drives not ready

    We have bought some second hand robot from KUKA KRC2 Edition 2005 AK9.and they have X11 interface, so I connected to channel command for Emergency and Operator Safety for the robot controller but I have seen this error message on the KRC BOF as Blew:

    Error Nr 310, Message: Safety Circuit for Drives not Ready.

    I am wondering why I have this error because the safety interface and the necessary jumpers inside of X11 connectors that we need is same as other robots controller.

    We see this error messages sometimes when the robot cell are open. So in case of using the robot in manual mode (T1) sometimes we see this error message.

    I change the controller except hard disk and also the KCP but the problem is still remains.

    I know the operator safety is useful for the automatic mode and I don’t know the relationship between manual mode and this error.

    To remedy this error I need to done the IO reconfiguration and after that error will be reset.

    My question what is the source of this error and why we have sometimes this error message.

    Quote from Rainman

    Error Nr 310, Message: Safety Circuit for Drives not Ready.

    That error should not occur in isolation. If the robot was running and stopped, there should be additional entries in the error log at the same time. Error 310 is a status message, not an error.

    Safety Gate should be ignored by the KRC when the robot is in T1. And if the Safety Gate input caused the motors to shut down, there should be a specific error saying so.

    Check the logbook. If you have anything sending $CONF_MESS to the KRC regularly, it might be clearing the visible messages in the lower window, creating this false indication.

    Well, it may be time for me to eat some crow. I just landed to do a one-day program update on an old KRC2 running KSS 5.2 (no SafeMove, no TPs at all), and when it was rebooted, it came up with two errors in parallel and with the same time stamp: 287 PC Fan Error, and 310 Drive Disabled (extern). No other errors (aside from 200 Drives Contactor Off status msg). The PC fan is definitely not spinning, but I don't know if that could be causing 310 or not. And all of my KUKA manuals (KRC2 and KRC4 both) list error 310 as

    I'm still digging, but so far as I've been able to determine to this point, all the X11 safety signals are correct. $MOVE_ENABLE and $DRIVES_OFF are both True.

    Could the fan be causing the 310 error as a side effect? Before the fan error popped, there was no 310 error and I was able to energize the drives in T1.

    Stranger and stranger.

    First, after randomly cycling the robot through T1/T2/AUT/EXT, the 310 error seemed to clear up for no apparent reason. Then came back when I tried to jog the robot, then cleared again... and never came back. I have no idea WTF was going on. A call to KUKA tech support suggested this error could be caused by a bad KPS, or a bad fuse on the CI board, but neither of those panned out.

    Still had no luck getting the drives to engage, I assume due to the PC Fan error, until...

    Ended up removing the PC fan entirely, while waiting for spare parts to arrive... and the PC Fan error went away entirely. Which makes no sense, but...

    The robot works now. With no PC fan installed. (not going into production until the spare part comes in, but the ambient temperature was low enough I felt it safe to jog&teach in T1)

    I'm beginning to think this KRC is cursed. Or just so old that it's starting to behave... oddly.

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