Kuka KRC2 don't move axes

    Hello.

    I try to first jogging my Kuka robot having a KRC2 controller and axes don't move
    I can observe in controller that on 1,2,3 servo drivers flashing only green led, on 4 servo driver no led flashes, on 5 and 6 flash both red and green.
    What should I check? I supose all must flashing on green colour only.
    Thank you

    What error messages are on the pendant?

    It sounds as if #4 has no power. Check all the connections (CAREFULLY! This is 400+ Volts, and can kill you easily). If all the connections are good, you can try swapping the #4 and #5 drivers (they are usually the same model) and see what happens.

    I'm not sure an unplugged communications cable would cause #4 to go dark entirely. Since the Interbus communications are daisy-chained, if communications cables were the issue, then the same LED pattern should be visible on 4, 5, and 6. With 4 entirely dark, and 5&6 showing LED error patterns, plus the error message show 4,5&6 all out of contact, I'm guessing that 4 either has no power, or has an internal failure. The communications are daisy-chained, not bussed, so a power or hardware failure on 4 would keep it from passing communications down to 5&6.

    Thank you for all messages.

    I just checked, connections on servo driver N4 are ok, I replaced N6 with N4.
    N6 works in postion of N4. Leds flashing.
    N4 doesn't work neither in N6. Leds are dark.

    I dismantled N4 and checked power supply part, it seems ok on supplying after measuring, remain integrated board where I don't know what to do.

    I supose I have to change this servo driver.

    I replaced driver N4 with another one and now it's working, leds flashe , stabilise on green and I could move all axes in T1 mode but on axis 4 another error appear, Gear Torque exccede on axis 4 and dont move. Servo 4 try to move axe 4 but immediately stop and message appear.
    It could be the result I changed driver N4,comming from another robot?

    I think that command leaves from driver , reach on servo, servo has an impuls to move, the arm shakes a little but then stop as something blocking.
    It could be a mechanical blocking and because torque increases trying to overpass reach to exceede the torque limit and stop moving, then appearing error message 1133 code - Gear Torque exceede axe 4. What should I check as possible mechanical blockage?
    To dismantle servomotor and try rotating shaft manually? To check gear of axe 4, breake?
    Any other suggestion ?

    Edited once, last by signum (February 7, 2015 at 5:26 PM).

    first you need to make sure you have mastering tool.

    next place robot in a good position (no torque on axis) and secure it before removing any motors (careful A2,A3, specially on large robots where you also have counterbalance to deal with).

    then remove motor and try to jog it (see if shaft turns smoothly when jogged). if this works, everything electrical is probably ok (this is not complete test as there is no load on motor). even small motors will produce couple of Nm torque which is too much to stop by hand (of course always be safe, only try this if jogging slowly).

    if electrical is fine, problem is mechanical (gearbox?)

    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

    I just checked the new replaced driver swapping N4 with N6. With N6 in place of N4, axe 4 moves normally, no blockage there.
    This time axe 6 having driver N4 don't move. That means very clear is a matter of module driver.
    Now I will try from two drivers N4 to make one, maybe I have luck. I will interchange card inside.

    Edited once, last by signum (February 8, 2015 at 1:06 PM).

    Problem solved.
    From two drivers N4 type KSD1-16, I made one. Driver has inside two electronic cards. Original driver had a defect on power card, the one with leds (red and green), because no led flashing while turn on KRC2 power key.
    The second driver I received I tried with to replace the original, has good power card, leds were flashing when turning on power but wasn't able to move axe 4.
    Therefore I swapped elctronic cards inside drivers and I made from my original N4 a good one.
    All axes move well.

    Thank you for help all.

    Now I have again an error on axis 4.
    230 wrong drives parameter A4 PR 1
    Flashing only red on N4 drive, the other drives flashing normally all.
    I swapped Drive N4 with N6 and in place of 6 drive 4 flashing only red and now message error says 230 wrong dirves parameter A6 PR 1

    What can I do?

    Thank you

    Hi.
    Error is about wrong configuration of A6 correctly with parameter 1.
    You can get more infos when You run RDWDSE dos application, in KSD for axis 6 You have Error code number and IBS-Trip number. There You can get more info about problem with Kuka Servo Drive for Axis 6.
    Marek

    Edited once, last by markopo (April 14, 2015 at 8:33 PM).

    The error is on axis 4 not on 6.
    Till yesterday worked fine, today I got this message
    230 wrong drives parameter A4 PR 1
    Who could change the configuration as long as nobody got in?

    Can you explain better what should i do? How I can run RDWDSE?
    thank you

    Edited once, last by signum (April 14, 2015 at 8:55 PM).

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