Posts by robot-cnc

Hi

I have a KR60HA KRC2ed2005 safe RDW. I have instaled KSS 5.5.15 and Safe Robot 2.1.

I jumpered XD 211 C which has 42 pins as in Manual ex. 2, I jumpered X40 on safe Robot as in the manual and diagram found here in manuals section.

I went in Setup&Service&Safe Robot&Configuration and on Global Settings setted True for nor monitoring disable.

Both cable X21 and X21.1 are plugged from RDW to KRC2.

Two message error

Safety mode not possible-which is normal while setted True for disable monitoring

Brake Test required- also know that shouldnt stop moving robot

In T2 were apperaing message 470 Safe Robot override is active, but in T1 not.

I read that should check sub.sps for override limit

But the robot do not move.

Safety logic for RDC is confirmed, that means my service plugin are ok.

The robot do not ask mastering even it is in the position he came, not in home 0,-90,90,0,0,0,0.

If I unmaster trying to jog for new mastering do not move.

Drive contactor on when press back switch, everything seems well. But the Safe Robot bastard do not move.

What I forgot ?

Thanks

Thank you very much Panic Mode.

The robot came from Daimler, so maybe is a krc4 dedicated for their requires.

I will use only XD211.

They kept hard disk too as a company policy.

I got a new one. The original software been Wndows XPE V3.0 and KSS 8.2. but I intend to install the image of Windows 7 Standard Embeded and KSS 8.3. Will post the result.

From manual

Hi

I have a Kuka KR150R3100 Prime , year 2014 with a KRC4 controller type TDA3. It has instead x11 , XD 211 and XD 213. As I understood from assembly documentation from CD, XD 211 is equivalent of X 11 for safety I/O while XD 213 is for safety safe robot equivalent with X 13. If I well understand from manual to choose simple safety with SIB Standard or to use safe robot operations with SIB extended, controller having both, is an option. My interest is to not use the robot as safe robot if possible.

On the other hand on XD 211 , I should jumping pin wires for a standalone work. Just will use external emergency stop button buy no safe gate.

I attach few photos with my KRC4 controller connectors and rear side ones of robot arm. I put also a picture with manual explanation regarding XD211 and XD 213 to conform me if is customisable standard use or safe robot ( undesirable)

Hi

In KRC4 controller XD 211 is equivalent of X 11, as in KRC2 ?

XD 211 means the robot is a safe robot I supose.

Is possible wiring XD 211 as standalone ?

Thanks.

Thank you Fubini

It could be the KSS version 5.6.10 the matter? Should I reinstall it or another version 5.6.6 or 5.6.9?

Because same table configuration in machine.dat with same hardware works on another robot with KSS 5.6.6 for example.

Will try a third motor, maybe resolver is the problem but is few credible.

Hi Fubini

Here it is machine.dat.

I have to mention that is a rotary table EASYS using an A6 gearbox TS 170 Spinea and the motor is 000 115925_H7, 2.5 kw, 4100 rpm

Thank you.

Noone any ideea ?

Hi

I try to configure machine.dat for external E1 rotary axis on a Kuka KR 150L110 KRC2ed2005, software KSS 5.6.10 and I have this error 1161 Ackn monitoring the actual velocity E1. Table try to move but stop suddenly. The message can be acknowledged but when try again jog E 1, same behaviour, same error message.

I checked cables power and signal from motor E1, I swapped another motor same type 115925 , I swapped servodriver KSD 1-16, same error.

Error manual says at 1161 message possible cause :

- motor cables of two axes interchanged; ---how could be possible, excluded

-- error in the axis assignment;---- what error could be???

-- power module defective;---I don't think so

-- resolver unmastered ---- resolver is mastered

Any sugestion ?

Thank you.

I just asked Kuka, they sell anymore KSS 8.3 image with Windows 7 embedded.

Only 8.6 + Windows 10 embedded. Complete image.

Therefore on KRC4, on D partition there is no copy of installed Windows+KSS 8.x?

Hello !

There is any way to find Windows 7 embedded for a KRC4 robot and a KSS 8.3,8.4,8.5 ?

Thank you !

Hi

Have you found the manual for Lasermatic EG316 z FC?

I am interested too.

Thanky you

Hi

Can anyone to share or send me in PM a .prg sample file for 6640 milling with externat rotating axis and written with Sprutcam?

I am interested by right syntax to compare with mine.

Thank you very much !

There is also a software called PointLoader from orangeapps.de that is able to load any memory size .src files. Ask them a trial version for KRC4. I tried on KRC2 and uppload files unlimited.

Well I swapped KPS 600 and fan E2 behaviour is same. Therefore is not the cause KPS unit.
I just found a way to reduce noise produced by airflow behind, covering the grile partially with a tape.
Maybe is only the cavitation that produce weird noise.

Will swap the KPS 600 to see if change something.

The sensor FE2 is located on E2 fan or near it? Is not possible to be the cause?

Hi Panic Mode

I have measured voltage across 24-25, no voltage 0V
25-26, no voltage 0V
I have unplugged XE2 and 24-26 voltage is 26 V
25-26 voltage is 26 V

no ideea ?

Hi

I have a Kuka KRC2 210 , year 2009 and fan E2 always run on high speed, never speed down on low level.
I replaced fan, KE2 contactor and is same.
I checked X110 and X114 connections, they are allright.
Where are temperature sensors , they could be the cause?
No error shown on monitor, robot works perfect, only E2 fan run at high speed even temperature is cold.

Ty

I have installed Expert Tech, now Touch up type new TCP coordinates but when press Change, or try to add Motion , I have the message
4, Xedit, Maximum Filesize Reached and do not allow to save new point.
There is any limitation in filesize? Any Xedit setting?