For the last few days i have been getting some errors that i think all point to the PM1 module, but i could be wrong so i am looking for a second opinion.
First off:
Robot: KR150L180
Control: VKRC2 running standard krc software kss4.97
The list of errors i have on screen:
18 Servobus DSE-1 nr 1 participant nr 1 to 6 unknown
247 Servobus Disturbance A6
1229 Ackn watchdog powermodule pm1
1228 Ackn Feedback switch on too long
200 Drives contactor off
1240 Ackn a1 to a6 without power
1216 Ackn drives error A2 nr TRIP
1204 Ackn Encoder cable failure A2
1223 Ackn undervoltage pm1
1245 Ackn servo bus disturbance DSE-1
The errors appear when the robot is stationary or when it is moving that does not seem to matter. What does seem to matter is when its moving errors 1216 en 1204 will point to different axis, what probably is the axis that moves the most at that time.
After a reboot the controller seems fine again and everything runs normal again. 3 times i had to master the robot again. first only axis 4,5 and 6. the second time only axis 2 and the last time only axis 6.
What i think that is happening is that the power coming from pm-1 is not constant and that will cause all the errors mentioned above. i myself can't think of any other component what somehow could be linked to all the errors.
If there are any other ideas please let me know. Worst case scenario is that i have to call kuka and let them check it out. Always works but it isn't cheap so i can fix it myself in someway that is preferred.