If they are src files they can definitely be restored.
Take you last valid archive or hd backup image and restore.
They are also part of the installation image. Extracting the installation image and then manually copying them using the KUKA HMI is yet another possibilty.
Take a full archive now. Then reinstall KSS and apply the archive afterwards should also restore them. Might even work if you choose not to reinstall your KSS from scratch but choose to upgrade (so upgrade with the version that is already installed) without taking an archive first.
Anyway before trying out any of the above mentioned solutions take a complete hd backup image so you can roll back if something goes wrong.
Fubini
You could also try searching on github for IR_STOPM file if you don't have a backup for some reason. There are plenty of people posting full codes on their open-sourced githubs and IR_STOPM is general enough that it could actually work.
[error no] : 2029
[info] : syntax error in module: /R1/IR_STOPM
It sounds as if IR_STOPM was modified to link to one (or more) of the modules you deleted. If those modules are not needed, then it may be simplest to fix IR_STOPM.
Since you provided no information about your KRC model or KSS version, it's difficult to provide any detailed suggestions. I recommend looking at the error list in IR_STOPM and comment out the lines that have errors:
The DISPLAY button should jump you directly to the line in IR_STOPM that is causing the error.
Display MoreIt sounds as if IR_STOPM was modified to link to one (or more) of the modules you deleted. If those modules are not needed, then it may be simplest to fix IR_STOPM.
Since you provided no information about your KRC model or KSS version, it's difficult to provide any detailed suggestions. I recommend looking at the error list in IR_STOPM and comment out the lines that have errors:
The DISPLAY button should jump you directly to the line in IR_STOPM that is causing the error.
thank you SkyeFire,this is the screen info of IR_STOPM: [kss 8.5]
You probably deleted the file which had the definition of the subprogram, one way to go is to restore or if you dont mind about collision detection just put ; (like this: ;CollDetect_UserAction) or create a global program called like the CollDetect_UserAction().
I hardly recommend restore.
login as expert, navigate KRC:\R1\Program\ and create new expert module. when prompted for name, type in name of missing program. this will create empty program module which is exactly what that program module was from the factory. it was program module where user could add own code (optional).
thank you SkyeFire,this is the screen info of IR_STOPM: [kss 8.5]
You deleted the module CollDetect_UserAction. This comes with every modern KUKA, and IR_STOPM links to it. You should be able to simply copy&paste it from your backups.
By default, IR_STOPM is called by an Interrupt if the robot is E-Stopped, or encounters some other kind of stopping fault, while a program is executing. It carries out certain default behaviors, but also supports added user code for specific applications. For example, on a paint robot, you might add code to IR_STOPM to turn off the paint valve when the robot is faulted, to avoid wasting paint.
By default, CollDetect_UserAction is an "empty" module -- it's there to make it easier for an end user to add specific program actions to be executed if IR_STOPM is called by a collision detection stop. There's no way for us to know if the CollDetect module you deleted was empty, or had been modified with code this robot needs. So restoring the original module from your backups is the best solution. The next-best solution is to follow Panic Mode's suggestion.
When with a new robot, I normally create a KUKA folder and move CollDetect_UserAction, masref_user and any additional pre-loaded program to there, to avoid this kind os situation.
same here.... frankly, not sure why those are not in the separate folder from the factory. Most people do not even touch those and when they do, it is usually to delete them by mistake.
on the other hand i have no sympathy for those that mess with things they are not familiar with, specially when they fail to ensure that they can revert from what ever they do to a original state. making backups is quick and simple while failure to do so is likely to lead to a lot of headache.
same here.... frankly, not sure why those are not in the separate folder from the factory. Most people do not even touch those and when they do, it is usually to delete them by mistake.
I have the same feeling about this. These modules should be placed somewhere.
