hi every one
many thanks for taking time in advance
i am working with KRC4 cabinet. this robot has started tree month ago properly. so the steps of "quick start doc" for initial start up have been done and everything was ok .then it moved to my place by shipping.at this time i can not move the robot in T1 with start up mode(no X11) that i could it tree month ago easily.also it is impossible to move arm with wired X11interface too. the error message is KSS00404 safety stop for start up mode situation and "collective brake error"+"general servo error" for X11 interface. all LEDs on KSP and KPP are flashing green after booting of controller completely.
it seems i should check the supply voltage for KPP and KSP at X6(27v)and X11(?).am i right? if not, what should i do? please find attached for sake of clarity.
any advise would be high appreciated.
LEDs Status on KRC4 cabinet
-
ak -
July 14, 2015 at 3:34 PM -
Thread is marked as Resolved.
-
-
Verify that the power and signal connections are tight and firm to the robot basement and to the controller.
Also ensure that the connectors are not damaged and dont have bent or retained pins!diglo
-
I agree...
DC power used for brakes is connected to lower right corner. Check it... It also gets passed on to next drive. check them all. Does not hurt to check fuses on PBM (any red LEDs?)
-
dear diglo and dear panic mode
many thanks for kindly reply
i checked all connector and power(27v) brake at corresponding junction.all of them ok.
as an interesting event,when i try to move robot in T1 with X11 interface, the green light of Axis is appeared on the screen of smart pad after pushing the enable key,but selected axis move a little and stop rapidly.it is same for all 6 axis.the errors:
1-collective brake error
2-general servo error
3-SYS-X44 error during E cat stack initialisation
TNX -
not sure if you are aware but it would be helpful to know oldest messages first. many messages that come later on are just follow up message. oldest message is at the bottom of the message screen. also it is helpful to know message number... (image?)
messages related to X44 are KEB, servo drive faults are KCB or KSB related. all of them are EtherCat but when one or more are not initialized, something is not connected right or hardware is not changed. did someone try activating different project or alter existing one?
-
yes it did.the controller had coupled with EK1100 when it worked for first time.but now i would like to move robot without EK1100.
-
On the big connector to the robot basement are carried 6 tri-polar supplies for the 6 motors and 6 bi-polar connections for each one of the brakes.
Once happened to me that one of the pins in that connector on the robot side was pushed inside, making no contact withe the plug, so that brake was never releasing. I had to unmount and repair the connector.
It's happened on a brand new robot, so inspect both connectors very carefully.diglo