Hello.
I have KUKA KR 16-3 with KRC4 and KSS 8.3. It works just fine in T1 in T2: I’m able to jog the robot in T1 and run simple test program in T1 and T2. Now I need to run this program in AUT mode (just from smartpad, we don’t have any external PLCs). But every time I press start button, I got a message KSS01376 “Active commands inhibited” and it doesn’t move.
Previously (several months ago) this robot used to work in AUT EXT with EtherCAT controller. I haven’t changed any connections, settings or anything after that.
These are error messages I got in every mode:
KSS00099 Error reading/writing SYS-X44
PMS 16 The battery or fuse is malfunctioning, buffering is not available.
KSS13068<SYS-x44> Ethercat EL6692 Ethercat bridge-klemme (sekundar) is not connected to the bus.
(Sorry if messages' texts are not entirely correct, the interface of my smartpad isn’t English... I guess first and third are because of that missing ethercat controller, and the battery one was present before in AUT EXT and it worked fine. And still works fine in T1 and T2).
$move_enable and $drives_off are both 1025.
..don’t know what else I could say. So, what should I do to make it work in AUT?
Thank you.
KRC4, "Active commands inhibited" in AUT mode
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stiger -
March 24, 2017 at 5:28 AM -
Thread is marked as Resolved.
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In AUT mode, are you turning the motors on?
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is the user safety ok and acknowledged?
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In AUT mode, are you turning the motors on?
The "I" in status bar is grey, when I press it, the "Drives enabled from safety", "Operator safety" and "Motion enable from safety" are all green, only the "Enabling switch" is grey, but as I understand, it isn't required in AUT mode?
Quoteis the user safety ok and acknowledged?
Well, the "Operator safety" is green, as I said above. When I open Configuration>Safety, everything looks ok, no error messages or troubleshooting wizard appear, if that is what you mean. Sorry, I'm a newbie with KUKA)
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[size=2]you cannot move robot unless drives are enabled ("I" in SIR must be green):[/size]
[size=2]In manual mode (T1/T2) this is done by holding enabling switch[/size]
[size=2]In AUT mode you would need to turn on the drives manually (click on "I" icon, then click on "I" button). [/size]
[size=2]in EXT mode, this is done through handshake signals with PLC (see AutoExternal configuration). [/size]What type of safety interface is your robot using? [size=2]Parallel (X11) or one of Ethernet based (ProfiSafe, CIP Safety or FSoE)? [/size]
[size=2]It could not be FSoE since that would require EL6695 module.[/size][size=small]You mention that this robot [/size][size=small]was[/size][size=small] commissioned and working. This means battery (X305) was likely already connected to CCU. How old is controller (what is the status of batteries)? [/size][size=small]Batteries are consumable and need to be changed every 2.5-3 years. If controller was powered off for couple of weeks batteries should be disconnected to they will drain and need to be replaced (even if new).[/size]
[size=2]so i would suggest to first you need to get rid of all messages. robot may be able to move in manual mode when fieldbus is down but for in Auto mode this may not be enough. If ethercat interface is not used any more, you should remove it from project (use Work Visual).[/size]
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I've already tried pressing "I" and nothing happened, it remained grey.
Safety is X11, I don't see a X66 connection...
Honestly, I don't even know how old is it. It was bought a long time ago, for a while it just stood there unused. in the beginning of 2015 a team worked on it a bit (several months), then it just stood there unused for two more years...
Where can I see the status of batteries? Like I said, in AUT EXT it worked ok with this message and also messages about the previous (not used) ethercat controller.I will try to look at workvisual project. Sadly, I've never done this before(
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One quick test for batteries is to turn of controller. If it shuts down instantly batteries are dead. Based on what you wrote, they were dead for long time.
Did you check forums download section? There is quite a bit of info including X11 wiring. On units with X11, external enable is wired to CCU X311. this interface must have closed circuits for robot to move.
I checked messages you mentioned. apparently neither KSS00099 nor KSS13068 should cause robot to stop.
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I checked and yep, batteries are dead.
I have the KRC4 specifications and the system integrator manual, I tried to look at them, but I'm no specialist in wiring. X11 is wired to CCU 311, yes. I've just assumed that if connections were ok for aut ext, they would be ok for aut too, and the problem is somewhere in settings...