Posts by DannyDJ

  • OVER TEMPARATURE fan PM1 ERROR kuka krc2

    Hello, in the attachment is a schematic for the bottom fan over temperature rise. Did you tried and measured the voltage on the KSP X110 connector pin8(DIN_SPS_FAN2_OK) according to el. schematic? From schematic +24V goes from FAN+ over F3 to the fans FE2 temp sensor and back to X110 pin8. I guess the fan is spinning ok.

    Also maybe you could and put +24V also on the X110 connector pin8(DIN_SPS_FAN2_OK) to see if error goes away.

    Maybe there is some loose connection on the F3 circuit breaker or X2(pin24 and pin 25) or XE2 connector (pin5 or pin6). Looking to the el. schematic nothing special is there more to check and you have checked your components on the other robot and they work fine.

  • Adjust the speed in increments of 0.01 for more precise control

    Quote from machens

    In my project, the robot needs to track a moving object. The speed of the moving object changes, but its trajectory is fixed.

    Like Panic mode said, that is job for ConveyorTech and it does a quite good job. You just need to mount the encoder on the conveyor or you can use resolver part of the KUKA motor, add synchronzation sensor(new versions can even work on multiple conveyors at the same time) and no problem with speed.

  • KUKA KRC2ed05 - add 2 external axis with additional top cabinet

    For 8 axis you don't need extra RDC card and DSE-IBS AUX, there are 2 slots free on the robot's RDC to connect motor encoders for external axes.

    I only needed top cabinet, extra RDC and DSE-IBS-AUX when I have more than 8 axes.

    Which KSD-s you have for to 2 external axes?

    There should be space to put for example 2 x KSD-32, only bigger KSD's takes, for example KSD64 and KSD48 more than single slot in the controller.

  • KUKA KRC2ed05 - add 2 external axis with additional top cabinet

    Quote from jpherbute

    Hi guys

    I was asked to add two external axis (1 linear track and 1 motor added to the tool) on a KUKA KRC2ed05 robot, which doesn’t usually cause me an issue. The thing is that the cabinet has no more than one slot unused to add a servo drive.

    Knowing that, I was given a (almost complete) top cabinet, including 1 KPS, 2 KSDs, 1 RDC.

    I already wired the two additional motors’ encoders to the second RDC, the motors´ power the the drives, added the SBM on the drives.

    I know how to configure the external drives from the KRCConfigurator, but the question is : how to wire up the top cabinet in order to make it communicate and safe with the main cabinet ?

    Thanks for your help.

    How many axes do you have all together? If you have more than 8, you will also need extra DSE Card called DSE-IBSC33 AUX which connects in between MFC and the original DSE Card.

    On this DSE AUX card connects this second RDC card through additional DATA - DSE XA21 connector in the main cabinet.

  • KRC1 dead motherboard complite black screen

    Did you tried to short PWR_ON jumpers on the motherboard? When CMOS battery is dead, the BIOS settings are set to default and the motherboard does not turn on it's own when you turn on power switch on the cabinet. One has to force it by shorting PWR_ON jumpers, then go to BIOS and choose KUKA settings afterwards.

  • Kuka robot doesnt repeat one specific position?

    I would check the gripper, make marks on the gripper to see if something on the gripper changes also, I had bigger robots with bigger tools and the robot was ok.

    Usually when I observed the programmed points shifting was due to mechanical issues eihter on the gripper or something else in the cell moved or wasnt bolted to the ground, etc...

  • esc-ci to esc-ci3 conversion

    Quote from javaman

    I have used esc-ci instead esc-ci3 to krc2ed05

    with some jumpers and works.

    What are the differences between esc-ci extended (that has all components populated to pcb) vs standard(no esc node)?

    I think that difference is if you wanted to put robots into RoboTeam, you needed other one, and for safe operation for connecting safeRDW...

  • KRC2 ProfiNet

    PROFINET CP_1616 card from Siemens works ok with KRC2 ed05. I have done couple of projects in past with PROFINET on KRC2 ed05 and using CP_1616.

    Problem now is that you need to install KUKA PROFINET driver for KRC2, but KUKA no longer supports or sell the software for KRC2.

  • KST_ArcTech_Basic write parameters via variable

    Quote from ussr.inv

    Yes, the .dat file contains all the data, but kuka does not allow this data to be replaced with variables, only with constants. I don’t know how to get around this yet, maybe the cat has already solved this problem, please share

    You can make your "own" inline form or use FOLD, copy the parameters data from Arctech Inline form,put in your variables for the parameters which you would like to change with variables. That way you're are still using Arctech built-in functions, but instead of manually setting the parameters from the Inline windows, one can now do it from their own variables.

  • KUKA Delta Robots PTP vs LIN

    Quote from jaiiyer

    yes but that increases the time taken to finish the move and for vision with conveyor tracking it will be difficult to calculate the intermediate point. Not that it can't be done.

    In my cases with PA robots where points were below robot's base and the robot wanted to collide with the conveyor, it didn't slow down the robot much by adding the intermediate PTP point, but I usually don't have points very close together with PA robots, and with using correct load data and inertia managed to squeze speed out of the robot. Also LIN moves can be tweaked with ori and acc parameters so much that the controller can't hold the robot anymore on the programmed path when going beyond the robots limits.

  • KUKA Delta Robots PTP vs LIN

    Quote from jaiiyer

    Hi,

    For Delta robot does anyone use PTP motions while using with a conveyor? PTP motions results in collision with the conveyor if the pick height is very small. However PTP motions are way faster than LIN motions. (about 10% faster as per the video)

    I know about the hop function but it hasn't been working well for me on KUKA SIM and don't when if I need the Arctech license for it to work on KRC5.

    Why cant the PTP motions be in a way that the arc is away from the conveyor? I don't have much background on robot kinematics and if that's the reason then understood and I am sorry for the question.

    My thinking is that most of the delta applications are with conveyors and having the delta is restricted in its ability to have fastest motion seems like a headache.

    Did you tried and put additional middle PTP move in place where delta hits the conveyor so that it doesn't hit the conveyor anymore?

  • IIWA Rtos Configuration Setup failed (compatibility issue motherboard with KRC4)

    Hello what I can see from the KUKA's market place when ordering the spare parts, that in the Sunrise cabinet the "CPU quad-core Skylake LGA1151" is used under the bundle content for the SUNRISE spare part and for the Compact cabinet spare parts bundle it is used "Dual Core CPU CPU dual-core Skylake LGA1151". RAM's are also identical in both cabinets.


    When exchanging motherboard's did you used also the QUAD processor from the SUNRISE cabinet or did you leave the DUAL core proccesor from the Compact cabinet? maybe that has something to do with compatibility. Because trying to order a spare part from market place it gets you to the same page for motherboard with same article number, either going for the parts for SUNRISE or KRC4 Compact, so I think that would mean the same BIOS with same settings I guess, regardless the controller. Only difference is with processor which is mounted on the motherboard when ordering spare parts.

  • KRC4 instead of KRC2 connection with a KR60 HA

    Quote from panic mode

    If you have a chance to visit KUKA College in MI you can see the setup on some of the training cells.

    There is no need to replace all wiring, it is enough to have the right cables/adapters.

    RDC has to be replaced and resolver connectors have different retention mechanism (new ones are shrouded and have different tab). this can be solved by replacing just the connectors (permanent change) or if you ever plan to go back to RDW2, it may be a good idea to just make an adapter. Same goes for cables between robot and KRC. As i recall KUKA had cable set for this so it was plug and play. Or one can rework the existing cable sets so they fit KRC4. The other option of course is to make an adapter, specially if you ever plan going back to KRC2. Using adapters to two cable sets make dual setup interesting since it can be handy fortraning or troubleshooting.

    That is good to know, do you maybe can remember article number of this adapters, because when we were doing conversions for example of KR30-3 robots from KRC2 to KRC4, KUKA just sends us the controller and new KR30-3's arms, never mentioning that they had any adapter kits for this nor that you could order just the connectors for the RDW, and just replacing the old ones with connectors that match new RDW.

  • KRC4 instead of KRC2 connection with a KR60 HA

    Hello, you would have to replace all the wiring(motor cable connectors, wires,...) inside the robot together with RDW card for KRC4 with EDS, etc... Encoder connectors on RDW side for KRC4 are different from the RDW2 from KRC2 robots. You should also be able to find correct MADA files for the KRC4 controller, so that shouldn't be the problem, because KR60 robots were also part of the KRC4 series.

    Also there were some special type of robots which included both connections for KRC2 and KRC4 controllers, for example I had one KR16-2 in our workshop build directly at KUKA like that with 2 RDW cards, each for it's own type of controller, like the one in the pictures attached.

    But usually when customer wanted to go from KRC2 to KRC4 series, that would mean complete change together with robot arm, not like in the past when you could just replace the controller when going from KRC1 to KRC2 series.

  • Collective Break Error (KSP) (4)

    Quote from Baig

    Hi,

    We are facing Collective Break Error (KSP) (4) on our KR C4.

    Sometimes General Servo Error (1) and (4) also occur along with collective break error.

    Have replaced the KPP and KSP2. Still alarm is there.

    Any suggestions from anyone here??

    Hi, check power supply connector for the brakes X3 for bad, burnt connection on CCU(A1) Power management board which goes from K2 filter and X34 (G1) KPP. Or even try and exchange the wires togehter with connectors.

    Not long time ago I had issue due to poor connection on X3 connector with generating the similar error messages and the pin in the X3 started to get burned more more due to poor connection in one of the pins in X3 connector as seen in attached pictures. After replacing the wires and cleaning the pins on the board issue was cleared.

  • KPP 600-20-3X20 INSTALATION

    If the KPP is the only component that you will change, it should be ok. It is plug and play when exchanging with the component of the same type. Only when you need to change multiple components, it should be changed one by one due to correct FSoE addressing of the components.

  • Data Inconsistency detected for Base Kuka KRC4

    Quote from snewk

    My question is this: Is there somewhere else in the controller where this base data is stored that could be causing this "inconsistency"?

    Hello, info about base and tool values are also stored in the file C:\KRC\USER\MEASUREMENTPOINTS.xml when you change values from tool/base management window it also saves the data from that window to that file, but as you are changing the value from program, I'm not sure if the it is also saves direclty in that file when changing from program.

    I have somewhere in back of my head, I'm not sure, that in some cases for example if i used first 4 point method tool measurement or for base 3- point,or indirect method with measurement points, and later I altered the values for the same base data by hand in config.dat directly and later if i went back to the tool/base management window I would get a message about incosistency.

    Maybe you should check if you program altered base_data are set to numeric method in the tool/base management window and not to some other method where also measurent points are stored for those methods and could make inconsistency.

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