KUKA iiwa Device State Error

pjjml · October 27, 2017 at 5:58 PM

My KUKA iiwa accidentally crashed into a surface, and on joint A3 it had an external torque which exceeded the given limits (180Nm). After a reboot, the torque on that axis reduced down to around 70Nm. It will not move in KRF mode, and now gives the following errors in the 'Device State' section:

Generic device error
Bus interface error of ThinM4Adapter.BusIF
General servo warning (ID4, ID5, ID6, ID7).
Error: Internal error (servo, servo, servo, servo) (ID4, ID5, ID6, ID7).
Error: Intermediate circuit voltage too low (KSK) (servo, servo, servo, servo) (ID4, ID5, ID6, ID7).
Warning: Error in safety node interface (KSK) (servo, servo, servo, servo) (ID4, ID5, ID6, ID7).
PPI controller is active.

In Safety > Status, it reads:

Safety Control
Actuator device error. (K1: A4, A5, A6, A7)
Error in safe device. Safety control is paused.

Any ideas on how to resolve this?
Thanks.

kiiwa · October 30, 2017 at 11:50 AM

Check the fuse inside the Sunrise Cabinet. Change the one that ain't working.

razzo · November 1, 2017 at 6:58 PM

you destroyed your 4A/80V fuse in the controller. You have to open the controller and exchange the fuse, which is at the outside of the power supply. It should be labeled with 4A/80V.

What did you do to destroy the fuse?

**panic mode** · November 1, 2017 at 8:01 PM

i think his first sentence explains it

WalterPintor · November 14, 2018 at 10:45 AM

Quote from kiiwa

Check the fuse inside the Sunrise Cabinet. Change the one that ain't working.

Can you send a pic to show where are the fuses?

kiiwa · November 23, 2018 at 4:07 PM

Quote from WalterPintor

Can you send a pic to show where are the fuses?

here's a photo in attach. But, be sure to change the burned one with the same type of fuse. Usually, KUKA ships a couple of fuses along with the new robot.

razzo · November 23, 2018 at 5:45 PM

Quote from kiiwa

here's a photo in attach. But, be sure to change the burned one with the same type of fuse. Usually, KUKA ships a couple of fuses along with the new robot.

Those are not the fuses you have to change, afaik.
I do not have a controller at home and I always forget to take a picture at work

BorisBash · September 7, 2023 at 2:55 PM

Hi

I using lbr MED 14 robot

got the error:

Safety control:

Actuator device error

Error in safe device. safety control is paused.

I checked all fuses and they OK.

what to do please

KE SHU · January 4, 2025 at 2:10 PM New

Quote from BorisBash

Hi
I using lbr MED 14 robot
got the error:
Safety control:
Actuator device error
Error in safe device. safety control is paused.
I checked all fuses and they OK.
what to do please

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Hi,I got the same problem,I was using iiwa 7 R800,have you solve your problem?

KUKA iiwa Device State Error

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