Are you setting up this robot for the first time? What is its history?
The error implies that there is a program attempting to use data for the 8th axis (E2), but you are describing a robot with only 7 axes. Have you checked the Axis Configurator?
Assuming that this robot was originally configured by BMW for 8 axes, you may need to change the settings in the BMW programs, or eliminate those programs entirely.
in that case 8th axis should be removed
yes, you can but if 8th axis does not exist, it should be turned off...
The 8th Axis is a DKP 2000 positioner.
I believe that the problem here is that the variable $AX_Energy_max has a value higher than $BRK_ENERGY_MAX.
From my understanding the value of the brake should be always higher than the maximum potential energy of the motor.
I have been stuck on this for the last 2 days.
Please I need some
As we already said, you have to remove the 8th axis (E2) from the robot configuration. The robot still thinks that it has 8 axes connected, and you need to resolve that first. The simplest way is using the Axis Configurator tool.
Once that's done, if you still have this error, you'll need to find the specific line(s) of KRL code attempting to access these variables (using BareGrep or some other similar text-searching tool) and remove them.
All right, I missed a post. I thought your E2 axis was physically missing.
Basically, the Axis Config in software and hardware has to match -- if you have the E2 axis physically disconnected, then E2 must also be removed from the Config. If the E2 axis is physically connected, then the axis must also be present in the software configuration.
So, make the two match, either by restoring the E2 software configuration, or by disconnecting the E2 axis physically.
That still leaves the original problem: $ AX_ENERGY_MAX[8]>=$BRK_ENERGY_MAX[8] invalid value
This is, I believe, something left from the installed BMW software. Probably it will be necessary to track down the line in the program that is causing this error and comment it out. BareGrep is a good piece of software for this.
Active commands inhibited tells that robot cannot move because drives are not on which is expected when there is a safety stop,
"Drives Contactor Off" is just a status message, not an error. Given that you appear to have no other system errors present in the message window (aside from needing to master all the axes), the drives should come on once you squeeze the deadman switch.
robot complains that A1 drive is not KSD1-48. Replace it with correct module...
Power down and lockout controller power.
Wait 5min.
Open cabinet door.
Locate N1 amplifier (lower right corner).
Disconnect cables from it.
Use flat blade screwdriver to move retention clip up (steel wire on top side of the drive) and remove drive.
Get correct model (48A) and put it back in reverse order...
