workspace monitoring functions deactivated ( mastering error).

Hi,

just checked the kuka message database and could find no message with this text. What is the globally unique message number for your message? Who is the sender of this message? E.g. for controller messages you should see something like KSS<MessageNumber> in the message window. For KUKA it is always the best to not only post the message text that might differ between different releases but this globaly unique over all versions message number.

Otherwise your messgae might be a user generated message inside one of your applications.

Fubini

KSS155054: workspace monitoring functions deactivated ( mastering error)

This is the error message. This post was started by my colleague and we are facing this problem on KR120 with KRC4 controller. The robot jogs for few degrees and then stops because of this message. The error message get automatically reset and then we are again able to jog the robot. But the robot is stopping again and again.

We have another robot which is working fine and we decided to continue working on that one until we get some solution for this one as we are in great time pressure to start the production with these robots.

Thanks

Probably you meant KSS15054 not KSS155054. This message is linked to safe operation technology. Checking the message explanation I assume you loose mastering only for a short time. For me this suggests a hardware failure probably of the RDC which stores the mastering state. Hence

1) Check the wiring of the RDC
2) You could try swapping the RDC with the running robot and check if the problem moves with the card.

Fubini

Hi Fubini,

We tried swapping the RDC card with one that is running but the card is running good on other robot as well. Tried multiple times to check the connection. The phenomenon is like this:

1). Did the safety configuration. Robot asking for mastering the axes, all of them.

2).When tried to jog any axis for mastering position getting error KSS15019: Jog velocity in T1 exceeded by its limits. Tried run the robot on 5% speed though.

3). Did mastering of all axes using Dial option where the axes were positioned to avoid above error.

4). Again tried to jog the axes at lower or higher HOV then started getting error KSS15054 workspace monitoring function deactivated.

5). Changed the base project using WOV and put new machine data but no success.

Literally tried many other stuffs but got no success. Quite surprised to see brand new robot has such kind of problem. I doubt that EDS may have failed on the robot but not sure.

Need to take KUKA support I think.

Please put some more suggestions.

Thanks

Mastering the robot far from the proper Mastering position may be part of the Workspace issue -- the robot literally thinks it is outside of it work envelope, due to incorrect calculations of Cartesian position.

Have you tried entering Recovery mode and jogging the robot to correct Mastering position in that mode?

Hi Skyfire!!!

We had to struggle 4 hours to find the real issue. During our investigation we found that the voltage (24 VDC) on CCU was dropping while jogging the robot thus making it goes into fault. We found the power supply KPS-27 at the back of the controller was faulty.

The error messages were misleading but lately I understood that it is obvious that if this voltage will drop then all the circuits will malfunction thus causing the safety stop on the robot.

Anyway we will have to get a replacement from KUKA for power supply but the surprising thing is the brand new robot has such problem which I powered on for the first time.

Thanks to all once again.

urgent:

I'm working with Krc4 quantic robot. when i'm jogging each axis manually i got the following error message "workspace monitoring functions deactivated ( mastering error).", after the robot moves for a while ; and then the error resetted automatically. I do mastering for all axes but the issue still exists.

How did you solve it

The answer is just one post above. Read and understand the thread.

hello,

i have the same problem and i want to check the power supply ksp-27 on krc4 but i don't where is located .

Regards,

on KRC4 that power supply is on the back of the cabinet. to access it you need to open the cabinet and unplug it... then remove back cover of the cabinet.

if you open cabinet door you can see wires in the lower right corner that go through the cabinet wall to the back.

Black connector is AC input (three phases). White connector is 27VDC output and plugs into CCU.