Hello!
I have recently bought a KR200 with a KRC1 controller and it was working for a while.
In its working condition I always got the error: undervoltage PM1. When I press aknowledge the error goes away and I can use the robot.
I recently started it up again after not using it for a few months and it gave me the same undervoltage error but when I jogged the robot it made a weird scratching sound and then it tripped the breakers.
After resetting the breakers I tried a few more times with the same results. After this I replaced the old power module PM6-600 00100323 to the newer version: PM6-600 version 00103494. This new power module was second hand and untested by the seller.
With the new power module in place I could move the robot again without that scratching sound. I was able to move the axis with the exeption of axis 6.
When I try to move the 6th axis it gives me one of tree errors: (by restarting the robot and trying again)
- Ackn regulator limit exceeded A6
- MOTOR BLOCKED A6
- Positioning monitor A6
I have checked the cable connections, and checked for bend pins and that all looks good
To further identify the problem I have swapped the cables of motor 4 and 6 to see if I could move axis 6 (digitally now axis 4) to see if it is a problem with the motor or something else.
The physical axis 6 (digitallty axis 4) no longer gives the position limit error. I can jog it for a while and then this error appears:
Quit i*i-t MONITORING, CURRENT LIMIT OF THE MOTOR CABLE A6 AFTER 60 s EXCEEDED 100%
Quit i*i-t MONITORING, CURRENT LIMIT OF THE MOTOR CABLE A6 AFTER 60 s EXCEEDED 95%
If I then aknowledge the error I can move the axis again but after some time the error appears again.
After swapping the cables back I get the same three errors when I try to move axis 6 (physically and digitally now the same one):
- Ackn regulator limit exceeded A6
- MOTOR BLOCKED A6
- Positioning monitor A6
Other problems perhaps related to the current issue:
- the fan above the power module will only start rotating if I give it a manual push, otherwise it will heat up. Both with the old and the new power module, and before and after replacing the fan.
Could someone point me in the right direction?
The Kuka Error messages / troubleshooting manual says that the regulator limit error potentially can be traced back to the power module. Did I replace my defect power module with another power module that has a different problem?
Any ideas are greatly appriciated.