Hi all
KR140 COMP
(V)KRC2 ed05 KSS 5.5
with safe robot (disabled x40 jumper at robot end)
x11 jumper installed for all modes
Got a question that i know the optimum but logistically not viable solution (get supplier to swap for the correct controller) but changes to the current robot and controller have been made under the assumption they were a matched pair, my bad new to kuka.
bought a robot second hand with a grantee it would work, it did not but was given limited tech support and eventually overcame the problems also(mostly) with the help of SkyFire here.
but i now know the real reason for the past problems, i believe the wrong control Cabernet was sent
I have a KR140 robot but my KRC2 has a selection of robots its capable of driving on the face plate but the not the one we have, though it is driving it and everything appears to work the arm to wrist length is wrong.
the KRC2 controller is currently configured for a KR140L120_2B S C2 FLR ZH05
but the robot supplied is not compatible (max reach 2.6m)
the supplied robot is KR140_2B S C2 FLR ZH05 (max reach 2.4m)
from my digging their are more than a few files to add to correctly sort this out
i was told by seller to copy the RDC data to robot but it was already over written to the wrong configuration, that resulted in wiping all the Mada files and programs and some other stuff not sure how but after manually restoring each directory robot is back to zero errors and moving programming, but the kinematics are wrong.
i saw this post for the procedure to rewrite mada.
https://www.robot-forum.com/robotforum/kuk…date-robot-off/
so monologue over the real question to add the robot to the controller do i just replace the $robcor.dat and $machine.dat and possibly a pid file.
its it possible that i can edit one of the 2 *.dat files or will this brake the dynamic model, i have demanded a hard drive clone sent digitally from the correct controller from the seller to get the correct files, can any one see a problem with this fix?
Thanks for reading.