Hi,
Can I use a VKCP1 to a KRC1 controller?
thanks,
Hi,
Can I use a VKCP1 to a KRC1 controller?
thanks,
When shutting down the KRC1 controller, if KCP screen instantly shuts down does it mean the battery need to be replaced?
I need to move the KRC1 cabinet next to KRC2 cabinet therefore need to unplug all the harting plugs.
If KRC1 does not power up when main 3phase power supply is applied, what are the possibilities?
This is the KRC1 which was damaged for 1 year now, but I had replaced the damaged PM6-600, but still not powering up.
Motherboards maybe?
The spindle I will be testing is a H6161H0822 Long Nose, Delta Connection 220V (Default was Star 380V Star Connection). Open attachment for Specs.
The VFD Menu Startup settings:
S.000 = 230v
S.001 = 60Hz ( Asia )
S.100 = 230v
S.101 = 200Hz
S.150 = 14.4A
S.151 = 2
S.152 = 0.85
S.153 = 0.12
S.200 = 1
S.201 = 400hz
S.202 = 3
S.203 = 0
S.300 = 5sec
S.301 = 5sec
and save the parameters in S.901
That's all I have at the moment, anyone knows about VFD settings please give me a hand.
thanks,
Problem solved. It wasn't any of the power supply unit, it was one of the main 3 phase wire crimp broke, had them all renewed.
Time for VFD?
Hi,
What's the difference between KRC2 and KRC2ed05? If this had been post before please provide links,
thanks,
Here are the robot AC servo specs.:
A1: 1FK6100-8AF91-1ZZ9-S49
Nr. YFM350 1169 79 012
3.77 KW , 9.5A , 156V
A2: 1FK6100-8AF91-1ZZ9-S49
Nr. YFM350 1169 79 011
3.77 KW , 9.5A , 156V
A3: 1FK6100-8AF91-1ZZ9-S49
Nr. YFM350 1169 79 010
3.77 KW , 9.5A , 156V
A4, A5, A6:
KK53Y-YYYY-017
2.83 kw, 600 v, 5.7A 3000/min.
I have been trying to figure out what is causing Wago device to shut down and switch on when power is supplied, could it be the Devicenet hardware?
Disconnection between wago devices from the MFC devicenet card, then power on wago devices the same thing happen, on-->off--->on-->off so on, then by tuning the voltage adjust of the Mitsubishi S8VS-09024 down to 20.2v the wago devices stays on and if I plug in the orange 5 pin connector at this instance to the 750-346 fieldbus connector socket the "on-->off" issue starts again.....I'm suspecting the power supply is faulty, and if it is not PSU then I'm in deep sxxx.
Hi,
Yes, enter 1 = 1v, enter 10 =10v.
From this link: https://www.robot-forum.com/robotforum/kuk…module-on-kuka/
ANIN1=6,0,x,y,CAL zzzz: The CAL factor is only necessary if your Wago device uses a different voltage scale than +/- 10V max. The KRC analog input channels are set for 10V max, plus or minus. If the Wago device also maxes out at 10V, you should not need the CAL factor. If it maxes out at 5V or 15V or something else, you use the CAL factor as a divisor to scale the Wago inputs down to 10V max.
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that is just a video clip of the 6-axis robot, it does not show model number, motor part numbers or other useful info (looks like KR150...KR240).
if you are getting KRC2 controller, you need to make sure that drives in the cabinet match size of the motors.
If you buy more than one controller, then you can mix and match drives (some of my customer buy their robots in bulk on auctions: for this very reason + spare parts).
drives come in sizes of 8A, 16A, 32A and 48A. all drives have label on their front. 8A and 16A are same physical size, 32A is wider, and 48A is even wider.
A1 drive is in lower light corner, then going to the left you get A2, A3 and A4.
Row above is from right to left A5...A8. If the KRC2 cabinet was used for custom robots (MC for cartesian etc. robot types) then you are likely to see fewer drives (2-4).
Example:
Almost forgot about this, any used robot seller in this forum, I'm looking for a spare KRC2 cabinet for my damaged KRC1 robot?. Will upload specs of the AC servos tomorrow.
2 circles cut with Robot Master:
Problem solved. ANOUT1 and ANOUT2 are now 1:1. input 1, output =1v
At first I thought by dividing 32767 by 2 would give me the right answer but not, then I asked a friend he suggested me to change the resolution to 15, ANOUT1=5,0,15,2,cal32767, so I did, but the result still not right.
AO1 AO2 have the same results..
google searched:
"As for how ANINs and ANOUTs map to the digital I/O... all you're sending/receiving across the DevNet bus is bits. Those bits can be grouped into bytes or words at either end. Getting analog values across the bus is a matter of converting them to a binary value and sending.
The trick is scaling. Let's say you have an 8bit, +/-5V analog output card. That means that the actual output will scale from 0V to +5V as the binary patter ranges from b00000000 to b01111111. The voltage will range from 0V down to -5V as the binary pattern ranges from b10000000 to b11111111. If you don't add a scaling factor to the IOSYS definition, the robot will send b01111111 when you order it to send +1 (10V), and 11111111 when you order -1 (-10V). How you really want to look at it is as if the -1.0 to +1.0 in KRL is a multiplier, with the +/-1.0 being "full scale" of whatever the input or output device is, and (for example) 0.5 being 50%."
For reference only.
{token}{num}={address},{byte},{res},{type}[,CAL{factor}]
;
; {token} ANIN or ANOUT
; {num} number of the analog channel (1..i)
; {address} address of a peripheral device (0..m)
; driver specific information, see descr. below
; {byte} byte offset at this peripheral device (0..m)
; Offset starts with 0 at the every device
; driver specific information, see descr. below
; {res} resolution of the analog value (number of bits)
; {type} type of analog value
; 0 : right justified without sign
; 1 : right justified with sign
; 2 : left justified without sign
; 3 : left justified with sign
; {factor} maximum analog value, decimal without prefix,
; hexadec. with prefix 0x or octal with prefix 0
; "CAL 0" or no entry sets factor to its maximum
------------------------------------------------------------------------------------------------
ANOUT1=5,0,16,2,cal32767
ANOUT2=5,2,16,2,cal32767
OUTB0=5,4,x1 ; $in[1..8]
INB0=5,0,x1 ; $out[1..8]
The numbers in RED, is that the scaling value?
I have only measured the voltage output from 750-550 AO2, but not AO1, will measure AO1 today.
Could be a scaling error. Measure the analog output for $ANOUT= 0.1, 0.2, 0.3, etc, and plot them in Excel as a Scatter chart, or something similar. If it's just a scaling issue, the plot will be linear, and we can figure out the scaling adjustment.
The result looks like a scaling error, how to solve this?