hi everyone
i am working with the new KRC4 for first time.try to move axis without X11 interface so select the start-up mode.
but the axis keys and drives do not active when i push the enable key.meantime the IBT(yellow) mark flashes normally.the error message is KSS00404 -Safety stop
look forward for any advice.
TNX
start-up mode,KRC4
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ak -
April 7, 2015 at 9:49 AM -
Thread is marked as Resolved.
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Did you do the Safety Configuration?
You should have a small manual naming Initial Commissioning or First Start Up, something like this inside the controller. Please go through it and follow the steps.
It will help you to run the robot.
Thanks
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Dear RS
many thanks for taking time -
Hi, I have been finding the same problem with start-up mode in kss 8.2.25, but I have no the Initial Commissioning manual. Some one can share to me?
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Click on drive icon ("I" in "SIR") and check what is not green.
Also check if your WoV project is correct (missing CIB safety interface?). -
Hi, I have the same problem - it is not possible to ride robot also in Start-up mode.
I made a First commissioning as its in a dokumentation - but still error: KS00404 (On 2 robots - the same problems)Robot is equipped in Profisafe, X11 is disconnected, PLC (profinet) also, CIB is in WoV project, device stack ist enable.
In Hardware options in Safety:
Interface: automatic (I can choose only auto/SIB)
US2: by PLC
Acknowladge: externalDo You have some ideas?
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yes, you must have ONE safety interface - no more, no less.
you cannot have both X11 and ProfiSafe.If you have controller that was originally equipped with X11, then you must either :
a) remove it completely (requires installing X311 jumper plug in CCU)
b) leave it in, but wire jumpers for external enabling switch (does same job as X311 jumper plug) -
Hi,
Thank you for your answer.Unfortunately it is not so easy - the bridge is there (x311).
In menu "SIR" - "I" I get completly nothing when I hold the motors button (in Start-up mode also :-).
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startup mode can be used to bypass drives enable signal from safety circuit for troubleshooting purposes.
but one still needs number of other things in place before motion is possible:
1. WoV project must be ok (match current hardware) and activated
2. there must be exactly ONE safety interface CONFIGURED. if this is missing, StartupMode can't help...
3. External enable switch must be present or bridged
4. $MOVE_ENABLE must be true
5. Safety configuration must be activated
6. Safety signals must be ok (or in this case one one can use StartUp mode) -
Thank you for your help,
Problem was in WoV Project.
First-Startup project was wrong compiled (by KUKA) - solution was to download, rebuild and upload project.
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Deal Panic Mode, when I select the "I" in "SIR" any function is enabled, so I checked the bus structure and it was ok. How you can see in the pictures attached (KCB/KSB).
1. WoV project must be ok (match current hardware) and activated
* The project is ok.2. there must be exactly ONE safety interface CONFIGURED. if this is missing, StartupMode can't help...
*There is only one safety interface (SIB), as you can see in safety pic. What means profinet id if I don't use it? (safety param pic)3. External enable switch must be present or bridged
*Is it US2 or external operator acknowledgment? How can I bridge it?4. $MOVE_ENABLE must be true
*It will be enabled when all the things works and died man be pressed.5. Safety configuration must be activated.
*it is default enabled!
6. Safety signals must be ok (or in this case one one can use StartUp mode)
*Safety signas? Where can I see it?