KukaKr210-2000

Formateria · February 2, 2021 at 5:52 PM

Hi All,

Intro

I recently started installing a KR210 I bought from a medical facility where it was used as a scanner device. The robot is in great shape and it came with its cabinet and pendant. Before shipping the robot they were able to connect the arm to some other KRC2 cabinet to jog it around. Since that the Arm with its corresponding Cabinet got shipped overseas to my shop.

I'm currently using a 3-phase generator to power the arm and the controller and it seems to work great. At firsts, the computer didn't boot, but we were able to troubleshoot it and in the process, we updated the CMOS battery and the 12V backup cabinet batteries.

After a couple of weeks of slow processes and researching on the deepest sides of the internet we hit a wall. We haven't yet been able to jog the arm around.

Current Issue

At the moment we are stuck on the '1541 HPU Machine Data Error' based on the research we have done this is caused by 'the machine data have not been checked.' and it should be fixed by 'copying the correct machine data or option data file to the controller'* (as stated on the manual http://www.wtech.com.tw/public/downloa…m%20Message.pdf)

This is what we have tried so far:

- We have confirmed and changed the Robot Name and Serial Number under 'Setup\Robot name' to match both the arm's ID decal (see attached photos) and the $ROBCOR.DAT file (KRC:\R1\MADA$ROBCOR.DAT).

- We have tried using as the Robot Name: 'KR2210 S C2 FLR ZH210' or '#KR2210 S C2 FLR ZH210' or 'KRC2\KR2210_SSCBS\FLOOR'

We noted that the blank space for the 'Robot Name' only shows the first couple characters but I have tried typing complete name alternatives.

- We have copied and replaced the existing MADA, PROGRAM, SYSTEM folders on the C: drive with the back-up MADA, PROGRAM, and SYSTEM folders from the D: Drive from 2016 when the arm was operating.

- We have reset the tried Restoring the MADA files (File/Restore/Machine data) without luck. We get an A: file not archived. (or something along these lines)

- We tried resetting the RDW-DSE (Setup/Service/RSERDW) Hardware configuration. Everything here looked ok (to our limited knowledge)

- We tried switching the jumper on the RDW

After all these, we still are getting the same HPU 1541 Machine Data Error.

ANY HELP WILL BE HIGHLY APPRECIATED. THANKS IN ADVANCE.

Luisel

Formateria · February 2, 2021 at 5:53 PM

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Formateria · February 2, 2021 at 5:57 PM

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Formateria · February 2, 2021 at 5:58 PM

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Formateria · February 2, 2021 at 6:00 PM

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Formateria · February 2, 2021 at 6:00 PM

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Fubini · February 2, 2021 at 6:45 PM

This error is not issued by the standard robot controller as can be seen from the error number and the HPU source. So probably has nothing to do with $robcor.dat or r1/$machine.dat. You said the robot came from a medical facility (maybe accuray?). I know that most medical development facilities modify the standard system with additional self developed technology packages. So you should consider talking to the seller or at least lookup all installed tech packages.

Btw. you should post exact software and hardware controller versions, see forum read first if you do not know where to find this info. Only robot type and krc 2 as can be seen on the screenshots is not sufficient. It might also be a special version released only for medical applications.

Fubini

Formateria · February 3, 2021 at 2:32 PM

HI Fubini,

Yes Accuray, originally TomoTherapy Inc. I'll post the Software and Hardware Controller versions later today.

Thanks.

Formateria · February 17, 2021 at 5:16 PM

Here is the Cabinet Serial Number.

Formateria · February 17, 2021 at 5:17 PM

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Formateria · February 17, 2021 at 5:20 PM

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Formateria · February 17, 2021 at 5:20 PM

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Formateria · February 17, 2021 at 5:22 PM

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Formateria · February 17, 2021 at 5:23 PM

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Formateria · March 21, 2021 at 4:37 PM

Hi Fubini

I have realized that the first error I get after the boot is complete is a "Syntax error in file ir_spec\812455.pid in row Checksum". Can this be triggering the 1541 Machine Data Error?

See screenshot attached.

Thanks in advance.

**panic mode** · March 21, 2021 at 5:21 PM

just contact KUKA , they should be able to send you correct PID file

Formateria · March 22, 2021 at 9:34 PM

Thanks panic mode. I'll contact them.

Is the Checksum code line in the PID file related to the running time of the arm?

MOM · March 23, 2021 at 12:48 AM

the saved checksum of the contents of your file does not match the calculated checksum over the existing file.

Someone made some unauthorized changes to the file!

Formateria · March 23, 2021 at 12:09 PM

Hi MOM

That's my guess as well. Do you have an idea of how to get them to match again to resolve this issue?

Fubini · March 23, 2021 at 1:30 PM

AFAIK only KUKA has the checksum generator and knows how the checksum is generated.

So either get the unmodified original file from KUKA (KUKA has a database where they can extract any pid-file based on your robots serial number) and/or ask them (I do not think they will do this) to regenerate the checksum for your modified file.

You could also deactivate absolute accuracy completly if you do not need it. Here ask also KUKA on how it is done on an KRC2 or try forum search with $ABS_ACCUR keyword to find further info.

Absolute Accuracy Info KRC2 - KRC4 - KUKA Robot Forum - Robotforum - Support and discussion community for industrial robots and cobots (robot-forum.com)

Fubini

KukaKr210-2000

Nation February 2, 2021 at 5:53 PM

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