granted, DeviceNet is old and slow, I would check if the analog I/O default settings are the issue. there should be some sort of utility from the manufacturer to go online and view/edit default settings (filters, averaging, ...).
I have no idea what you have there. there is literally millions of sensors on the market. do you think it is possible to post a picture or maybe part number?
can you post archive and exact connections diagram of your jumper plug?
what safe sensor?
do you mean the mastering reference switch used by SafeOperation? it is used to check if robot mastering is ok.
you may be able to swap cables of A1 and A2 without motor removal (to see if the problem moves).
there are different ways, one of them involves reading included documentation, in particular section called installation...
basically you either install it through kuka HMI (login as expert, menu Setup, ... software install...configure...set path...etc.)
prevent KSS from starting and then install it like any other software (run Setup.exe). this can be done by holding CTRL on boot ... or... login as expert, turn off NUM, press CTRL+ESC, delete startup shortcut from Start>Programs>Startup (do not empty recycle bin, so you can restore the deleted shortcut later on), reboot (no hmi will load), install software, when done restore deleted shortcut...
if your programs use symbols rather than I/O, you can do anything
maybe something like this (don't have access to robot to test)Code
KRC2 is a controller, do you mean robot maintenance? which one?
do you have Parts and Docs DVD? All documentation is on it.
it tells you that E1 cannot move because it is locked (safety circuit?). that would explain followup message (1205) which is normally result of an E-Stop or potentially also loose connection/noise. being welded application - how is your grounding done? are you sure it is correct?
not sure I understand (and too lazy to read everything)...
if your main program was running at the moment interrupt occurs, it will be resumed after interrupt is completed. if the robot was moving at the moment interrupt occurs, you can choose to cancel or pause that motion but you have to be aware of consequences and peculiarities of advance run pointer.
it is obvious that wiring is not your cup of tea, you cannot even draw proper electrical symbols.
more over this is a safety circuit (and there are risks and responsibilities involved). why are you doing this?
you really really need to get someone qualified. for example your first post shows wiring that is disabling internal E-Stop (is this what you want?).
if you do intend to finish this on your own, then you must accept all responsibility.
example of jumper plug for KRC2 is in the download section:
modifying it to include few E-Stops means doing something like this (see image).
note that each channel is a continuous loop. each E-Stop switch must be able to break both channels (and at the same time, or you will get cross channel fault and lockout ESC).
Keyence makes more than one vision system. krc4 can run different KSS. care to elaborate?
yes I see that, but why 24 volt could not be used for inputs and outputs?
it is prohibited or discouraged?
Using 24V for I/O is fine. So is to use external 24V on X11 (to power it). In fact using external 24V to bring power to X11 is you have to do when robot is part of a roboteam.
BUT...! This 24V (or 27V) is what you would bring to contacts 88 and 89 - to power X11 (ESC board).
Other contacts like 1, 5 etc are test outputs, and not power terminals.
a. current draw is limited
b. level is not constant (test outputs are pulse train with 70us pulses/gaps). this is used by ESC board to detect if circuit is wired correctly or not.
c. you mess with them wrong way, you may have to get another ESC (and maybe KPS600), so always watch polarity and proper connections
the question is very vague, so will be the answer:
1. power up (can't do much without it)
2. ask questions ("what changed"...)
3. read messages/logs/archives
4. get archive/project from robot and verify it
5. swap (hardware/software)
6. cold boot
call stack depth exceeded, max 20 levels allowed.
Q: "my <whatever> does not start, what is the problem?"
A: replace <whatever>
btw. when asking for help, provide SOME info...anything (controller version, kss, ...)
which version is that? can you be more specific?