Hello.
I have a krc2ed05 robot with unusual connectors . (is saferobot?)
How can drive this robot with
a standard krc2 or krc2ed05 controller?
Thank you .
krc2ed05 saferobot
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javaman -
February 6, 2024 at 3:00 AM -
Thread is Unresolved
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Hello, yes it is a safe robot, on the picture it is a SafeRDC box which is bigger than ordinary RDC Box. You can connect KRC2 ed05 or KRC2, but will have to have SafeOperation tech pack installed on it I think(which you can use or disable in the KSS, if you don't want to use it). You can also exchange the whole SafeRDC box with the ordinary RDC box, but will have to use jumper plug on A1 ESC card. Then you don't need to have SafeOperation installed.
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I have krc2ed05 saferobot without its matching elelectric krc2ed05 cabinet but i have spare krc2(not ed05) cabinet.
The first question is if can an ed05 robot work with krc2 cabinet or needs krc2ed05 cabinet?
That depends on KSS version that your krc2 cabinet has. For example if your krc2 cabinet has old KSS v4.1.7 SP08 or even older with WIN95(then it won't work because you won't find correct MADA for your newer KRC2ed05 robot because your robot wasn't produced at that time-> so no MADA), but if you have upgraded KRC2 to newer KSS from 5.x with DSE-IBS C33 then you will be able to find MADA for that robot) and this is meant in case if you have ordinary RDW (not safeRDC).
If your KRC2 cabinet has old WIN95 with KSS v4.1.7 SP08 or older, this work with RDW1 and RDW2.(This i know because i have in past for some customers exchanged RDW1 with RDW2 even on KRC1 robots, because we had newer ones on stock, but never i did exchange the new RDW2 with old RDW1 on newer KRC2ed05 robots.) But problem is you don't have older robot, so you won't be able to find correct MADA for that robot on WIN95. But older robots for example KR15_2 you can find MADA for it even on KSS5.6.
If you leave safeRDC on the robot you must have SafeOperation,(SafeOperation must be installed on in order to have communication with SafeRDC,but if you don't want to use it, you just disable it in Safeoperation settings, but must be installed). And SafeOperation was available only later from KSS5.x versions, i never saw it on win95 KSS versions).
Display MoreThe second question is if a saferobot
can work with a non saferobot cabinet
that does not have installed esc-ci tech
but esc-ci standard version.
If i get a rdw board from an another krc2 robot
and and use it instead the saferdw board of krc2ed05 robot will work or i need rdw board from krc2ed05 robot?
krc2 and krc05 rdw boards are compatible?
I have checked the manual for the SafeOperation 1.0(i think this must be first version): this are requirements for the first version of SafeOperation, so I guess ESC CI 3 tech is a must and in the first post i was to fast to write that KRC2 can be used with saferobot.
So for the third question, you have one KRC2 robot which could have RDW2 or for the worst case RDW1 board(if its old robot type for example KR15_2). if you have only RDW1 board, I think that won't work because you need mada from KSS5.x, but if you would have WIN95 with OLD KSSv4.1.7 SOP08 on KRC2 this one worked with RDW1 and RDW2,but you won't be able to find MADA for you robot. So I guess you will need RDW2. Like i said before I never tried to downgrade the robot with older RDW1. But you can always try and see with RDW1, it will either work or not :)-.
Here is also link to the post with the same problem. In this case RDW1 did work with DSE-IBS C33 but he tested on WIN95 not on newer KSS5.x with XP.
Re: KRC2 RDW1
And why do you need to do that ?
Original KRC2s were running with RDW1 so it is/was possible but ...
If I remember correctly software has to be KSS4.x or lower.
DSE also had to be older model.
Not sure about series 2000 robots.
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To clarify i have krc2 (not ed05) with soy motherboard with MFC2 & DSE-IBS C33 with winxp sp2 / kss 5.6.12 (hardware is not ed05 but software is ed05) and esc-ci standard version not esc-ci3 tech.
If i get an rdw2 pcb from other krc2 robot and put it instead of saferdc will work ?
Thank you.
Yes that should work for sure with RDW2 and ESC standard. You just have then ordinary robot which can have different ESC cards. RDW2 even worked with KRC1. But with RDW1 I couldn't tell you for sure, because i never downgraded KRC2ed05 robots with RDW1.
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RDW card in your link is RDW1 card. You can tell which RDW is by searching for the LED lights on the card. RDW1 has only one green LED light(which shows you that RDW has power), RDW2 has 2 LED lights one green(for power), and RED one(for properly booting) RED LED light during booting flashes and after it stays on.
If you have only RDW1 already, you can try with RDW1 and see, it will work or it won't work. With RDW2 it will work.
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Display More
The following errors for A2 axis are thrown when jog the A2 back in a specific angle(back near counterbalance) not in other angles.
Can this be a cut power cable that in this angle looses contact ?
1133 Gear torque exceeded axis A2
1161 Ackn. monitoring of the actual velocity A2.
Also these random errors
1241 Ackn I-t mon. current limit of motor cable A2 after 60.0 s exceeded....
1242 Ackn I-t mon. current limit of motor cable A2 after 60.0 s exceeded....
I don't think that's a cable issue -- the A2 motor doesn't move when A2 moves, only when A1 moves.
It sounds more like A2 is getting excessive resistance at one end of the counterbalance stroke. The 1241 and 1242 errors happen when the motor needs excessive torque to maintain position over 60sec -- the amperage drawn by the motor isn't exceeding the motor's maximum-current limit, but is more than it should be for the robot's position and not settling.
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the messages show that A2 is tripping due overcurrent... so THAT is the real issue.
but it may as well be the RDW1 related problem. RDW1 has NVM/flash with rather limited number of writes. practically every single one that i have ever seen has reached and exceeded that write limit. so the data stored on RDW may not be correct. which is why controller checks if the data on RDW matches what is on the HDD. but if you made a mistake it could be that data from RDW is copied to HDD instead of the other way around. and then it would appear as "robot is working" but not right. and with wrong MADA everything is possible, even axes may move the wrong way. you may think you are jogging away from hardstop when your A2 is actually driven into the hardstop.
RDW1 is old and not very smart. it requires each axis to be jogged some 40-50 deg to collect enough of data for calculating symmetry and offset.
check if the MADA etc are correct for your robot type.
driving the motor wrong way when axis is already at hardstop can and will cause damage. something has to give.
try moving A2 away from hard limit using any means necessary. but be VERY careful to not get hurt since work on A2 can be very dangerous. not only it supports entire arm but it has counterbalance. this can kill you and arm weight combined with gravity and energy stored in the counterbalance are beyond what frail human bodies can handle.
for example use crane or forklift to sling/support the arm, then remove motor or release A2 brake manually using 24VDC and move axis away from hard limit... or use manual release device (12mm socket wrench).
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When put rdc1 first thing to do is log on as Administrator in kss and set correct mada from hdd.
So mada are correct.
not necessarily... it is possible that data on the HDD is also for the wrong robot or have been modified. some modifications are common like when integrating external axes. some could be accidental.
did you really check if the used MADA is really for this robot? did you compare it with factory MADA found on D:\... ?
the offsets are specific to the used hardware (not just resolvers but also hardware on the RDC). since you are connecting to same motors, resolvers are the same but the RDC are different. if the two RDCs were the same type, the difference between them would be small but that is not the case here so i don't think that would help.
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