KRC2 ESC Discrepancy
New robot to us ex bmw machine if the list of bmw plugins are any thing to go off.
KR140 COMP
(V)KRC2 ed05 KSS 5.4
with safe robot
x11 jumper installed for t1
however the robot has problems
1034 Error on reading, driver, PNIODRV ---- intermittent
411 Safe mode not possible
460 More than one tool activated on the SafeRDC
1033 Error on reading, driver, PNIODRV ---- intermittent
20 KS External EMERGENCY STOP Pressed
200 Drives Contactor off
in the ESC Diagnostics i can see the following
KCP
External emergency stop Released
Operator safety gate Closed
KPS
External emergency stop Pressed
Operator safety gate Open
ESCC
External emergency stop Released
Operator safety gate Closed
the ribbon ci3 tech-x2 to x14-KPS checks out good.
the ci3 tech has led's 20 - 21 are green but only just illuminated just visible.
KPS 600 leds showing
Intermediate circuit voltage below 60 V
Internal ESC fault
This is my first experience with a Kuka and before only used Nachi
edit
never posted an actual question ops
the question= please any ideas on if this is hardware fault after the road transport from Germany to uk
or i simply don't understand the safty circuit and i will go back to schematics and pdf'ss and keep testing.
im as i understand it the KPS 600 can not see the estop direct and gets its status from the ci3 board.