A few days ago, I got hold KUKA setting (KRC2 model) of the robot with the help of EMT, the next day all of these settings when the disappeared. When you retry the robot settings using EMT master nothing happened. The problem is that the EMT sensor passes the position of the mechanical zero and continues to move from + to -.Make settings manually, the robot reaches the position SAK (№1350) when the program starts. If you try to continue the program error occurs (№1342 Error working area). Help please understand that may affect the configuration of the robot, why KTL-Justage-set does not remember the point of the mechanical zero, and passes it? Tried all vaprianty (initial configuration,the load, no load standard, hour). Sorry for my bad english and help please!
Problem with KUKA robot for EMT mastering. Please, help!!!
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Anton Lazar -
December 16, 2016 at 7:41 AM -
Thread is marked as Resolved.
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Observe the attached image.
Check the gauge pin for the axis. If this pin is damaged or missing, the EMT will be unable to function properly. The pin must also extend and retract properly when pushed and released.
If the pin is undamaged, check the target object, particularly the reference notch. This surface needs to be clean and undamaged.
During the Mastering process, the gauge pin needs to travel all the way across the target object, passing through the reference notch from one side to the other. Ensure that this is happening.
Check the function of the EMT:
1. Jog the axis that requires Mastering to a position approximately 2 or 3 degrees positive relative to the Mastering position
2. Attach the EMT to the axis that requires Mastering.
3. Observe the relationship of the gauge pin to the target object
4. Reduce Jog speed to 3% or less
5. Jog axis in negative direction
6. Observe the physical motion of the Mastering gauge pin across the reference notch
7. Observe the LEDs on the EMT while the gauge pin passes through the reference notch on the target object
7a. Each LED indicates the motion of the gauge pin. While moving across the flat surface to either side of the reference notch, both LEDs should be illuminated and flickering. During motion in the reference notch, one LED should be illuminated and the other dark, until the moment the pin reaches the bottom of the reference notch. At that moment, the LEDs will both change state. This moment of transition represents the actual zero position of the axis.If the LEDs on the EMT do not operate as stated above, the EMT may be damaged, or the gauge pin or target object may be damaged.
If the EMT is inoperative, it is possible to roughly master an axis using the Dial Mastering menu option. This will require the use of either a machinist dial gauge attached to the gauge pin, or you can attempt to do it by feel. Place the axis at the pre-mastering position, then have someone jog the axis in the negative direction at 1% speed. While the axis is in motion, press the gauge pin down with a non-metallic object until you can feel the tip of the pin engaging the reference notch. The moment the pin tip hits the very bottom of the notch is the moment you need to stop the robot motion and set the Mastering.
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Thank you very much for your message. Today we will try to do everything as you have said.
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The settings are done manually as EMT slips mechanical zero position. Robot yusteydzh. However, when you start the program displays the same error. Perhaps you need something else to do before starting the program. Calibration tools and databases have done was to have already worked on this calibration. Yet there is an error in the data of the robot (the clock) data RDW and hard drive do not match. We tried to select the hard disk data for the main, but still watch described RDW and hard drive. Chose RDW and data copied to the hard disk, leaving only data RDW.
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Possibly the RDW card needs to be replaced. Your description indicates that the EEPROM memory is no longer being written correctly.
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Please tell me, where is the map of RDW. I could not find it. And why is it out of order, and how to test it? Thank you very much for your help.
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The RDW card is located in the base of the robot, where the cables plug in. It is the interface between the servo resolvers and the KRC cabinet. It also includes an EEPROM chip which stores the Mastering data when the robot is mastered. It also stores the Robot Data: Serial number, Hours of Operation, etc. A parallel copy of this data is maintained on the KRC hard drive, and when the two data sets do not agree, an error is generated.
The fact that you can read data from the RDW, but appear to be unable to write to it, suggests that the EEPROM chip is failing. EEPROM chips generally suffer write failures before read failures. -
Thank you very much for your help.
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I've run into the same issue several times over the years and have found several issues. (Make sure to watch the lights on the calibration tool)
1. Check the mechanical part of the robot where the EMT/EMD screws into, make sure the flat piece is spring loaded. Pushing it in with
a small screw driver and it should return back to same position with internal spring.2. Check the mechanical "V" that the pin moves in and out of. On axis 2,3,5 you can see this very clearly. We have had weld slag get into
this "V" grove and wouldn't allow the pin to move into the grove. You should see this with the lights not changing states on the calibration
tool you are using.3. If you are seeing the lights on the calibration tool changing states yet you still get the same fault, change the cable for the calibration tool that
you are using. I just ran into a bad cable 2 weeks ago in the plant.