How to turn off safety output KUKA

Alex_Moser564 · January 31, 2018 at 4:43 PM

We have KUKA KRC2 robot and there are error 444 failure safety output no.
How to turn off this safety output in configurations?

**panic mode** · January 31, 2018 at 5:12 PM

not enough info to be specific but ... fix the wiring so output is no longer shorted... or if there is nothing is connected to it but fault is still there, hardware need to be replaced...

hermann · February 3, 2018 at 1:41 PM

Quote from Alex_Moser564

...
I can't change variable from false to true.
..
I don't have that X40 connector on output (I attach page with this appendix.), where to find it.

Login as "Safety Admin", don't know the correct name of user group (English is not my favorite HMI language :-))

You find X40 at the black box at the base of the robot.

Alex_Moser564 · February 5, 2018 at 10:01 AM

I logged in as KrcSafetyMaintenance and KrcExpertProgrammer, and Administrator,
there is no other "safety" logins. But result always same.
I also use mode T1 and T2.

It's very interesting why it's not working.
I decided to make wiring of that outputs manually. I found that safety outputs are (from KUKA.SafetyRobot docs):
Out_A0_A, Out_A0_B,
Out_A1_A, Out_A1_B,
Out_A2_A, Out_A2_B,
other.
I found that signals in the cable X21.2 and wired them on the side of main KRC (not robot side). But it's also useless! I wonder why? It's should work. Or not? I attach also screen of wiring.

**panic mode** · February 5, 2018 at 2:04 PM

why should shorting everything together "work"?
btw, interface you shorted is not Kuka, that seem to be Siemens safety I/O module...
this is clearly something non-standard (BMW?). what is the cabinet article number?

Alex_Moser564 · February 5, 2018 at 4:57 PM

KRC2 ed05
Serial # 71233
Article # 11006430
Date 48/2009

Schenatic name is: KRC2-05 SR AK7 BMW L6 VAT P NET 7035 DE

I supposed that sending 24V to the respective error inputs ( I used signal names from KUKA.SafeOperation, page 51/201) will solve my problem. Why should not?

**panic mode** · February 5, 2018 at 5:34 PM

that image shows safety inputs, not safety outputs

Martin84 · February 6, 2018 at 7:43 AM

BMW standard

Alex_Moser564 · February 6, 2018 at 11:01 AM

Quote from panic mode

that image shows safety inputs, not safety outputs

Thanks for your interest about my topic.
I studied information from KUKA.SafeOperation and on page 51 describes error 444 (from page 138). From that I get name of my error outputs and they turns into inputs.
If I wrong, please correct me.

I think I found root of my problems -- CI3-Technology board doesn't supply periphery with 24V (Power supply signal \TA24).
If I disassemble fuse from that board, the led that should signalize about it should light up, but it doesn't (pic. attached). I must find how to solve this problem.

Thanks you also Martin for your attention. I looked through your scheme and mine - they are very different but when I'll solve my problem I will look your scheme more detailed.

Martin84 · February 6, 2018 at 12:05 PM

See also this:

http://widi.com.pl/index.php/s/iXcWbsdHW2cs7lH

Alex_Moser564 · February 6, 2018 at 3:20 PM

Voltage is OK on CI3-Technology but indicator LEDs are not lighted up when I took them out. But it's not the main problem.

It seems that I have problem with ProfiSafe module. On main module - there are BF (Fault indicator LED) blinking. On each module SF (Fault indicator LED) constant ON. CP1616 PCI board that plugged in main PC is also faulted (SF led blinking).

I also have some problem with NET.FrameWork when I start up PC after reboot.
What is that could be?

Thanks Martin84 for that very nice manual. I will read it also I havn't had this till now. I'll definetly study it.

Martin84 · July 16, 2018 at 7:00 AM

Hello

I have a similar problem, x11 I have done as pictured .I think the main problem is the error 404 .Someone has an idea how to get around it?

scan scheme
https://widi.com.pl/share.cgi?ssid=0pk765a

hermann · July 16, 2018 at 7:09 AM

The main problem is the error 441 invalid safe configuration safe RDW.
At first create a valid one.

Alex_Moser564 · July 20, 2018 at 9:27 PM

I didn't solwed my problem and robot sets still and immovable. But I know that there is realy problem not with X11 but with Siemens PLC profisafe module that waits signals from output environment. It should be reprogramed and profisafe modules should be changed to standard modules.
Look my thread robot-forum.com/robotforum/kuka-robot-forum/kuka-profisafe-cp1616-connection-failure/msg109656/#msg109656 - last message from Gintsd

Martin84 · July 23, 2018 at 2:22 PM

I made the plug x11 like on the scan. The robot works but only in t1 mode, then I checked the brakes and I think that the next step is setting the reference point or if you do not want to use a safe robot you have to turn it off like this:

RoboIvan · February 15, 2021 at 11:58 AM

Quote from Martin84

I made the plug x11 like on the scan. The robot works but only in t1 mode, then I checked the brakes and I think that the next step is setting the reference point or if you do not want to use a safe robot you have to turn it off like this:

Hello, I have an safe robot KRC2 ed05 / KR210 L180-2 from Daimler factory so X211c instead of X11. I have managed to conect the robot and jog it in T1 mode. But no matter how I log In (Administrator, Expert, Safe Recovery, Programmer) I can not disable the safe operation. When I enter the submeny Global settign it does not allow me to toggle the SafeRobot disable to 'TRUE'. Do you have any advice why the system is not allowing me to toggle the functionilty to disable safe operation? I want to use robot without safe operation like standard one. I have all the connections X40 ( I/O jumped to be used without safety PLC) X211c (jumped to service mode functionality).

Martin84 · February 15, 2021 at 10:53 PM

Check if everything is well connected here is the LINK .For verification, you need to provide more information, which error numbers, what control, what version of safety operation. From what I remember, to turn off the safety operation system, you need to log in as a safety user.

How to turn off safety output KUKA

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