Problem finishing lnstall of 7th Axis on KRC2 Ed05

    Hello All,

    We are trying to add a 7th axis (rotary) to a KR2210L150 with KRC2 control V5.2.22, kernel version V6.74_52. The robot is setup as a milling machine.

    We've gone through the axis configurator and also tried editing the $Machine.dat manually with no luck. We receive errors after a cold restart. After clearing the errors the robot runs normally. The .dat file still has all of our changes for the 7th axis added. The motor and drive of our 7th axis are the same as A1 (we pulled the lower cover and visually verified part numbers) so we assumed we could use most of this information for E1 axis.

    We sourced our 7th axis kit from a used robotic supplier. The kit came with:

    KSD1-48 with mounting plate and appropriate cabling

    Motor/gear unit MGU 3900-219

    Servo motor 0000-117-606

    The cable going into the RDC has appropriate Kuka connector with seal, and the shielding is grounded.

    We're pretty sure everything is connected correctly. The drive powers up and is detected along with the other 6 servo amps. You can see the extra KSD1-48 in the DSE-RDW.

    We receive the following error messages on boot:

    "Drive bus DSE 1 participant no. 8 not configured"

    "File KRC:\$CUSTOM.DAT is only found on robot system and will automatically be deleted"

    "File KRC:\$OPTION.DAT is only found on robot system and will automatically be deleted"

    Should I upload the $machine.dat file?

  • Fubini February 12, 2024 at 7:51 PM

    Approved the thread.
    Thread

    Kuka KRC2 ed05, adding external axis

    Edit: I updated machine.dat with another thread I found on this forum (posted the wrong link earlier), only non-default setting was in_pos_ma - set to 0.2 and it works just fine.



    I have a KR20-2 Series 2000 robot with a KRC2 Ed05 running KSS 5.6.8.

    Robot Type KR2210_2 S C2 FLOR ZH210

    I'm trying to add 2 external axes, one is a rotary turntable and one is a linear track carrying the robot arm. For now I'd be happy with just the rotary, so I'll focus on that, and hopefully I'm skipping something…
    kbekkala
    November 15, 2019 at 5:51 PM

    We fixed the problem we have a working E1! We figured out that the KRC was missing the options.dat file after finding this post late late night.

    Thread

    KRC2 - 7th Axis Integration

    I read many of the older posts and started from scratch several times but haven't gotten passed the message on the last page of the PDF.

    Some background info:

    We bought a KRC2 system with 7th and 8th axes drivers installed with jumpered SBM2. The two axes were not configured as external axes when we first powered the controller on. Robot fully functional in all 6 axes - ran test programs.

    I gathered from older posts I can install the 7th axes without SBM2. Proceeded to remove the existing…
    designfugitives
    February 21, 2019 at 12:44 AM

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