Hello, we are using a Force sensor provided by kuka, in a pass month we have enabled two of them. But now we are trying to implement another two off them and we are getting the X44 error. Robot is Agilus KR6 R900CR and KRC4 compact KSS 8.6.5. Did we miss something in configuration we are running out of ideas?
KSS13012 "<SYS-X44> Error during ECat stack initialization [NetworkResponse () no Network Response]"
- Evstahi
- Thread is Unresolved
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KRC4 controllers use EtherCat for most things (there are several buses). and EtherCat has some nice things but one of the issues (at least in KUKA implementation) is that if you add or remove node from one of EtherCat buses, that bus is going to be pretty much dead. Even devices that were working fine before will no longer work simply because you connected one more node (or disconnected). once the bus is dead, you will see messages telling that one or more of previously working devices cannot communicate any more. in your case you connected something to an existing bus and transport of messages stops because they don't know which way to pass the data around.
to make it work with you MUST makes sure that physical connections and configuration match - at all times. KRC4 does not allow hot plugging or pasivating of EtherCat devices.
so you need to use WorkVisual to add new device
than should make KEB bus happy (interface X44). it still remain to be seen how are you going to use them (if KUKA options support more than one force sensor).
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I think that the configuration between robot and WV is as it should be. The problem occurs when we add X44 for force. We have the force sensor plugged to x66 Extension and ad-ons are installed on robot. Then in WV is added a x44 and as showed on picture the sensor is added manually. The search option doesn't find any. So when this setup is uploaded over WV the error starts or when i try to search for topology. But doesn't say anything when add-ons are installed or what so ever.
Also under options there is
Robot sensor interface
Force TorqeControll
Profinet MS
Tracc TCP
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I think that the configuration between robot and WV is as it should be.
based on what?
QuoteThe problem occurs when we add X44 for force.
you don't add X44... X44 is always there on CCU. you add KEB to WoV project.
QuoteWe have the force sensor plugged to x66 Extension and ad-ons are installed on robot.
so you tell robot (through configuration in WoV) that F/T sensor is on KEB and connected to X44. but physically you connect it to X66 which is KLI. KLI is not KEB. In fact KLI is not an EtherCat interface. why do you think this should work?
thank goodness you are not a doctor or nurse.
QuoteThe search option doesn't find any.
you mean, scanning KEB does not find F/T sensor?
how could it find it when it is not wired to X44?
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based on what?
Based on that that configuration like that worked twice.
you add KEB to WoV project.
Yes wrong term used..sorry
but physically you connect it to X66
It's connected to X65 i misslooked, switch is on 66
when it is not wired to X44?
It is wired i misslooked
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ah, that makes sense. X65 is KEB interface on the outside. internally it connects to X44 but... maybe no directly. maybe this controller is different. so every time you are doing wiring, you need to refer to correct schematics for THAT controller. if for example this controller has the I/O option added, then KEB chain is X44>IO>X65>Ati which is not what your WoV setup show. or maybe X65bulhead is faulty or internal EtherCat cable is loose etc. open cabinet and follow the KEB
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We have directly connected x44>x65>XPN1(robot back in)>Api
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is the sensor powered? since you have multiple units, can you not try to swap things and see if any of the components may be a problem?
for example connect this F/T to one of working controllers...
or swap cable that is inside controller (X44 - X65) etc.
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Yes on both of sensors is a green light for L/A and STATUS only RUN is now green. I Have done some swapping but didn't help much i will plug on working one but cannot do that in a moment. But i think i moved things somewhere im currently on
KSS13012 "<SYS-X44> Error during ECat stack initialization [SetMasterMode (INIT) ERROR:Invalid state]" before it was saying network response
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My problem was solved by reinstalling KRC
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I'm working on setting up i/o for the media flange. I believe I set it up correctly in workvisual 5.0 and my i/o group shows up on the teach pendant. I am getting the error "Error during stack initialization ... no network response]. Seems to be the same as other people. I haven't been able to figure out physical connections yet with confidence. Can someone confirm that the x65 port on the controller should connect to the x651 port on the bottom of the lbr med 14 robot I have? And then I see x76 is used to power it... but I'm not quite sure what that power source is (the controller? the wall?). As of now my goal is to get a signal at the media flange (on a multimeter) which will then lead into picking an end effector.
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hmmm no... read documentation that your robot came with.
X65 = KEB (Kuka Extension Bus)
X66 = KLI (Kuka Line Interface)
X69 = KSI (Kuka Service Interface)
X650 = MAM interface. you need to connect X650 on controller to X651 on robot arm
cables are labeled and each end has connector that is keyed.
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Look at the Media Flange Assembly and Operating Instructions (it should have come with the robot, if not, googling it will find a copy).
In there, look for the flange you have on the robot (silver sticker on the flange). The document will then lead you to the exact pinout of the flange.
Depending on the flange type, X76 does not power all connections in the flange.
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I've opened up the controller and cannot seem to find a X650 port. Is this something that needs to be installed? Or is it not compatible with this controller?
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Not all flanges require that interface, therefore check what type of flange you have first.
What type of flange do you have? It is a silver sticker on the flange, it will be in German.
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