Hi all,
Recently I bought a second-hand KUKA KRC2-controlled KR100-2 P. It seemed to work fine right out of the box, but I've been busy ironing out a few pecularities recently. I've one problem that I cannot seem to get my head around.
When the safety gate is opened (or rather, when the robot senses it is open, I'm still using a dummy setup), jogging in test mode does not work. When I have the robot in Automatic, I get a nice error message, safety gate open, and when I close it, it asks me to acknowledge. However, when I have the robot in test mode, it refuses to move, without giving any error, the drive contactor simply stays open when I press one of the white buttons on the KCP. When I close the safety gate, I can jog the robot, even without acknowledging that the gate was open.
Now I'm at a loss where to look for a solution. Could this be a jumper somewhere, or a software setting?
P.S.: The robot is an old BMW-specific one, so it has the CI3-Bus board which complicates things. However, with the INB-outputs high, the safety-gate detection should still work properly according to the manual.
Kind regards, Martijn van Beurden