Hello guys, I'm trying to move a KR 16 L8 arc HW. We lost the original image for this robot, so we took an image from a KR20, and I changed to robot and the drives on the Workvisual 6.0 project, to the ones we use. I made it to load the project, submit interpreter starts, I can activate the dead man button, but the robot does not move at all. And when I try to start a program, 3 erros occur: "Command motor torque A5", "Command motor torque A3" and "Command motor torque A2". Can someone please help me?
Command Motor Torque
- legityme
- Thread is Unresolved
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Do you have a recent backup of the robot before the image was lost? You should be able to restore the machine data from that.
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please read pinned topic READ FIRST... messages have numbers for a reason.
what backup options you have at your disposal:
1. Image (already stated as not available)
2. Archive
3. KRCDiag
4. WoV project
if answer is none of the above, well... there is no excuse for that. in case of such extreme negligence, i would suggest to just contact KUKA support.
poking around with unfamiliar things can be expensive.
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Ok, I have the previous WorkVisual project, the one that was working before. KSS 8.2.25 version. What should I do next? And thank you for helping me guys
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please read responses and try to answer followup questions.
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Can I created an imagem from this previous Wov project? I'm sorry if this is a stupid question, but I am a newbie. What I was trying to do was to change de KSS version from the project directly from WoV. We have an image version 8.5.7, the previous one was 8.2.25, I was trying to "go back" but the software sort of crash when I try to do this. Can you guys help me to get in the right path?
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Upgrading/downgrading the KSS version requires re-imaging the entire system using a KSR stick. WV cannot perform this function.
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software versions are shown as group of 4 numbers though often some of them are not mentioned (example KSS8.5.6.385 is known as KSS8.5.6 HF1).
first two numbers are major version (generation), the third number is minor version and last number is build version.
one generation may have many releases (30-60). within one generation compatibility is high but ... not so if major version changes....
All licenses are tied to major version. For example upgrading software product from versions A.B.C.D to A.B.M.W requires no new license but upgrade to A.C,F,G does.
KSS8.2 is generations older than KSS8.5. For example it runs on Windows XP, while newer KSS such as 8.3 and 8.5 run on Win7.
Option 1:
contact KUKA Service
they will reload all software that match your licenses and restore WoV project you have. this is one day service so i am guessing about $1k + travel expenses .
Option 2:
like option1 - contact KUKA and let them share all software that you would then install yourself, and have KUKA offer remote support. this can be cheaper and faster if robot is in remote location so no local KUKA tech is available. will require proof of purchase and licenses owned (license stickers should be in the cabinet)
Option 3:
migration from one major version to another is possible but it is costly.
if OS need to change (like from WinXP to Win7), new license is needed (about $1k)
new KSS license is about $5k
new tech packages are needed too (prices vary). some discount may be granted.
it also requires creating new project and importing of programs and settings.
this will cost some $7-20k depending on options on your system.
KUKA may wave license costs if the upgrade is required due some KUKA fault (for example feature or safety not working correctlt and there is no suitable version available in installed generation)
Option4:
like option 3 but without contacting KUKA... means taking image of another robot and creating new project yourself.
this is piracy and ... i am not engaging in it.
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Ok got it. I'll use the project I created for our robot then. At first the project is all right, now I'm getting some errors saying "KRC is disconnected" and "Waiting for safety packets"
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I believe these are already hardware errors. So where should I look? I took the X20/X30 cable off, and it looks like the cabinet does not recognize this cable, cause it does not show any error on the SmartPad. The RDC cable is recognized.
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