That is NOT correct order of drives.... looks like someone did some canibalizing.
Check drawings for correct order.
N1 is in the lowest right corner ( where you show N8)
That is NOT correct order of drives.... looks like someone did some canibalizing.
Check drawings for correct order.
N1 is in the lowest right corner ( where you show N8)
This is odd -- normally, A1-A3 all have the same motor and KSD (not always, but for 90% or so of KUKAbots). While the motor may be capable of running from a KSD-32, the application of this motor in A1 (with all the inertial loads involved) means that your MADA expects a KSD-48 for A1, just like A2&A3.
It looks like someone may have swapped out your A1 KSD-48 for a KSD-32, thinking it would work, without ever testing that hardware configuration. It's a risk of buying a used robot.
I'm uncertain if it's possible to adjust the MADA to accept a KSD-32 for A1 -- it would definitely require derating the axis to some degree. On the other hand, you might be able to install E2's KSD-64 on A1. The robot may accept an over-spec KSD where it would reject an under-spec KSD. I can't say for certain, I've never seen this situation arise before.
That is NOT correct order of drives.... looks like someone did some canibalizing.
Check drawings for correct order.
N1 is in the lowest right corner ( where you show N8)
Yes, it really looks like someone stole parts out of this robot after it was retired, then slapped in some random replacements before selling it. Since all the KSD modules are mostly the same physical size and appearance, despite their different current capacities (that's what the number represents), that's not hard to do.
One thing to keep in mind is that the Nx number of the KSD is not defined by the KSD internally, but rather by it's location on the internal bus. That's the white RJ45 cables that daisy-chain from the MFC to the KSP to the KSDs. The first KSD in that sequence (connected directly to the KSP) is N1, the next in the chain is N2, and so on. One side effect of this is that you can easily swap KSDs (of the same model) around inside a cabinet, or even between cabinets -- no modifications or configuration is necessary. This makes troubleshooting and repair in the field much easier, which is probably one reason KUKA chose that design.
So, if the Nx stickers on the KSDs are not in the correct sequence, ignore them. Just follow the white RJ45 cable from the KSP, and count each KSD in sequence -- that is what defines which KSD is controlling which axis. I would recommend replacing the Nx stickers with corrected ones for future reference.
there should be two stickers (one on drive and one on panel where drive is mounted).
Thanks for your help.
This is a second hand robot. I am not able to track it all the way down from the BMW up to here it is now. What I Know so far, is that this robot was bought from a metal works company that went bankrupt. So the robot was already used when bought by this bankrupted company.
This is a arctech robot with welding system from EWM. The robot has almost 10 k operating hours, nonetheless the welding system from EWM looks brand new, so I don't know if the arctech modules were already implemented by BMW or were being implemented by this company that went bankrupt.
I believe that this KSD swap was done prior to being bought by this bankrupted company. Given all this, I believe that this bankrupted company never got the kuka working.
There were two possible way to aproach the "Problem" for the start-up:
1- stating-up the system "changing" as lit-as-possible the configuration because the whole system ( controller+ robot + external linear axis + positioner (DKP2000) worked before, so no further integration required.
2 - There were no guaranties that the system belonged to the same "package" therefore, there must be a full integration from scratch. One think that got me wondering, is that the first time I started the KSS with the controller connected to the robot, I has this message "RDC and Hard disk inconsistent". I believed it has to do that they were originally connected to different controller/robot.
At this stage, It best to start integration from scratch assuming that both the configuration of the external axis and programs are no good.
Now, back to problem
Panic mode, there are two sticker, one on the KSD and other on structure of the KRC2. The stickers on the KRC2 structure match with the standard. The ones on the KSD no, so for sure, the KSD were relocated/replaced.
The sequence of the internal bus through the KSD match with the [sticked on the KSD].
I will do as SkyeFire suggested and use the KSD-64 to for the motor of Axis 1. From what I understand, it doesn't matter the physical location on the drivers as long as the RJ45 cables chain from throughout the KSD is correct.
I will do that and let you guys know.
order DOES matter ...
maybe not for interbus (maybe...) but motor connections from bottom of KSD1 to X20 are not random.
Hm, yes, I should have been more clear -- if you are simply swapping KSDs (of the same model) around inside a cabinet, or between cabinets, order does not matter as long as the cables are not relocated. That is, if (for example) you swap N2 and N3, you need to plug all of the cables at the N3 position into N2, and vice-versa. It's normally easy to do this, since KUKA arranges the cables in such a way that it would be difficult to get this wrong. As long as N2 and N3 are the same model KSD, you can swap them with each other all day and the robot will never notice, or care.
The trick here is that whatever KSD is 3rd on the Interbus daisy-chain (hence, N3) must be connected to the (black) motor cables for Axis 3. Ditto for for the first KSD (N1) connected to the A1 cables, N2-A2, and so on. If someone connects the A1 motor cables to the N2 KSD, or re-orders the Interbus cables so that N1 is second in the daisy-chain instead of first (after the KSP), well... the robot will have no idea that anything is wrong, but when it thinks it is moving A1, it will really be moving A2.
Hi guys
I have swapped the KSD (both the interbus and connections to X20. So right now it is as the image attached.
Now I am getting a status message "Module A3 KSD-48 required". remind you that now the KSD3 is 62 Amps. should it be one of the reasons for me to get the "I" red icon for "drivers not ready".
Please let me know if one of the case might be the problem:
1- Must the KRC2 door be closed for the robot to move?
2- There is a connection between the X12 and the robot(please check X12_coonection.jpg). I have jumped it according to the BMW manual.
3 - Iosys.ini? I have commented all the IO-connection.
Question
The robot will not operate as long as the "I" icon for "Drivers not ready"?
What else Can I check for troubleshooting?
Am I doing something wrong to start operate the robot in T1 mode. what is the procedure?
On image "Status message" is the message i am getting from the starting of the KRC2. I have no errors from the Security circuit Diagnosis.
Thank you
Just to add:
KPS600, led 1 is off and led 2 blinks slowly. When I press the enable switch, the K1 closes but nothing happens. Once the K1 closes, the led 2 of KPS remains lighted for some second at the same time there is status message "Driver contactor off, intermediate circuit loaded". After releasing the K1, the K1 opens and after some seconds, led 2 begin blinking again followed by a status message "drives contactor off"
The KSD remain with the green led blinking at the same frequency the whole time.
Should it be a KPS600 hardware issue?
one more thing,
When I press the button "Drive ON" , nothing seems to happen.
The "Drives On" button only gets used in AUT mode, generally. In T1 or T2, the motors normally come on just from squeezing the enabler.
The K1 behavior sounds about right, as I recall.
It looks as if the main issue is the incorrect KSD -- the robot expects a KSD-48 on A1, A2, and A3. It might be possible to change the settings in $MACHINE.DAT to get the robot to accept a different .SERVO file for the axis with the non-standard KSD, but I'm not confident that the robot would accept this. Motor and KSD settings are usually associated with the specific robot type.
I have checked the voltage at the inputs of the drivers when the K1 from KPS closes and there is 600 Vdc aprox. So I believe the issue does not come from KPS but rather from the Drivers itself.
One question. Since the interbus chain go through the KPS before connecting to KSD, if there was a configuration issue, the controller would not let the KPS close the K1 in the first place right?
I have checked the security circuit and it seems not to have any error. Moreover on the LED H3 on the Sfetybus p gateway is lit which indicates that the safety circuit is ok.
Is there anything else I may check to ensure that the issue comes from the fact KSD is not the right one before acquiring a new KSD?
[size=2][/size]
[size=2]Should it be a KPS600 hardware issue?[/size]
[size=2]I don't know how to say it any differently but here it goes: 1. please read READ FIRST and provide some solid info. this thread has turned into a tipical no-head and no-tail mess. you started topic about robot and KL (one external axis), then it became robot and DKP (two external axis)... which one is true? 2. What is the EXACT robot model and serial number? I see MADA for various KR150L120 but you mention KR150L110. What is the KSS? what is the serial number of the cabinet? can you post your current MADA?3. Your cabinet assembly does not match any KRC2 i have ever seen: drives are still not correct (now you have issue with A3) or in correct order. please read cabinet schematics for your robot and make sure to take care of things like that (drives in correct places, drive bus order correct, MADA correct etc.). [/size]
Thank you Panic Mode. Very clear.
I am new on this forum so my apologies if I i am not following the correct guidelines. I will try to improve.
The robot information is the following:
1- robot controller: (V)KRC2
2 - Serial number of cabinet: 2014/001001
2- Robot: KR2150 C2 FLR ZH150/180
3 -\ MADA: KRC2\KR2150_SSCBS\FLOOR
4- External axis: KL1500/2
5- External axis serial number: 2014/001001
Please find images and mada file attached.
Thanks and once again my apologies
The robot is finally moving in T1 mode.
The problem is that I was trying to move it unmastered and not in jog mode.
Than you for you support and patience