Hello.
At first sorry for my bad english.
I have a robot KUKA with welding aplication and 3 external axis,all the components its an oriniginal from KUKA.The problem is that I must determinate whats is wrong with the robot to repaire it.I relize all safaty connection(cheked many times),and when I want move the robot in manual with jogging per axis I can move only the robot,the relay K1 from external axis dont go on.I havent got any error messenge,only when I want to jog E1,E2,E3 I have the messenge 1104 .Im trying it all the week,some 5 times I haev to reboot the system after changes some values in the machine data and config data,but I cant get any result.The external axis are activated $EXT_AXIS-TRUE.................Anybody can give me some sugstion!!What can I do???
KUKA KRC2 KR15L/2 can move 6 axis of robot,problem with external axis!!!!help!!!
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GrandMAXF -
November 28, 2017 at 9:02 AM -
Thread is marked as Resolved.
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Hello
Can you contact me I would like to discuss with you.
cordially
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What is the history of this robot? That is, when did it work properly last? What changes have been made to it since then? Has it been sitting unused or in storage for some time? After using "Acknowledge All," what status messages remain on the display?
If it was working properly in the past, the first thing to look for is any changes that may have happened in the meantime, in hardware or software. The software check would be mostly a matter of taking an Archive from when the robot was working properly, another Archive from the robot now, and doing a full directory compare (KDiff, UltraCompare, etc) between them. Hardware... well, I'd look for any parts that might have been "borrowed" for other robots. I see this happening to robots in storage with depressing regularity.
Error 1104 suggests that the KRC is trying to move the Ex axes, but doesn't see them move, and so generates a following error. If the external-axes K1 relay is not closing, that means that the Ex axes are not getting power. So determining the reason that K1 relay is not closing is the first step.
Actually, shouldn't E1 and (probably) E2 be drawing power from the first KSP module and K1 relay? Usually you don't need a separate K1 relay until you reach 3+ External axes. So, do E1 and E2 behave any differently from E3?