Hello again everyone. Finaly robot came to my workshop in order to be able to work on it. First thing for me is to make an x21.1-x41 cable since in the end I was not able to get original one from the supplier, I have recreated industrial grade 19 pin connectors and cable (kuka original 17 pin).I have changed the connectors on housing of the controller cabinet and robot RDw box, keeping in mind the same pinout . My question is wheather the original cable from kuka is pin to pin compatible? Can I just create a cable 1 on 1 same pin on each side?
USED KRC2 ed05- Cannot create New program or jog the robot at all
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RoboIvan -
January 16, 2021 at 9:50 PM -
Thread is marked as Resolved.
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Update!!!
Guys, SUCESS!! Robot is alive and jogging!!
I have made additional cable x21.1-x41 and it dimished the safety output and emergency stop related topic, good enough to alow me to turn on the drive contactors!
I would like to thank all of you for the support given, I owe you big time! 😊😊😊😊
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Here is a short video of the KR210-L180-2 and my self 😊
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Can't see any bolts at base of robot. First thing should be fastening the robot to the ground. Otherwise may be fun will have a short end.
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Can't see any bolts at base of robot. First thing should be fastening the robot to the ground. Otherwise may be fun will have a short end.
Yes, today I will fasten the robot to the ground with anchor bolts. I was just jogging it without moving arm away from the base keeping the center of mass above the base of robot. I was just too excited to finally see the robot moving for the first time.
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This excitement already has cost some people a huge amount of money .
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Hi everyone,
I have bought a similar machine but with some different safety plugs.
I found the x211c diagram for 108 contact version, but in regards to the plugs on the robot base, could someone of your robot geniuses clarify whether I need to focus on these or not to get the robot running
(see attached) x76 and x9.1
It’s a KRC2_ed05 MP9 control cabinet and a former Mercedes robot from 2004.
Thanks a lot.
Best,
Jacob
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Also I have to ad.
The X211C diagram I followed is bypassing some contact holes that are empty.
To me that seems a bit strange.Is that normal?
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X76, X79.1, X710 and the air are inside the Energy Supply, They are meant to pass whatever is needed for the tool at the flange. If you look at the A3, or the flange, you should see the same types of connections, (except they will most likely be female not male. Therefore, you should not need to worry about these to get the robot running, unless a program is looking for some feedback from the tool (but that would be put in by the previous programmer).
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Also I have to ad.
The X211C diagram I followed is bypassing some contact holes that are empty.
To me that seems a bit strange.Is that normal?
...could be... you should follow wiring diagram for your controller. There are different versions of X211C
one for roboteam has more contacts populated, not sure if they are compatible.
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I have managed to solve the issue you describe by wiiring the X211C according to schematic received from robot previous working plant (Daimler). Documentation came with robot luckily. In my case X211C is 47 pin harting connector.
I had another issue because robot was safe edition,I had to add additional signal cable from KRC2 to robot (motor cable, Resolver cable, additional signal cable, 3 in total). In the end safe edition made such a headache that RDW card was replaced with standard one and system reinstalled (not so easy because MADA had to be changed) , but this was done by external company.
Try to be 200% sure your wiiring on X211C is correct otherwise you will not be able to move the robot. You can contact KUKA tech support, they have helped me a lot and they are very responsive and offer great support over the e-mails. You just start an issue with them over e-mails.
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Hi Guys,
Thank you so much for your replies - this is such a great forum.
...So good news is that I got the robot jogging.Next hurtle is getting it to run in aut.
I've collected my process in attached picture.
Warnings at the bottom half of pic, is when trying to run in aut.
I'm not able to turn drives contactor on.
Another thing is that computer turns of right away, when powering down - no delay to let system turn off correctly. It could be the batteries, but it seems like there's no warning about those.
I've checked that the option to disable power off delay is not ticked off.
Looking forward to hear your thoughts -
You have to connect the safety guard pins (7/9 and 8/10) to the safety fence switch.
You have to work for the pfbms error, easiest way is to make semikolon in IOSYS. INI in front of the pfbms driver, if you don't need the Profibus driver.
Measure the voltage of the batteries, the message about the voltage is not really reliable.
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Hi Hermann,
So to doublecheck - connecting the 7/9 and 8/10 contact in the x211c?
Attached is picture of how the plug was connected from the Mercedes factory.
13/15 and 14/16 is bridged, 84/85 and 88/89 seemed to go out of the plug together (see attached)
Maybe theese contacts should be bridged as well ? -
Okay it is running in aut. now, after installing org. harding pins in the x211c plug, instead of home made bridges Thanks for your help, Cwany, panic mode, RoboIvan and Hermann
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Hello.
I have a problem with Daimler KR210 KRC2. I can jog the robot, but when I switch it to EXT the drives won't start. I have Siemens PLC and communicating with profinet (CP1616).
I'm using the same start procedure as with all my Kuka robots (20+), but this one is the first from Daimler...
Alarm on KCP is "ACTIVE status required".
Can anyone help?
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you need to enable drives (and keep them enabled) while moving robot.
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I'm using standard startup procedure on my Kuka robots:
$MOVE_ENABLE - bit true from PLC
start procedure:
$DRIVES_ON - pulse when starting the drives
$CONF_MESS - pulse after drives are on
$EXT_START - true signal after no error present
It always works. Do Daimler robots have a different procedure?
I tried with constant TRUE signal on $DRIVES_ON but no difference...
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i don't know what you have there and no clue what your standard procedure is.
you are supposed to state hardware and software version, post your IO mapping, code etc.
then we have something to look at can and try to help you.
are you verifying each case or just blindly setting signals? are you SURE that drives are on?
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I have KSS 5.6.12 with KUKA.SafeRobot=V2.2.8. Daimler edition with Siemens ET200S Profisafe.
I use X211c connector for eStop and safeguard signals. Safety signals seems to work fine.
I disabled safe mode and i can jog in T1.
IO mapping (signals from machine.dat):
SIGNAL $MOVE_ENABLE $IN[1]
SIGNAL $DRIVES_ON $IN[2]
SIGNAL $CONF_MESS $IN[3]
SIGNAL $EXT_START $IN[4]
SIGNAL $PERI_RDY $OUT[6]
SIGNAL $STOPMESS $OUT[7]
SIGNAL $PRO_ACT $OUT[8]
I usually use this method to start the robot:
set $DRIVES_ON and reset it when i get the signal $PERI_RDY=1
then set $CONF_MESS and reset it when i get the signal $STOPMESS=0
then set $EXT_START
But the problem with this robot is that when I set $DRIVES_ON, the drives do not start and the signal $PERI_RDY=0
I hope it is more clear...
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