kss27003 ; kss27004 ; kss15047. 3 errors that occurred after restarting a kuka krc4 robot after more than a year and a half without working.

    hello y'all.

    I'm new to the world of industrial robotics.

    I'm French and my English isn't great, so sorry in advance for that.

    I'm studying industrial robotics and in the company where I've just arrived, a robot did not work. miraculously it works again from today.

    it's a kuka krc4 robot

    hmi version: 8.5

    Basic system version: KS V8.5.465.

    but now I have 3 new errors that appeared on the smartpad.

    kss27003

    kss27004

    kss15047

    I've several programs to test brake but it's not working.

    And for the kss15047, i think i need to just remastered all the 6 axis no ?

    Thank's in advance.

    Have a great day. :smiling_face:

  • Lemster68 February 7, 2024 at 3:17 PM

    Approved the thread.

    These errors are normal for a SafeMove robot after any cold boot.

    You need to run the Mastering Reference program, which can be run in T1, followed by the Brake Test program, which must be run in T2 or AUT/EXT mode.

    (note: under KSS 8.6, it appears to be possible to run Brake Test in T1, but I don't believe any versions of 8.5 support that).

    The Mastering Reference program should be executable by running MasRef_Main, assuming it was set up correctly. The program should move the robot until the "tuning fork" attached to the EOAT triggers the MasRef sensor, then move back to a clear position.

    The Brake Test can normally be run by executing the BrakeTestReq program. This program, if configured properly, should move the robot to a position where each axis can be moved a few degrees at high speed, before "slamming" the brakes on and testing the amount of torque/current draw. If the brakes fail this test, the program will post axis-specific warnings or error messages.

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