We ran into a strange problem we have been working on for a few days now. Originally on another shift the technician was called to trouble shoot the robot for sopping too close to a Building column. He usually will go into the menu and diasable window monitoring , jog the robot , turn on window monitoring , and restart in auto. This time when he went to jog the T1 switch would not allow the operating mode ( spacemouse, Jog ) to be selected because it was grayed out, the soft key wouldn't change it. And in the dialog box it would say it was in an " Unknown operating mode?" . So he tried to power down then back up. He says he lost mastering . So now we had a robot that could not be mastered either because we could not jog it. Setup menu was accesable. The next morning they reseated the cards in the PC and did a cold boot and it came up fine able to jog and remaster. Later they tried to change pendants because it was thought this caused it. When they changed pendants the same conditions occured, no matter which pendant they hooked up. But when they pushed the ESC board reset inside the KRC enclosure ( little black button on board) the soft key became functional was able to be changed . The problem would follow the old teach pendant but could be reset if we put the new one on. Don't want it to happen again without knowing whats causing it.
Kuka K180 Problem with the "T1 key switch "
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May 28, 2011 at 11:41 AM -
Thread is marked as Resolved.
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id check the connections from the teach pendant to the cabinet. is the key on the controller or on the teach pendant?
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That's an interesting pattern. Normally a "Unknown Operating Mode" error is cause by a missing or mis-wired X11 jumper, but in this case it really sounds like the problem is in the KCP. As Mookie noted, this could be explained if the mode-select key in on the KCP, rather than mounted directly to the cabinet bulkhead.
However, the fact that you need to keep hitting the ESC reset button suggests something more than a simple keyswitch problem. The KCP is included in the safety circuit which the ESC board monitors, thanks to the E-Stop, Enabler, and (on some models) mode-select keyswitch.Hm. Having to use the ESC reset button often results from a single-channel fault in the dual-channel safety architecture, in my experience. The E-stop, for example, has two pairs of contacts on the same physical switch. If the two contact pairs disagree for longer than a very small time window (a few dozen milliseconds, if I recall), that can put the ESC board into a condition that requires a reset. There could be a bad contact in the KCP, or a partially broken wire in the cable.
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You guys are right on target. I think that's pretty impressive considering all of the configurations possible. The Key switch is on the KCP.
Here's where we went. The shift after mine did what they normally do which is power down pull all of the cards and reseat them, ( no esd wrist strap, bad but thats what they do) . It started at power up and they ran for a few hours. Then the shift after got caught with the same failure. So then they did everything I did until it came back around to me. Where I changed the KCP this time. I was thinking interms of safety like when it will not move in certain modes unless it is mastered . it's been running since the new KCP. So I was wondering if it was the safety enablers on the back . The way I was thinking was if I had bad safety's then it would be unsafe in any mode . I had trouble shot similar issues with the ESC so I got pretty familiar with the theory of operation and the wiring diagram from the KCP to ESC and VGA. When the old one comes back and I get the repair report I'll post the finding to root cause , maybe it will help some one else. I had worked in the automotive industry primarily with Fanuc 2000 Ia's then came here and started working on these Kp180's. Before that some really old 2 axis motoman robots in aerospace. Thanks -
We had it again this time after a Power outage , the KCP just froze up totally and be came unresponsive. used the esc reset and a powerup for the cure.
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Hi, everybody, I have a question, I got a similar problem in my KR 180 L130.
After some time been working appear a error 364 "unknown operation mode" and I have to turn off and start over, because does not work the mode selector switch.
It happen after 6 or 10 hrs. working, sometimes early morning. -
I just posted reply here but then deleted it, because I don't want to help spammers using shotgun approach. if you have a question, create ONE topic, describe what your problem is, do not resurrect 4 old topics asking same thing.