Kuka (V)KRC2 No Safety

    I have a VKRC2 ED05 that has a SafetyBus. I've created the Start-Up Connector according to the wiring diagram, but the controller never recognizes any safety inputs. No external e-stop, not even the mode switch. Just says "unknown mode". It has the A1 and A1.1 boards (ESC Safety System with SafetyBUS Gateway) and a 64 pin X11 connector. The Gateway has a single red light on it. I'm completely at a loss as to what is happening here. Also, if I try to diagnose the ESC, I get an error about missing diagnostics

    All the information I have

    Edited once, last by david0429 (March 9, 2024 at 1:39 AM).

  • 95devils March 9, 2024 at 12:18 AM

    Approved the thread.

  • MOM March 9, 2024 at 1:49 AM

    Approved the thread.

    Looks like you have a BMW cabinet.

    Thread

    Safety wiring of cabinet KRC2 ed05 from BMW L6 AK9

    Here it is, a new robot for me!

    I bought a KR210-2 2000 from 2008

    with cabinet KRC2 edition2005, from BMW

    ( KRC2-05 SR AK9 BMW L6 PNET PROXY 7035 )

    it has PROFIsafe modules inside

    and on the bottom X11 X12 X21.2 ports, X13 is not present, and a small X21.1

    Does anyone knows how to bridge the safety circuits to make the robot move?

    Attached here it is the schematics, but i can't understand much by myself,

    i have never seen something like this and around the forum i'm not able to find someone that…
    crk
    February 28, 2020 at 10:14 PM

    So, there is a fuse on the BACK of the SafetyBus board, which is blown. Not an ideal place for a fuse. Tracking down a replacement and hope that's all it was.

    All this power cycling has now messed up my ini files? Getting a bunch of errors in the pendant about "error during reading ini". Should I be able to overwrite the ini files in C:/krc from a backup, or is this another rabbit hole?

    Quote from david0429

    All this power cycling has now messed up my ini files? Getting a bunch of errors in the pendant about "error during reading ini". Should I be able to overwrite the ini files in C:/krc from a backup, or is this another rabbit hole?

    Power cycling shouldn't corrupt INI files. Although with robots this old, things can happen. Especially if the power cycles are too fast -- KRCs need to be allowed to complete shutting down before being powered back up. Especially if the batteries aren't up to snuff. Even for new, fully-charged batteries, a large number of back-to-back power cycles could eventually cause issues.

    I think we would need to see the actual error messages to advise you in detail. With luck, you should be able to simply restore from the Archive backup you made before these errors started happening. If that doesn't do it, re-installing KSS should work (although I'm not familiar with BMW versions). Worst case, you could restore the HDD image backup you made before any of this started.

    (you DID make backups, right?)

    Everything appears to be working after replacing that fuse. The Device OK light is coming on now, which is more than the board has ever done. The controller software is still giving me troubles, so I haven't completely verified that it is working, but it's definitely on the right track, so I'm closing this topic.

    I'm opening a new one specific to the software / ini problems. If you are interested in continuing to help with this saga, please head to there for phase 3! Reinstall KSS (KR C2)

    Quote from david0429

    I took a backup, but didn't image the drive. I was hoping to get the safety working before I made an image. I tried restoring from the backup, but it didn't help

    BAD idea. For any robot, especially an older one where re-install media may be hard to obtain, practically the first thing to do on first power-up is to take a "out of the box" image. You may want to take more images at various "milestones" along your progress, but even for brand-new robots I try to always take a full image as a "disaster recovery" save point.

    cant argue with that. i always take full image of the HDD first (as soon as possible) - even on a brand new system that is still on a shipping skid. its the best spent 10 minutes that can save you tons of grief. and on older system, HDDs tend to fail. they are literally ticking time bomb.

    1) read pinned topic: READ FIRST...

    2) if you have an issue with robot, post question in the correct forum section... do NOT contact me directly

    3) read 1 and 2

    Quote from david0429

    I have a VKRC2 ED05 that has a SafetyBus. I've created the Start-Up Connector according to the wiring diagram, but the controller never recognizes any safety inputs. No external e-stop, not even the mode switch. Just says "unknown mode". It has the A1 and A1.1 boards (ESC Safety System with SafetyBUS Gateway) and a 64 pin X11 connector. The Gateway has a single red light on it. I'm completely at a loss as to what is happening here. Also, if I try to diagnose the ESC, I get an error about missing diagnostics

    All the information I have

    Is it "external emergency stop", auto stop, that is, "operator safety" that you want to do?

    Think before you talk, Read it before you think about it.

    Fran Lebowitz.

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