Hi, I'm having trouble with a kr3 running on a kr c3 controller. I'm not sure what has been done to these arms in the past. I reinstalled the software remastered and renamed the bot so that the serial numbers line up in the RISC and the hard drive. but now I am getting a error 54 wrong model number pm2. Ai have looked up all the error codes and fixed them one by one until now, but there is no real description of how to fix this in the fault manual. Any ideas?
kuka kr3 error 54 wrong model number pm2
-
Cochise -
March 9, 2015 at 9:44 PM -
Thread is marked as Resolved.
-
-
you replace power module 2 with model that matches that robot. KR3 is small so I would expect that all modules are KSD8, but you can look in MADA.
-
Thanks, unfortunately I have no idea where to find that data in mada. I am at a school and no one here has the proper training to operate these arms. I am a workstudy trying to restore these bots. Kuka no longer supports these kr3s and I can't find the relevant data to fix them. I guess I am in over my head.
-
current MADA is in folder R1\MADA and consists of two files: $machine.dat and $robcor.dat.
they go together (there is whole bunch of them on D: in case you want to use controller to drive different robot).
if you open $robcor.dat near top you will see what type of robot it is for.
if you open $machine.dat and scroll down to some 40% of file length you will see something likeCode
Display MoreCHAR $SERVOFILE_CONFIG[16] ;SERVO-CONFIGURATIONSFILE $SERVOFILE_CONFIG[]="DEFAULT" CHAR $SERVOFILE1[16] $SERVOFILE1[]="KSD_48_MG1all" CHAR $SERVOFILE2[16] $SERVOFILE2[]="KSD_48_MIall" CHAR $SERVOFILE3[16] $SERVOFILE3[]="KSD_48_MG1all" CHAR $SERVOFILE4[16] $SERVOFILE4[]="KSD_16_MH_S7" CHAR $SERVOFILE5[16] $SERVOFILE5[]="KSD_16_MH_S7" CHAR $SERVOFILE6[16] $SERVOFILE6[]="KSD_16_MH_S7" CHAR $SERVOFILE7[16] $SERVOFILE7[]="DEFAULT" CHAR $SERVOFILE8[16]
this tells you type of servo drive each axis uses. next step is to look at the labels of drives and see if they match...
-
Ok, so in the robot file I have the model_name[]="#KR3 C3A FLR". And in the machine file I have $SERVOFILE1[]="KRC3A_A1" then servofile2 is "KRC3A_A2" and so on through servofile6 the rest is default.
Thank you for being patient with me. -
just trying to help, never seen KRC3 but it should be a lot like KRC2 (which is example I shared)