Kuka vkrc1 keyfiles - loading floppy

acili17 · March 4, 2021 at 7:42 AM

Hello,

I have a problem with loading floppy. I bought a robot KUKA krc1 and when I try to switch to expert mode I get an error that it can t load keyfiles.

My keyfiles are on a floppy disk.. Floppy disk is working so does anyone have any idea what the problem might be, or maybe I don t know where to look.

I have also krc2 and on krc2 and when I switch to expert mode I can see the keyfiles when I put Floppy disk with keyfile. Problem with krc1 is that I can t switch to expert mode before I load the key files.

I have another question, what after loading keyfiles, do I need to move these keyfiles to some particular folder after I load them or?

p.s. Sorry for my bad english.

Code

**panic mode** · March 4, 2021 at 9:32 AM

so you confirmed on another controller that floppy disc is readable....

sounds like floppy disc drive is not functional on your KRC1

acili17 · March 4, 2021 at 11:46 AM

I checked it, floppy disk is functional.

massula · March 4, 2021 at 11:50 AM

If I recall correctly, VKRC1 an VKRC2 (old one) read keyfiles only from CD, not from floppy.

And keyfiles must be placed on a folder called keyfiles, and this folder must be on the root of the CD.

**panic mode** · March 4, 2021 at 2:21 PM

I checked it, floppy disk is functional.

Quote

I checked it, floppy disk is functional.

this is confusing, you do not seem to differentiate between floppy disc (media) and floppy drive

acili17 · March 4, 2021 at 6:16 PM

Yeah, you're right, my mistake, I meant the floppy drivve. Sorry.

acili17 · March 5, 2021 at 8:19 AM

Code

I will atach pictures where you can see that kcp recognizes the files on the flop disk but not the keyfiles. The keyfiles folder says there is nothing even tough I put the keyfiles as shown in the image I posted.

acili17 · March 5, 2021 at 8:21 AM

Here are the key files that I put on the floppy disk in folder keyfiles. I also tried to put in the root but I have the same problem. My cd-room is not working and I cant load a cd, I tried already. Hoping for your help, thank you.

acili17 · March 5, 2021 at 9:08 AM

I solved this problem with keyfiles and floppy and now I am in expert mode.

I have 5 errors(1034,276,1013,264,55)

I d like to deal with "wrong machine data for this robot type" (276), how and where can I find which machine data is correct for my robot.

acili17 · March 5, 2021 at 9:10 AM

robot type

acili17 · March 5, 2021 at 9:16 AM

rt

Fubini · March 5, 2021 at 9:58 AM

Usually machine data is stored on D: drive. If not contact your seller. If not contact KUKA. Maybe they are willing to help.

For the interbus error (a bus you probably do not have). Open iosys.ini and comment out the interbus activation line in there.

Fubini

acili17 · March 5, 2021 at 10:34 AM

I found them in D disk, but I have KR200_2_TJ , KR200_2_TJ_GSCBS, KR200_2_ZF, I dont know which one is correct.

Fubini · March 5, 2021 at 10:43 AM

The first difference is in the counter balance system. What type of counter balance system (the big ton mounted a top axis 2) have?

CBS = "Counter Balance System"

TJ and ZF are different gearboxes. Teijin or ZF. Who is your gear manufacturer?

Fubini

massula · March 5, 2021 at 11:41 AM

Quote from acili17

Here are the key files that I put on the floppy disk in folder keyfiles. I also tried to put in the root but I have the same problem. My cd-room is not working and I cant load a cd, I tried already. Hoping for your help, thank you.

I've didn't touched a VKRC1 in a long time, but Keyfiles location is hardcoded on VSS. They must be read from CD drive, or at least from D: drive.

Try to get another CD drive.

Or you can try to remap your floppy drive to D:.

acili17 · March 8, 2021 at 7:29 AM

Quote from Fubini

For the interbus error (a bus you probably do not have). Open iosys.ini and comment out the interbus activation line in there.

Fubini

acili17 · March 8, 2021 at 7:31 AM

I remap my floppy drive to D: drive and it works now. Thank you Fubini and Massula for your help.

acili17 · March 8, 2021 at 11:40 AM

Quote from Fubini

For the interbus error (a bus you probably do not have). Open iosys.ini and comment out the interbus activation line in there.

Fubini

acili17 · March 8, 2021 at 11:46 AM

I have another question about KUKA VKRC1 robot. My task is, when robot will start I need to set the robot to automatically start running the work program at max desired speed. If anyone has a similar experience or idea how to do this I would ask for help.

Best regards to all

massula · March 8, 2021 at 12:05 PM

VKR controllers normally doesn't get raw KRL in user programas very well, but as far I remember, VKRC1 leave KRL commands inside programs intact. Newer versions normally wipe these instructions when You close the program, unless You use some special tricks, or make your changes through VW_User.

So the easier way would You open your program with OPEN button (and not Select), create some blank lines after "Warte auf Folgenstart" or "UP Anfang" (depending on the type of program You will use), and write something like $OV_PRO = 100

Please note that this will put robot on 100% speed when the pointer reach this command, but if someone change its speed from VKCP, I won't recovery the initial value.

So if You need more advanced features or recovery options, You will need to make a more robust logic or play with VW_User.

Kuka vkrc1 keyfiles - loading floppy

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