Adding an external KUKA motor to a KRC4 system

  • Hi guys, i am trying here to install additional motor to my KRC4 system and it seems i cannot manage it - doing something wrong probably :frowning_face:
    Here some info:
    KRC4 KR180 R2500 EXTRA
    KSS 8.2.28


    I am adding KPP 1X40A to the system - after i installed it i have numerous errors and the controller cannot find the robot - says robot number 0 with 0hrs working time etc

    i did everything per the manual for 7th axis in KRC4 - removed the KPP which was originally there and added the new one on its place.
    In WV i added to the project the new kpp and uploaded the project - there are a lot of errors, safety config error etc. I am attaching photos of that


    After two days looking for info i am really struggling which way to go.
    I am uploading the original project (working) and the new one (not working) as well

    Just a note - in the original project there was a profinet device installed - i tried to remove it but it was still looking for profinet, so i just left it there. Any advise how to remove the profinet will be appreciated as well as i am not planning to use it - the robot will be used for milling only.

    Thank you in advance!

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  • when you change hardware, safety checksum is different so you also need to activate new safety configuration.


    also swapping KPP0 with KPP1 is all easy in newer KSS versions but on KSS8.2, you need to manually load correct drive template (wagon driver).


    "i did everything per the manual for 7th axis in KRC4 "


    that is not enough to reproduce your steps. we don't even know if you are using correct version of the manual.

    1) read pinned topic: READ FIRST...

    2) if you have an issue with robot, post question in the correct forum section... do NOT contact me directly

    3) read 1 and 2

  • ok,fair point! Thank you for taking time to help!

    I will try to describe the steps, i am also attaching the document i used for the installation

    1. Removed the old KPP

    2. Installed the new one on its place, installing the cabling for the 7th axis as per instructions

    3. Configured the new system in Workvisual (the project attached in my previous post)

    4. Started up the robot and uploaded the project

    5. Activated the new safety config


    Where can i find this wagon driver? And what you mean manually?


    May be it will be easier to update to version 8.3? If that is possible of course - what should i check to see that?


    Thanks again!

    V

  • Hi, just to update - i added the wagon driver and now it is all working :smiling_face:
    Thanks panic mode, as always, i am keeping your beers on a safe place, i recommend you to accept more concentrated liquid, as the amount of the beer is really huge now :smiling_face:


    Thanks! :thumbs_up: :red_heart:

  • that manual only covers the hardware side modifications. it does not go over software configuration. there should be additional documentation on this, like WoV manual and an equivalent of

    KSS_83_configuration_of_kinematic_systems_en.pdf for KSS8.2

    1) read pinned topic: READ FIRST...

    2) if you have an issue with robot, post question in the correct forum section... do NOT contact me directly

    3) read 1 and 2

  • Hi again, i have another problem - it is not messing the work of the robot but i really would like to get rid of it.
    On the same robot i have now message "Boot failed for module: PNIODriver"
    I am not using Profinet, i use Ethercat for IO, so i removed the installed previously Profinet Nexxt driver as it was looking for a PLC or something
    There are no other errors left, and the robot is working just fine.

    Any idea how can i remove that message from coming up?


    Thanks!
    V

  • I recall same thing a while ago. if not done in certain order, ProfiNet leaves some garbage behind (or it is WoV?). If i recall it is extra line on one of XML but don't have details, it was long ago.


    I think the expected order was to remove it from KRC, then use WoV to get project from KRC, remove Profinet from WoV, save as new project and deploy to KRC.

    1) read pinned topic: READ FIRST...

    2) if you have an issue with robot, post question in the correct forum section... do NOT contact me directly

    3) read 1 and 2

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