I'm looking for help to interpret our circuit problem.
We're running a KR60/KRC2/KSS 5.4.14.
I started getting an Unknown Operation Mode message over a week ago during program execution, until finally, restarting the controller no longer cleared the problem and the robot was frozen. After replacing the KPS, the ESC board, the motherboard, and finally the KCP, I discovered that the KCP was faulty due to being dropped recently (probably).
The replacement KCP cleared the Unknown Operation Mode problem only to leave us with message 310 - Safety circuit for drives not ready. When I press any of the enabler switches on the KCP, the Submit Interpreter never changes to green, so jogging not possible.
Per the KR C2 edition2005 USA - Operating Instructions manual, I've verified that our X11 connector appears to be jumpered correctly and that there is continuity, at least, in all of the connections.
From the same manual, I verified that the ESC board LEDs indicate that the KCP, MFC, and KPS are all functioning correctly and that none of the fuses are blown out.
I've attached 2 images showing our ESC diagnosis window when selecting the KCP and another when selecting the KPS. I don't understand how to interpret these messages though. Regardless, it appears that something didn't evaluate correctly and the drives aren't being activated.
Could someone assist in helping me determine what else I need to do to allow the safety circuit to activate the drives?
Thanks