Hi, guys:
My robot ($trafoname:kr2210 s c2 flr zh210, kss v4.1.7)has a strange problem.
When I jogging A1, A2, A3, A5 in T1 mode, the manipulator vibrates obviously(i can see and hear it) at the start or stop moving, but there is no vibration during the moving.
I reinstalled the KSS software and selected the right MADA, the problem still not be solved. The hardware of the controller are all OK without any alarm notes.
I don't know where was wrong, the motor or the driver or even the parameters..
kr210 vibrate when jogging the axes
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ROBOT_LIU -
December 24, 2018 at 12:40 PM -
Thread is marked as Resolved.
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please read READ FIRST.
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try replace the RDW Board.
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Thanks for flukes replay,
Maybe I found where the problem was. I modified the $RED_ACC_AXC and $RED_ACC_DYN (in $MACHINE.DAT) to "1",which is the lowest value of axis acceleration.
The axes move very slowly(jogging in 1% or 3% manual speed), but the vibration can still be felt. I think the axis gearbox was broken, maybe the robot had a collision before.the RDW board is OK, it was used on another KR210 which was works very well.
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Check all connectors, I had similar problem. The issue was loose wires
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what is the controller type? what are the drive types? are you sure MADA is correct? did you try to replace it with default one from D:\? are the servo files correct?
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I'm back, thanks for the replies.
The problem still not be solved!! the power cable for servos was made by myself, I'll go to check it.
First, the MADA is incorrect for sure!! Because the angle of axis rotation is not consistent with the display! For example, i travel axis6 for 90 degrees, it has turned more than 90 degrees
the robot's nameplate was lost, but it is certainly a KR210. I have the KSS software v4.1.5 and v4.1.7, and I have tried to install MADA
KR2210_SSCBS both, no one is correct!
The motors of axes 4-6 are 1FK6081, the motor of AXIS 3 is 1FK6101. Other motor's nameplate was gone.
I have checked the servo-file in MADA, the KSD16 file was for motor KK53N, it does not match 1FK6081. The KSD48 file is for 1FK6101
and 1FK6100.
I found there is a KR2210_SSCBC version which the appearance was same with my robot. but I can't find the MADA of KR2210_SSCBC in the KSS software!
the picture was found on the web, it looks same with mine. I can't fix this machine, any help appreciated!!
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do you have kind of original archive from this robot ?
whats the part number from the wrist and counter system
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The 1FK numbers are Siemens internal part numbers. In order to cross-reference MADA settings and KSD requirements, you need to look up the motor (in the attched PDF) by the "Article Number" on the data plate.
The 1FK number relates to the "Order Designation" number in the PDF, IIRC.
On most KRs, axes 1-3 use the same motor type, and axes 4-6 use the same motor type. So guessing at the missing motor using this method has a reasonable chance of success.
If the magnitude of physical motion of an axis disagrees with the amount of motion on the KCP, there are two potential culprits: $RAT_MOT_ENC or $RAT_MOT_AX.
$RAT_MOT_ENC is, essentially, the "gearing ratio" between the motor driveshaft and the encoder, and can differ between motors that are otherwise physically identical (for example, I once encountered this with two robots of identical model, where one's motors had been replaced with "arctic rated" motors for operating in -40C temperatures. The motors were identical to each other except in the required $RAT_MOT_ENC setting). This value comes from the Motor Data PDF.
$RAT_MOT_AX is the gearing ratio of the harmonic drive between the motor drive shaft and the actual axis. The harmonic drive acts as a high-ratio torque amplifier, converting the motor's high-speed low-torque motion into low-speed high-torque motion. This is specific to each axis on each robot model, and is not effected by the motor.
For both of these variables, the ratio is represented as a fraction with two Integer values. The N value is the Numerator, the D is the Denominator. So for motor Article Number 00-119-766, the $RAT_MOT_ENC is 1/4, representing four rotations of the encoder (resolver) disk for every single rotation of the motor drive shaft.
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[size=1em]I'm back, thanks for the replies.
The problem still not be solved!![/size]
[size=1em]well... you still did not answer questions. in fact one may say you are deliberately avoiding being specific. makes one wonder if way you obtained this is legit (just saying...) [/size]
[size=1em]the power cable for servos was made by myself, I'll go to check it.[/size]
[size=1em]i doubt that power is the problem or you would see issue not just when axis starts or stops moving.[/size]
[size=1em]First, the MADA is incorrect for sure!! Because the angle of axis rotation is not consistent with the display! For example, i travel axis6 for 90 degrees, it has turned more than 90 degrees[/size]
[size=1em]interesting how long it takes for key facts to finally get mentioned... how much more? how about other axes?[/size]
[size=1em]the robot's nameplate was lost, but it is certainly a KR210. [/size]
[size=1em]then what are we doing here and just how exactly did you determine that? btw you already realized that MADA is wrong and that robot nameplate is not readable. then what is the use in showing picture of a similar robot on internet - why not post picture of YOUR robot? maybe sellers incompetence or malice or both were at play? why do you think this is not KR150 or even KR125 for example? what other labels or features that can be CONFIRMED? [/size]
[size=1em]I have the KSS software v4.1.5 and v4.1.7[/size][size=1em]what is THIS supposed to mean? [/size]
[size=1em]if a person has slippers, running shoes, winter boots, safety shoes and few more types of footwear... does that tell you what he/she may be wearing right now?[/size]
[size=1em]how about just reporting FACTS? (prefer observations, not beliefs of WAGs)... what is the exact controller type? what is the installed KSS version? what is the controller serial number? if label is unreadable, there is a backup label inside the cabinet on the right wall. is this original controller for this arm? are there ANY labels or distinguishing features or hardware on the robot arm?[/size]
[size=1em]The motors are 1FK6xxxx[/size]
[size=1em]sounds like robot arm is quite old (belonged to KRC1...?).[/size]
[size=1em]I found there is a KR2210_SSCBC version which the appearance was same with my robot. but I can't find the MADA of KR2210_SSCBC in the KSS software!the picture was found on the web, it looks same with mine. I can't fix this machine, any help appreciated!![/size]
[size=1em]then try answering questions... read READ FIRST... check C:\ and D:\ for older backups... any usb sticks or floppies in the cabinet?... share some CONTROLLER info (i know, you only care about robot but you may want to trust me on this)... make sure to share info about YOUR system (not your assumptions or pictures of other, similar looking units)... any labels on counter balance or wrist?[/size]
[size=1em]....[/size]
[size=1em]don't recall seeing harmonic drives on main axes. this should be cycloidal gearboxes. cycloidal are similar to planetary but have much higher shock load and large gear ratio (no need for cascading stages etc).[/size]
[size=1em]For KUKA motors, number of motor poles is either 3 or 4. Resolver must have same number of poles as the motor so $RAT_MOT_ENC is either 1:3 or 1:4 depending on used motor. motors may look the same on the outside but 3-pole motors are faster, 4-pole motors are slower but have more torque. Also this means that 4-pole motors have finer feedback (more "counts" per motor revolution on same RDC).[/size]
[size=1em]Note that when resolver is fitted onto motor (during manufacturing or repair), it must be correctly aligned relative to the motor poles (cannot be just fitted in any orientation). This can be verified by applying low voltage and high current PSU to motor winding to lock rotor, then check resolver output using SINE function generator and oscilloscope. [/size]