GM kuka pulled from network

    I'm new to the forum, and just purchased Kuka's with krc1A. They were part of a GM PLC network. Now they are still looking for permission from peripherals before the will jog. ex: upstream robot gate, down stream press open. ect. How can I "clean them up" so they stop looking for all the external signals.....also they do not have a mode selector switch on the pendant or the cabinet. From what I can tell this was driven by the PLC also. All the wires from x933 go to a connector on the outside of the cabinet to run to who knows where. I can likely get a switch hardwired for that. It has p1, p2 p3 sd1 sd2 sd3 connectors that I assume are the links to other robots, and PLC for permission. Can these be jumped, or ignored through programming/coding? :help: Any help is appreciated THANKS.

    Well, it's been a LONG time since I've seen one of those monsters -- is the robot inverted? KR100-L, IIRC. If it's one of the inverted models, you wont be able to use it in an upright condition without making hardware and software changes.

    Before doing ANYTHING: make a full backup image of the hard drive, in a working condition. I mean, use CloneZilla or something. If anything goes wrong, doing a full system restore of one of those robots will be nearly impossible without such a backup image. These robots still run Windows 95. Did the robot come with all the original install/recovery disks?
    Second: unless they fixed it, those robots have issues making regular Archive backups -- they won't fit onto a 1.44MB floppy. Plus, it's hard to find reliable floppies anymore. So use the Ethernet port and pull a copy of the entire C:\KRC\R1 directory, in addition to the full hard drive image.

    As for the rest... well, first you'll have to jumper all the hardwired safeties on the CC1 connector (GM's version of the standard X11). There are several discussions of that in the forum archives, even recently.

    The Press-linking robots used two dual-channel DeviceNet cards -- you'll need to disable those in IOSYS.INI.

    You'll need to go into /R1/STEU/MADA and edit the "soft" safety signals in $MACHINE.DAT.

    You'll also need to either edit the GM-specific SPS, or (at minimum) set the variable GM_WO_PLC to TRUE (I think).

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