Errors on kuka KRC2 Common KSD error

    Hi,
    I have lots of errors on our Kuka KRC2 first errors are (Ackn. Common KSD-Error A1 through to A6), then after this list a list of (1239 Ackn. Synchronisation error drive A1 through to A6) sometimes the Axis numbers are in different order, Also had (1237 Ackn. wrong drive parameter A1 to A6). The robot will play and then stop at various positions in the program and sometimes trip out as soon as you play. Other times it will run for a couple of hours and then stop, other days it will run all morning and then trip out 10 times in the afternoon. Really cannot pin point the fault Any help please. Thanks :help: :waffen100: Update I am not sure if this has solved it but I have changed the cycle time optimiser to 2.6 from 4.2 and still running 100% speed and its running ok for now. would still like any info you guys have.

    The KRC2 internal communication between the MFC and the KSP/KSDs is a daisy-chained Interbus connection (looks like short white Ethernet cables). So an error that occurs across all the axes at once suggests that the issue lies in the KSP, or in the MFC/KSP cable or perhaps the KSP-KSD1 cable.


    If slowing the robot down is reducing the problem, I would suspect the KSP, or possibly something in the Ballast circuit, possibly generating electrical stress that is disrupting the KSP's operation or communications.

    you may not appreciate or understand help but i assure you it was attempt to help you. obviously i failed, maybe because i don't know where to start with vague input like:


    " I have lots of errors"
    "Wrong drive parameters A1 - A6 followed by C6"


    since you can read, i would offer some topics:
    1. https://www.robot-forum.com/ro…a-robot-forum/read-first/
    2. https://www.google.com/search?hl=en&as_q=gigo+principle

    1) read pinned topic: READ FIRST...

    2) if you have an issue with robot, post question in the correct forum section... do NOT contact me directly

    3) read 1 and 2

    The list below contains common KUKA Error Codes. These codes are applicable to all KUKA controllers, including the KRC1, KRC2, KRC3, and the KRC4.


    Common KUKA Error Codes

    • Error Code 14 – SOFTPLC: @P1@
    • Error Code 284 – Accu–voltage at <kps number> below <voltage level> during last buffering
      • Cause
        • The accu voltage was too low at the last switch off to buffer the

          shutdown.
        • The accu is not charged correctly anymore.
        • The accu is to old or broken.
      • Effect
        • Eventually loss of reference.
        • Cold boot.
        • Active commands inhibited
      • Remedy
        • Exchange accu.
    • Error Code 310 – Safety Circuit for drives not ready
      • Cause
        • Safety circuit is telling drives not to move.
        • Faulty X11
        • Faulty ESC board
        • Faulty KPS 600
      • Remedy
        • Check ESC monitor and other messages to narrow down the root cause with the safety circuit
        • Replace faulty components
    • Error Code 364 – Unknown operation mode
      • Possible Cause
        • Faulty KPS 600 Drive
      • Remedy
        • Replace KPS 600
    • Error Code 420 – Local protective stop (QE)
      • Possible Cause
        • Faulty KPS600 Drive
      • Remedy
        • Replace KPS600
    • Error Code 1033 – ERROR ON READING, DRIVER: ** **
    • Error Code 1034 – ERROR ON WRITING, DRIVER: ** **
    • Error Code 1133 – GEAR TORQUE EXCEEDED AXIS
      • Cause
        • The calculated gear torque is larger than the maximum permissible gear torque.
      • Monitor
        • Cyclic in interpolation cycle.
      • Effect
        • Motion and program are stopped.
      • Remedy
        • Reteach points.
    • Error Code 1239 – ACKN. SYNCHRONISATION ERROR DRIVE
    • Error Code 1376 – ACTIVE COMMANDS INHIBITED
      • Cause
        • A message which causes the active commands to be inhibited has been set.
      • Monitor
        • In command processing.
      • Effect
        • Command is not executed.
      • Remedy
        • Acknowledge active messages in the message window.
    • Error Code 2029 – SYNTAX ERROR IN KUKA MODULE
    • Error Code 2135 – NAME NOT DECLARED AS SUBROUTINE
    • Error Code 6502 – Error during reading INI file init/iosys.ini 1
      • Remedy
        • Check iosys.ini file
        • Ensure correct DeviceNET driver is installed
        • Check data cable between robot / cabinet
    • Error Code 10053
      • Remedy
        • Check fan to ensure it isn’t vibrating. This could be causing the Mfc card to move into the motherboard’s slot.


    Quote from Matheus Lemes

    This glitch is coming from the KSD boards! I work on a repair bench for KUKA license plates. I even wrote a manual on how to fix this type of error. If you want to know more I am open for dialogue.




    Hello

    I'm interested on the glitch Matheus

    I have a KUKA KrC2 with this issues

    "Error common on KSD 1-6 "

    "Error synchronization ksd 1-6 "

    "Perturbance on KSD 1-6 "


    I try replacing many parts ...

    Ksd ,Kps , computes ,buses cables.



    Your help will be very useful



    BR

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