Yesterday, my KR5 small robot stopped for A5 overload fault.
Usually, operator reboot the robot to clear it.
But, when reboot occurred, the BLUE SCREEN OF DEATH occurred and couldn't recover from it.
The blue screen's message was "Unmountable boot volume error".
After a while searching, it needs recovering using XP CD.
After I insert XPe CD, it repaired by formatting and re-partition the robot's computer.
After I restore the archive file, after I start the system as normally I run, I get the error message;
" $Move_Enable [1025] is not allowed"
I've checked iosys.ini file and config.sys but it is same as before crashing.
Someone can tell me what the error is about?
By the text content, it feels like input[1025] is not mapped. Is this correct assumption?
I/O Mapping Error(?) "...not allowed"
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edkorea -
September 3, 2014 at 2:00 PM -
Thread is marked as Resolved.
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$IN[1025] is the kuka Always ON variable. Check you re machine.dat files if it's the same before crash. I think if you are operating robot in External you will need to map this variable for user safety for operate.
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yes, if you are trying to use AutoExternal mode you either have to change this to another input (not 1025/1026, it must be something that PLC can control).
Alternatively one may disable this check ($CHCK_MOVENA which is in $options.dat) but this is not commonly done (safety reasons).
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Thanks, Sims...panic_mode
I've copied once again on machine.dat file onto STEU folder, now it is working okay.
On start-up screen had IRQ setting faults on serial data card but this has been eliminated by running of security update CD came with robot.
Thanks all for great help.