KUKA KRC2 E1 incorrect Parameter

legityme · October 7, 2022 at 1:01 AM

Hello, how I’ll doing.

I have an uncommon problem today, one of our clients is having trouble with a E1 Axis, they have a KUKA KRC2 that is working fine, but when they turn it on for the first time on the day two messages appear, KSS 250 and KSS 206. What they do is a one or two cold starts on the robot and eventually it starts working again. Do you guys ever saw this? What can be wrong? I believe $MADA is okay, cause it works eventually. I attached the massages in the post, I’m sorry that they are in Portuguese.

vvelikov · October 7, 2022 at 4:26 PM

Not sure about reason, but as far i can see it says that the servo parameters are incorrect, means you need to look over machine.dat file

Hard to say more as you give very limited info about this

Good luck!

**panic mode** · October 7, 2022 at 5:14 PM

read the message....

it says SERVO FILE problem. in the KRC:\R1\MADA directory there are two *.DAT files (that is robot MADA) plus bunch of *.SERVO files with servo parameters (loop control gains).

so read MADA to see which servo file is used for E1, then check that specific servo file.. it may be corrupt.

also check if batteries are ok. bad batteries are main cause of file corruption because open files are not closed properly when system is powered down.

legityme · October 8, 2022 at 11:42 PM

Solved. Found two problems, one was the KPS and the other was the batteries not connected properly.

KUKA KRC2 E1 incorrect Parameter

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