We have problem with KRC 1 robot. We can not move him. It is inmposible to get enable. All releyes are ok.
When we press enable button, there is change on right and left side of screen. But we can`t get enable. S in bottom of screen is allways red. All are signals are OK. Does anyone had this problem?
Problem with enable
- branislav1991
- Thread is marked as Resolved.
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The "S" at the bottom of the KCP screen indicates the status of the SPS background task. It is not relevant to the motors.
What is the status of the icon adjoining the "S" icon? When the motors are Off, it should appear as [glow=red,2,300]O[/glow], and if the motors are On, it should appear as [glow=green,2,300]I[/glow].
Also, when the motors are Off, there should be a persistent message indicating "Drives off." If closing the Deadman turns the motors On, this message should be erased automatically.
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Move enable... check x11 connector
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When I press deadman switch, on screen is still drivers contactor off.
S is allways green, R is allways red. I dont heare breaks when I press deadmanswitch(enable). -
Understood.
What error messages are present on the KCP?
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pressing deadman switch only has effect in manual modes T1 and T2
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There is no error, just dont have condition to move a robot. Is there a possibillity that problem is in robot,but there is no error on screen?
Or something with encoders o motors? -
No messages at all?
It is extremely unusual for the robot to be incapable of motion without an error or status message indicating the root cause.
Let's start from the beginning:
1. What is the status of your X11?
2. What operating mode is the robot in (what mode is the key switch on, and what mode does the KCP display?)
3. When you use the KCP deadman, do any relays inside the cabinet cycle? Even if the major relays do not close, there should be at least 2 small relays (on the FE201 board, IIRC) that should always close whenever the deadman is squeezed.
4. What are the states of your /STEU/MADA/$MACHINE.DAT signals? -
Answer:
1. X11 connector is OK. Signals are ok, even we change connector for prevention. Even we used dummy plug. We changed fat cables from that connector.
2. When we change T1,T1 mode releys works. But there is no change. Even we use automatic mode,still we dont have permission to work.Program shows in what mode we are.
3.Releys for enable are OK. For precaution we installed another board with releys.
4. /STEU/MADA/$MACHINE.DAT I dont now what is this. Can someone help me? Where to see this ,and on what I sholud take attention? -
[size=2]1. X11 connector is OK. [/size][size=2]Great but what does that mean? What X11 connections are made? Is this connected to controller or you have it in your hand or toolbox?[/size]
[size=2]Signals are ok, even we change connector for prevention.[/size][size=2]What signals and what values? Why are you interpreting status? Just post observations and let others draw conclusions.[/size]
[size=2]Even we used dummy plug. [/size][size=2]What dummy plug exactly and how was it used? Did you connect it to a controller before powering up?[/size]
[size=2]When we change T1,T1 mode releys works. But there is no change.[/size][size=2]What does this mean? Can you enable drives in T1 or not? How are you holding enabling switch? It is a 3-position device. Too much of a pressure, and it will change to panic position. Too little pressure and it will not enable drives.[/size]
[size=2]Even we use automatic mode,still we dont have permission to work.[/size][size=2]What does that mean? Are we good with T1 or not? When you change mode to AUT, are you selecting robot program? Are you powering up drives (and how exactly)?[/size]
[size=2]Program shows in what mode we are.[/size][size=2]Who is we? [/size]
[size=2]3.Releys for enable are OK.[/size][size=2]Well thats good, now you just need to get everything else to work.[/size]
[size=2]For precaution we installed another board with releys.[/size][size=2]What type board? What configuration? KRC1 safety board has bunch of jumpers that can be set in different positions. Did you pay attention to those? Did you follow schematic?[/size]
[size=2]4. /STEU/MADA/$MACHINE.DAT I dont now what is this. Can someone help me? Where to see this ,and on what I should take attention? [/size]Many files and folders are hidden until one logs in as Expert. Please read pinned topic READ FIRST and share something constructive. This is already at ten posts and still no mention of KSS version, no configuration, no wiring, no screenshots, etc.
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