System error 14 when using auto ext

ManMan88 · December 18, 2018 at 7:41 PM

I'm using a KUKA kr10 1100sixx with compact krc4 running kss ~~8.35~~ edit: 8.3.35.

I read in some other posts that when recieving this error, one should contact KUKA for help.

I just wanted to check here if anyone else encountered the same error.

The exact error is:
System error 14 in task auto_ext_data_exchange.

I get this error sometimes when using the auto ext mode. I never get this error during a successful run of auto ext, just before it runs or after it stops.
If I leave the controller on auto ext mode (but not running) after some time this error also appears.
I can't really tell a set of actions that causes that error except for the previous case.

Does anyone knows what is the auto_ext_data_exchange task (it's not a task I'm running)?
Or anyone have an idea what may cause this error?

Thanks!

**panic mode** · December 19, 2018 at 3:48 AM

there is no KSS 8.35
post your program

ManMan88 · December 19, 2018 at 1:40 PM

sorry, I dropped a 3. It is kss 8.3.35.

This is my cell.src:

Code

&ACCESS RVO
&COMMENT HANDLER on external automatic
DEF  CELL ( )
 
  ;FOLD INIT
  DECL CHAR DMY[3]
  DMY[]="---"
  ;ENDFOLD (INIT)
  ;FOLD BASISTECH INI
  GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
  INTERRUPT ON 3 
  BAS (#INITMOV,0 )
  ;ENDFOLD (BASISTECH INI)
  ;FOLD CHECK HOME
  $H_POS=XHOME1
  IF CHECK_HOME==TRUE THEN
    P00 (#CHK_HOME,#PGNO_GET,DMY[],0 ) ;Testing Home-Position 
  ENDIF
  ;ENDFOLD (CHECK HOME)
  ;FOLD PTP HOME  Vel= 100 % DEFAULT;%{PE}%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:HOME, 3:, 5:100, 7:DEFAULT
  $H_POS=XHOME1
  PDAT_ACT=PDEFAULT
  BAS (#PTP_DAT )
  FDAT_ACT=FHOME
  BAS (#FRAMES )
  BAS (#VEL_PTP,100 )
  PTP  XHOME1
  ;ENDFOLD
  ;FOLD AUTOEXT INI
  P00 (#INIT_EXT,#PGNO_GET,DMY[],0 ) ; Initialize extern mode
  ;ENDFOLD (AUTOEXT INI)

  ; INIT RSI AND EKI
  init_rsi()
  init_eki()
  eki_interrupt()
  clear_camera()
  LOOP
    P00 (#EXT_PGNO,#PGNO_GET,DMY[],0 )
    SWITCH  PGNO ; Select with Programnumber


    CASE 0
      P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request
      pick_tool(approach_tool1, take_out_tool1, safe_pos_tool1) ; Call User-Program


    CASE 1
      P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request
      pick_tool(approach_tool2, take_out_tool2, safe_pos_tool2) ; Call User-Program


    CASE 2
      P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request
      pick_tool(approach_tool3, take_out_tool3, safe_pos_tool3) ; Call User-Program

    CASE 3
      P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request
      return_tool(approach_base1, pull_up1, safe_pos1) ; Call User-Program


    CASE 4
      P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request
      return_tool(approach_base2, pull_up1, safe_pos1) ; Call User-Program


    CASE 5
      P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request
      return_tool(approach_base3, pull_up1, safe_pos1) ; Call User-Program

    CASE 6
      P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request
      prog1() ; Call User-Program


    CASE 7
      P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request
      prog2() ; Call User-Program


    CASE 8
      P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request
      prog3() ; Call User-Program


    DEFAULT
      P00 (#EXT_PGNO,#PGNO_FAULT,DMY[],0 )
    ENDSWITCH
  ENDLOOP
END

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**panic mode** · December 19, 2018 at 3:51 PM

why not put following in a subprogram and assign case for it like you did for other programs?

; INIT RSI AND EKI
init_rsi()
init_eki()
eki_interrupt()
clear_camera()

do you get same problem if above lines are commented out?

**SkyeFire** · December 19, 2018 at 4:19 PM

Where is the program called AUTO_EXT_DATA_EXCHANGE ? The error message suggests that that is where the error arises.

Where EKI is involved, I generally run into Sys-14 errors when I perform Channel Open/Close to close together, or too many consecutive EKI_SENDs without enough time delay between them.

ManMan88 · December 24, 2018 at 6:12 PM

I don't have a function AUTO_EXT_DATA_EXCHANGE, that's one of strange things. I guess it's something that runs in the background.

I also suspect it relates to EKI.

I'll check your suggestions and report

System error 14 when using auto ext

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