Mixing KSD48 , KSD32

jesusvaricap · September 20, 2018 at 8:32 AM

Hello to all,

KRC2
KR2210L150 S2000
KSS 5.2.14

I have 2 motors:
1FK6100-8AF91-1Z29-Z S08
ART NR 69225463

i need to attach 2 external axis for welding

reading documentation i need KSD32 for my current motors , i have not a KSD32

its possible to use a KSD48+motor 1FK6100-8AF91-1Z29-Z S08?
on the manual explain that the maximum current for A7 y A8 its 32A
what happens if i configure the machine.dat for KSD48 and use motor 1FK6100-8AF91-1Z29-Z S08 on A7, A8 ?

Which risk exist to use higher amperage ?
im planing to not use SBM

also explain that for the A8 i need a motor type C

Thanks

**panic mode** · September 20, 2018 at 1:19 PM

Larger drive should be no problem as long as everything is set correctly such as max motor current etc.
Note 48A drive is wide... Don’t think you can fit two of them into cabinet that already has six drives

**SkyeFire** · September 20, 2018 at 3:25 PM

Yes, the motors "pull" current from the KSD. The KSD does not "push" the current to the motors. As such, the KSD ratings for a servo are the minimum required. If the KSD is over-spec'd for the servo motor, the motor will only pull as much current as it needs from the KSD, leaving the excess capacity unused.

What do you mean by "motor type C," and why does A8 need it?

jesusvaricap · September 20, 2018 at 5:10 PM

thanks a lot for your reply panic mode ans SkyeFire,

so, i configure on machine.dat all parameters for KSD48 but only change the current ?

on the attached manual page 12 of 50 manual attached there is a diagram that indicate when you use 2 external axis use motor type c, well tthe manual its for KRC1...

thanks

**panic mode** · September 20, 2018 at 5:42 PM

no idea, i guess "C" is predecessor of "motor size C0" (1FK7083).

jesusvaricap · September 21, 2018 at 2:30 AM

Hello ,

thanks for your reply
I do the wiring for E1 y E2 configure my machine.dat , and at the moment to try move +/- the any motor, start Buzzing , and alarm M310 triggered, inmediatly push stop emergency also its not possible to move the arm robot the same sound was triggered
attached diagram wiring and backup

Tnks

**panic mode** · September 21, 2018 at 3:32 AM

yeah... that happens when axis is not tuned, gains are probably insane to get this bad response.
(attempt to jog ANY axis causes loud buzzing and robot is out of control...)

i would suggest:

1. only do one axis at a time. when one of them is behaving, only then add next axis
2. reduce velocity gains by a large factor (reduce them 10x for example) and try again.
3. Once you get axis STABLE, then you can use oscilloscope to tune it.

i only skimmed through your $machine.dat file and gains are indeed way larger than those of other axes.
robot axes have gains that are carefully selected. you are using values 100-300% larger for axis that did not move yet

these need to be reduced:
$G_VEL_PTP[7]= 130.0
$G_VEL_PTP[8]= 130.0
$G_VEL_CP[7] = 130.0
$G_VEL_CP[8] = 130.0

These may need to be increased:

$I_VEL_PTP[7]=200.0
$I_VEL_PTP[8]=200.0

jesusvaricap · September 24, 2018 at 5:04 PM

Hello ,

Yes! its works modifying the values, now i just need to change the value on :

$RAT_MOT_AX
$RAT_MOT_ENC

because when i command to move 90° moves approximate 115° more or less , also the couple of external axis are very noisy , maybe need it oil , the reductor seems like a A1, A2 , A3 from older robot maybe KR125 ...

now im controlling 2 axis KSD48 inside the cabinet , yes, the KSD48 are wide than others , but i do a little changes, the hardest part was cutting the cabinet with plasma machine, but everything its ok now.
attached pictures, also the cad file for the bracket that i design it if its useful for something.

thanks.

**SkyeFire** · September 25, 2018 at 3:27 PM

$RAT_MOT_ENC is inherent to the motor -- you need to look it up in the motor data sheet.

$RAT_MOT_AX is for the gear ratio between the motor drive shaft and the actual physical axis being rotated (or rotary-to-linear conversion, in the case of linear axes)

Mixing KSD48 , KSD32

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