Hello,
I use KUKA KR 10 R1100 robot and KUKA KR C4 Compact robot controller. The motor drive in the controller has been recently broken down. It was an IGBT-transistor IKW15T120 electrical breakdown in motor drive A4 in KUKA Servo Pack KSP061. The motor A4 of robot is broken down too.
I have repaired this motor drive, replaced all 6 IGBT-transistors and replaced the motor. I have also measured all electrical circuits and I'm sure there are no longer any defective parts. I see that the comparator L339 in motor drive A4 on board KSP061 doesn’t output an overload current signal. But the robot does not work. The robot controller reports an error: "KSS26011 Current overload after 1.0 s (A4) (MaximalCurrent)". It’s also informed about errors "KSS00106 Perform mastering" for A4, A5 and A6. But that's probably because I moved these motors when I was repairing the robot.
Could you tell please, does anyone know the motor drive circuit in KUKA Servo Pack KSP061? Which electrical component, apart from the comparator L339, can be the source of the current overload signal?
Do I need to programmatically reset this error after replacing the motor?
Could you please tell me how to get more detailed diagnostics from my controller.
My configuration:
Robot: KUKA KR 10 R1100 sixx (10 kg, 6 axis)
Robot controller: KUKA KR C4 compact
Servo pack: KUKA Servo Pack KSP061
Motor: MG_03_40_60
My errors:
Stas Lutatovsky