Posts by robot-cnc

well, for the moment I think I solved the problem.I unplugged X11 and X19 connections and plugged back and the error didn't repeat ...
I hope only be that.

Hi

I got an error while the robot was working and stopped suddenly in AUT mode
Operating mode change and then
Emergency stop pressed
Drive contactors off
Unknown operation mode

Is like from selector key was lost selection, neither to T1 not working.

After a restart let me one min to jog in T1 but again appear
Operating mode change and blocks the robot.

What can I do?
Ty

Thank you DannyDJ.
I have replaced driver for A6 and now it works well. I was lucky having one KSD 1-16.
I think always should be one as spare part. I changed before the one from A4 too.

thank you
I need to solve the issue tomorrow being in a middle of part milling

and what about A4 ? is also coupled with A 6 ?
any sugestion what to do ?

Hi

I have a message error on kuka KR 210 with KRC2
Gear torque exceed axis 6
This happens when I jog manually in T1 mode.
It lets me jog A1, A2 and A3.
When I jog A4 and A5 a while they are moving then suddenly stop and comes the message Gear torque exceed axis 6 and stop. What is the link with A6 as long as I move A4 and A5 ?
When I try to jog A6 , a very little moving then stop with Gear torque excced axis 6, Dynamic brake active
With Ackn command message disapears but on next trial same message.
If I try to jog manually in cartesian mode same message.

What should I check? I don't think could be a mechanical blocking.
Maybe any fuse ?

Robot worked properly so far.

Thank you.

I use C_VEL in my aproximation. But speed is higher on linear toolpath than circular motion even all lines are LIN commands.
Joint 3 sometimes is extended and reverse motion it happen often.
A5 is most of the time in 45 degrees position.

I saw while milling in 3 axis and along linear toolpath robot accelerate suddenly , while on curved toolpath speed is lower.
Why happen that and not keeping constant feedrate from program 7.5 m/min for ex, along all roughing operation?
There is any way to make feedrate to remain constant on linear as circular motions?
It should be changed any setting in robot config?

Ok, and what help me to see the code as long as message error table don't says how to solve the problem.
How I know what is wrong in KSD? Solution is replacement as long as I dont know to repair.

The error is on axis 4 not on 6.
Till yesterday worked fine, today I got this message
230 wrong drives parameter A4 PR 1
Who could change the configuration as long as nobody got in?

Can you explain better what should i do? How I can run RDWDSE?
thank you

Well, I need more time to read carefuly your documents.

Do you have informations about DirLoader, how it works?

Now I need help in an errror message from axis 4.
230 wrong drives parameter A4 PR 1

On drive 4 flashes only red led. I think is a matter of KSD 1-16

I have again an error on axis 4.
230 wrong drives parameter A4 PR 1
Flashing only red on N4 drive, the other drives flashing normally all.
I swapped Drive N4 with N6 and in place of 6 drive 4 flashing only red and now message error says 230 wrong dirves parameter A6 PR 1

What can I do?

Thank you

Thank you for your replay.It is not very simple.
CamRob is more than an uploading software is a CAM generator and postprocessor for Kuka.
I have my own CAM solutions . I cannot understand how CamRob manage larger size files in a small RAM memory of 256 mb for ex.
But my question is do you know how works DirLoader, can you explain me ? Cause some people say here that uploading large size is possible with DirLoader.
Other say no, memory is same even you use DirLoader is just a transfer program.
If would work DirLoader I would prefer it cause I already have src files written in subroutines and called by a main program.
DirLoader is not more expensive than Camrob.

So far I increased Physical Pages up to 12400 in dezimal and I can upload 30 mb maximum. But it can be too low.

What you mean?
Has no influence axis 6 for axis 4, I just swapped to see what is wrong KSD module or any command.
If drive 4 has same behaviour in place of 6 means the problem comes from KSD. Am I right?
Nobody changed anything in machine.dat file.

Now I have again an error on axis 4.
230 wrong drives parameter A4 PR 1
Flashing only red on N4 drive, the other drives flashing normally all.
I swapped Drive N4 with N6 and in place of 6 drive 4 flashing only red and now message error says 230 wrong dirves parameter A6 PR 1

What can I do?

Thank you

Hi Mikail

What is the reason to use Dir Loader if you still use an USB for transfering src files from PC to robot?
What is the role of Dir Loader. I am interested too in this matter.

SJX,

what are the maximum values ?

I already increased them and did work.

PHYISICAL PAGES WERE 3000 AND I INCREASED TO 6250
VXWINRAM WAS 1300000 IN HEXADEZIMAL AND I INCREASED TO 2000000 (OR 32 X 1024 X 1024 DEZIMAL) BUT I WANT TO KNOW MAXIMUM.

KSS IS 5.2.19
WINDOWS XP
RAM I UPGRADED FROM 256 TO 1 GB NOW

Should I force a cold start up for booting in sense to be considered my changing in memconfig.ini?

I increased MINIMUM PHYSICAL PAGES FROM 10 TO 40
I CHANGED RESERVED PAGES FOR SRC FROM 64 TO 256
PAGES FOR DAT FROM 64 TO 256

Should I change any other item in memconfig.ini?

size of descriptor table refer to what? should remain 256 pages or need to be increased?
what about expansion size when area move is necessary?
reserved pages for link of module and for error list ?

I replaced my memory with two new sticks of 512 Mb , in trying to upgrade RAM from 256Mb to 1 GB.
Controller PC can see in BIOS 1 GB total memory.
Without any change in memconfig.ini I tried to reload a finishing program with 150 src files by 75 Kb each.
Loading from 150 up to 72 then same message phisicall memory is not enough.
I saved initially memconfig.ini settings then I edited some new limits increasing values found there 4 times, as my memory upgrade 4 times more.
I tried to reload those 150 src files, same thing, at 72 phisicall memory not enough.
I got in Help/Info/System and there Phisical Memory is still 256 Mb and 60 % load.

A Kuka guy told me that is not necessary any changing in memconfig.ini but didn't work.
Controller doesn't know that memory is 1 Gb still see 256.
What should I change?
Thank you

What is the risk of using other memory brand, only don't work or even to burn something ?
Kuka said to me that no memconfig.ini changing will be necessary cause cpntroller PC will recognize and set alone for new memory size.
Is that right?