Hello, i need to know, in my KRC1 controller, on the relay board, the LED's with V32, V35 are not glowing V37 is glow RED in T1 & T2 mode, will it be the cause for not allowing the Drives on function? Also V54 LED is not glowing. With the software load finished, an error with Drives Contactor off is displayed, i have checked with the /R1/Steu/Mada/$MACHINE.DAT, it is assigned to 1025. Will it be the cause for PM6-600 be faulty?
Kindly guide further
Thanking you
krc1 main run chain active
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ykotak -
April 9, 2015 at 9:20 AM -
Thread is marked as Resolved.
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Drives Contactor OFF is not an error. It is a message. Do you have any other message on Teach Pendant apart from this which might give more light on the issue.
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Thanks, the Drives on "I" is red & when enabling the msg shows with safety gates open
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i mean "o" it shows with red. In PM6-600 drive module, the drives ready led is off, rest all of them are green
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If the message Safety Gate Open then you should start checking X11 connections electrically. There is some problem in the circuit.
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On KRC1s, there was also a "soft" input over FieldBus for Safety Gate or Operator Safety. The problem was, the system message wouldn't tell you which of the two signals was missing, the "hard" X11 signal or it's "soft" twin.
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Thanks, my robot is GM with CC1, i have connected following jumpers, 1-3,2-4,5-9, 6-10, 7-11, 8-12, 13-14, 15-16, 17-18, 19-20, 21-22, 23-24, rest of them i have kept open , do i need to connect rest from 25 to 32? if yes then kindly guide for the connection
will be gratelful as i m new to the machine -
Dear Skyfire
i really need your help sort out the problem, now i got a msg $move_Enable not allowed, somehow i m not getting the solution for my robot.
is there any possibility of mismatch of Robot Arm Krc1?
thanks -
Hi,
You have a problem with $Move_Enable signal. Please see your Automatic External configuration and check for $MOVE_ENABLE signal there. There should be an input assigned to it. Generally it is $IN[1025] if I remember correctly. Usually, it should come from a normally closed contact of a push button or PLC whatever is configured.
I do not know how is your robot is designed for higher level controller. We would need more details about your connections to help you in best way.
Thanks
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RS Thanks for support
here with i have attached the msg window for Automatic External
kindly guide -
Ok, as I said.
You have to give us more details about the robot's electrical connections. I have few questions:
1). How do you want to run the robot, I mean in Auto mode or Automatic External Mode?
2). Do you have any IO modules communicating with the Robot controller-Master Network?
3). Do you have any communication of Robot with higher level controller like PLC etc-Slave Network?
4). If yes, what is the mode of communication, eg Serial, Devicenet, Profibus, etc?
5). Do you have any IO mapping done on the robot-you need to look into IOSYS.ini file?I would highly recommend you to go through Expert Manual, Configuration Manual, etc which can be easily find on Manuals & Documents section of this robot.
Thanks
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RS
i just bought the used GM robot, I have jumpered all CC1
i need to use my robot for milling application on Stone work
i m going to use the Sprutcam software for my program output.1)i want to run the robot, in Auto mode
2)No IO modules communicating with the Robot controller-Master Network at present
3). NO any communication of Robot with higher level controller like PLC etc-Slave Network
4). NO IO mapping done on the robot.thats it
thanks -
Ok, it seems like a new beginning.
For now, you can run the robot in T1/T2 mode. For running the robot in Auto mode, you can go in two ways:
1). You have to connect an IO module which has inputs/outputs (can be connected electrically to pushbuttons, relays, etc) and can communicate with the robot controller on your preferred protocol (Devicenet, Profibus, etc) and do the IO mapping. You have 4096 IOs (inputs/outputs) on the robot which you can map with the IO module depending on the number of IOs available with the module. Then you may use the configured inputs to $MOVE_ENABLE, $DRIVES_ON, etc signals on the robots. Usually $MOVE_ENABLE should be a normally closed contact, $DRIVE_ON should be a normally open contact, etc.
OR
2). You can connect a higher level controller like PLC through communication (Devicenet, Profibus, etc) and map the IOs. After mapping, you may follow the same procedure of configuring $MOVE_ENABLE, $DRIVE_ON, etc and set these signals accordingly at PLC end.
As I said, configuring these signals are very well explained in Configuration Manual which has a seperate chapter for Automatic External. And another recommendation-get some KUKA training Basic or Advanced. It would be also very helpful.
PS: There are lot of topics discussed by various experts on this forum which gives many details about what you want to do.
Good Luck
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RS Thanks
will update as done
rregards