn. Brake error A4”KPS, and KSD LEDS status:
1- When enabling switch is pressed:
KPS: KSD:
LED 1: Off
LED 2: ON (Solid Green) LED1: Off
LEDs 3 and 4: flashing red very fast LED2: Flashing green fast
LEDs 5 and 6: Off2- When enabling switch is not pressed:
KPS: KSD:
LED 1: Off
LED 2: ON (Solid Green) and becomes LED1: Off
flashing green after 1.5 minute
LEDs 3 and 4: flashing red very fast LED2: Flashing green slowly
LEDs 5 and 6: Off -
that all looks good,
did you check 27V coming to X6, X7? (also inspect connector pins).
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Hi guys
I have the same problem. I checked and the KPS-600 is damaged but I want to fix it.
Somebody has already done it.
I checked X12 and at the moment when the motion was activated there appears for a moment a voltage of 27V t <1s and errors appear.
Voltage X6, X7 is OK.sometimes there is one more error: "nr1253 - Ackn. brake error PM1 channel 2"
Thank you and best regards
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Hi TMK_M
i am having the same problem - did you end up solving your issue? -
Hi guys
I have the same problem. I checked and the KPS-600 is damaged but I want to fix it.
Somebody has already done it.
I checked X12 and at the moment when the motion was activated there appears for a moment a voltage of 27V t <1s and errors appear.
Voltage X6, X7 is OK.sometimes there is one more error: "nr1253 - Ackn. brake error PM1 channel 2"
Thank you and best regards
Hello, Friend!
How are you doing?
I work with KUKA boards. I received a KPS600 this week that looks like the same defect. Did you manage to maintain your unit? I am available to take questions if you need to!