I have a working vkrc2 tested with a kr150 robot(this was the original robot that came with vkrc2).
I got an other used kr150L130 2002 model and i have connected to this vkrc2.
When win95 booted shows me mismatch between RDW and registry.
I have choose RDW but robot does not work. I can not jog.
One moment after trying and trying i jogged axis 1/4/5/6 but i can not repeat this after a while.
I got the kr150L130 used so may have some problem or bad connection in a cable
or this can be due to misconfiguration because vkrc2 is already configured for kr150 and not kr150L130 .
What is your opinion where to check for problem(i have multimeter & electronics knowledge)?
You will have to start by selecting the right mada. without that it doesnt make sense to look at the rest of the problems,
Yes but how can i select the right machine data ?
this was discussed several times, feel free to read previous posts. it will be educational and you may find other interesting things.
basically robot has nameplate with model. many nameplates explicitly list correct MADA, but some don't so you have to go by model in this case.
First, what is MADA....
MADA is "Machine Data" and each system has two - one for robot and one for controller.
For example controller MADA is in KRC:\STEU folder but that does not matter now.
Here we are talking about replacing MADA for the robot arm. It consists of two files:
1. login as expert
2. deselect SPS (both S and R must be gray in "SIR")
3. backup current MADA (KRC:\R1\MADA) or any settings like external axis oonfiguration etc will be lost.
4. navigate to MADA library, normally it is in something like D:\KRC1_CD\INTERNAT\MADA\
5. find correct one for your robot. there are often several options based on mounting option (floor, wall, ceiling, on linear rail...). There are often several ones based on type of counterbalance or wrist (different gearbox or wrist type or wrist extension).
6. copy valid MADA from library (D:\... or whatever) to controller (KRC:\R1\MADA)
7. start SPS
8. if prompted that MADA does not match, either RDC is defective or RDC content is different from HDD. Usually RDC content is deemed correct unless RDC was exchanged. So most of the time one should choose RDC as place with correct data.
9. Check all axes for correct travel. if you have chosen correct MADA, moving an axis 90deg, will really move 90deg. IF this is not the case, you selected wrong MADA for the robot and procedure need to be repeated.
10 Check for correct Cartesian travel and orientation. Moving robot some distance (say 100mm or 500mm) in X,Y or Z direction shall really move that exact distance. Rotating about some point (center of flange for example) shall really move correctly. If this is not the case, selected MADA is wrong and procedure need to be repeated until all robot motions are correct (axis specific and Cartesian).
So beware of second hand robots that have no nameplates or where nameplates are painted over. Beware of different counterbalance or mounting orientation, Beware of wrist type and wrist extensions. Beware of robots that don't work right or don't have proper backup and documentation. When in doubt contact KUKA and tell them robot arm and controller serial numbers.
The label on robot has been destroyed the only visible portion of label is KR150L130 and year 2002.
But i have found the label from another robot the is exact the same so no problem.
I have tried to log as expert but it does not allow me the message is permission denied and some key is missing..
How can i log as an expert ?
Iam 15km away from robot also i don't have internet in that place so i have some difficulty to try things..
[size=2]you mentioned VKRC. That is VW version of KRC controller and login is done through key file on some media (USB, floppy or CD).[/size]
Yes vkrc (vw) where can i find this for login ?
What files have the key ?
I have some 1.4'' floppies what must need to search inside ?
did you try contacting previous owner or KUKA?
I don't know previous owner.
The vkrc2 was dismounted from vw factory.
Also i don't think that kuka will help me for that old vkrc2 that not sold directly to me..
Is there any solution i can do my own?
Oh i would not be so sure of that, Kuka loves to help but it will cost money and i think that is your biggest problem. I can speak out of experience that they still sell that key file if you need it. But more importantly if you would have done a quick search you might have found this topic: https://www.robot-forum.com/ro…mode/msg133987/#msg133987
I will add keys to floppy because in vkrc2 usb is disabled.
What thread is the eye bolts in vkrc2
(red circle )
Probably m10 (metric if you don't know that). Why don't you take it out and measure it? should be faster then asking it here.
because iam many kilometers away from vkrc2 and i want the next time
to visit the place with vkrc2 to have with me the bolt eyes.
15 km is "many km away'"? pffft....
i don't know where you live of what kind of mode of transportation is available there but 15km is a spitting distance unless you are scrawling on your belly through a minefield or a swamp full of deadly wildlife. my office is about 650km away from where i live, many of my projects are several hundreds to several thousands km away. but i manage - without private jet or teleportation technology.
You are right 15km is a joke if you have car/motorcycle/bicycle..
if you walk 15km is far
so don't walk.... jog or run, ride a horse, use skateboard, call a taxi... or call/email client so they can confirm thread size for you. this is not 6000BC, there is plenty of options.