Hey Guys,
Have an intermittent issue with a KRC2, more often than not when an operator opens safety gates we are unable to restart until an alarms acknowledge is done in T1.
The error is 1240 "axis without power".
This is a new issue no changes have been made before fault.
Things that have been done:
-checked all connections and fuses on ESC C13 and X11
-swapped KPS600 another identical robot
-confirmed start sequence in PLC code
-drives are healthy
-replaced all relays on customer safety circuit and confirmed operation
After start up sequence we are waiting for $peri_rdy this will come on after a few acknowleges in T1