Errors when opened in the morning

    Hi,

    Recently my Kuka krc2 robot started giving errors. When I turn on the robot in the morning, the following errors occur.

    245-Servo Bus disturbance DSE 1

    121-Over Current A2

    216-DRIVES ERROR A3 No. 16

    216-DRIVES ERROR A4 No. 17

    216-DRIVES ERROR A5 No. 16

    121-Over Current A6

    246-Servo bus disturbance DSE 1, no buffering and automatic data stroge possible

    *At different times, the error codes related to the above axes are replaced with each other.

    These errors cannot be confirmed. When I turn off the robot, the computer does not turn off from the battery. When I open it again, this time the following errors appear.

    223-Power module axis 1 not or wrongly plugged.

    223-Power module axis 2 not or wrongly plugged.

    223-Power module axis 3 not or wrongly plugged.

    223-Power module axis 4 not or wrongly plugged.

    223-Power module axis 5 not or wrongly plugged.

    223-Power module axis 6 not or wrongly plugged.

    28-Drivebus DSE 1 participant No 1 does not exist.

    When I turn it off and on again, this time the following errors appear.

    106-Perform mastering A1

    106-Perform mastering A2

    106-Perform mastering A3

    106-Perform mastering A4

    106-Perform mastering A5

    106-Perform mastering A6

    When I take it in for service everything seems normal. The error does not occur when they connect the devices individually to another controller. But when I install it on my own robot, when I turn it off in the evening and turn it on in the morning, the same malfunctions occur. But after mastering, there is no problem in turning it on and off for a short time during the day. Can you please help me?

    Hm. That's an odd one. Normally I would suspect the batteries, but you don't seem to be getting any battery-related messages.

    Quote from eeleker

    These errors cannot be confirmed.

    Quote from eeleker

    When I turn off the robot, the computer does not turn off from the battery.

    So... the Drives Errors occur on the first startup, but if you reboot a second time, they go away? Do I have that right?

    What exactly do you mean by "does not turn off from the battery"? Do you mean it turns off instantly, without the normal delay?

    My first though is to suspect the batteries. The errors you have don't exactly point in that direction, but replacing the batteries with new ones is a fairly cheap and easy step to try.

    I would also suggest checking all the connections on all the KSD modules inside the cabinet, and between the MFC<>KSP<>KSDs, just on general principles.

    I would also suggest just leaving the robot powered up continuously for several days, and see if any of these errors occur.

    If you have the robot powered up all day (to ensure the batteries have charged), and reboot the robot using the main power switch, will this same pattern occur? Or does it only occur if the robot is left powered off for several hours?

    Quote from SkyeFire

    What exactly do you mean by "does not turn off from the battery"? Do you mean it turns off instantly, without the normal delay?

    What i think he means is that the PC does not switch of at all. I had a similar problem but not with these messages i think. (can't seem to find the report that kuka made after the repair). I my case the problem was in the KPS or In the connection between the PC and the KPS.

    Every problem has a solution, that isn't the problem. The problem is the solution.

    Yes true. driver errors appear on first boot and are not acknowledged. After these errors, when I cut the power, the system does not turn off using the battery. It shuts down instantly without delay. I also just changed the batteries and checked under load. I also checked the cables with the tester.

    The robot does not cause any problems during the day, that is, in 5-minute shutdowns. However, it continues to give these errors when it is closed at the end of the working hours and opened after about 12 hours.

    If that's what's happening, it would suggest a possible KPS issue. But the DSE error is puzzling -- the DSE connects to the RDC separately from the MFC>KPS>KSD connection.

    OTOH, if the KPS is having an intermittent fault properly generating the 27VDC internal power for the various components, that might explain both sets of errors.

    Hi,

    The service was unable to detect any errors in the products. Later they said they would replace the components of both units one by one. We decided to start with KPS first. KPS arrived 4 days ago and I assembled it. We opened and checked every day morning and evening and there is no problem at the moment. I will start the programs on Monday morning. Thank you to everyone who replied and helped. I'll let you know here if anything changes.

Advertising from our partners