someone may have altered build list (seem to be changed in 2009)
Posts by panic mode
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that serial number is from 1999 but robot model is not KR150-2, it is KR125-2TJ
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the URL tag was corrupt somehow so simply clicking on link would go to wrong address and youtube would report that "video is private".
just cleaned the tag and now it works ok. -
this is an old robot, with Denso arm and KRC2sr controller.
messages indicate that all batteries need to be replaced.
there is a pack of batteries in the robot arm, two SLA batteries in controller and one on the motherboard.
mastering procedure is described in manual and it requires ruller, allen keys and calibration plate 00-145-156.contact KUKA for quote...
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of course...
that module may contain many subroutines and none of them will have access to a run-time variable declared in another routine (main program).
variables need to be declared in DAT file and may need to be global too. -
if you loose mastering to all axes at the same time, you have something that is common to all of them (RDC, batteries, loose connection in data cable X21-X31 etc.)
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i agree about READ FIRST, then
1. install WorkVisual
2. get KOP files from robot (D:\) and integrate them into WorkVisual (menu Extras, Option Package Management)
3. get DeviceDescriptionFiles and integrate them into DTM catalog (menu File, Import/Export, ...)
4. connect your machine running WorkVisual to robot and get the current project
5. modify project (add I/O cards; map I/O)
6. save project as new file
7. deploy and activateall of this is documented in WirkVisual manual and help under "Fieldbus configuration"
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i cannot find anything on CR_*****
program tells that the variables are not declared. from your screenshots it looks like they may belong to CR_USER_PARAMS_ADV.DAT -
Who installed symtech, where and how?
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if you want to use CAD to path tools, do scaling in CAD and generate new file.
if you want to use scaling on the robot, create KRL code that is scaleable. -
what is the exact scenario? all axes lose mastering at once or only specific axis? does mastering loss happen when robot is powered up or down?
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Login as expert
Cancel submit interpreter (it is not enough to just stop it, make sure S turns gray)
Overwrite Mada in KRC:\R1\MADA
Start submit interpreter.. -
As far as I know there isn't one...
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Files on Beckhoff site use different format for some time now.
I was expecting WorkVisual to catchup but it did not as far as i know.
i placed older version of Beckhoff files in download section of this forum a while ago -
is robot program able to REACH first motion instruction? Are you sure you don't have something like WAIT FOR ... before it?
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startup mode can be used to bypass drives enable signal from safety circuit for troubleshooting purposes.
but one still needs number of other things in place before motion is possible:
1. WoV project must be ok (match current hardware) and activated
2. there must be exactly ONE safety interface CONFIGURED. if this is missing, StartupMode can't help...
3. External enable switch must be present or bridged
4. $MOVE_ENABLE must be true
5. Safety configuration must be activated
6. Safety signals must be ok (or in this case one one can use StartUp mode) -
LBR4 is a robot generation before IIWA. It was using KRC2 controller and there was no WorkVisual.
WorkVisual is used with KRC4 hardware (Sunrise is KRC4 based too). -
1. connect everything (X20-X30, X21-X31, teach pendant...)
2. check safety interface (X11) and make sure to have correct connections
3. power up....
4. does it boot up? what are the messages? -
isn't this the same thing:
https://www.robot-forum.com/robotforum/kuka-robot-forum/kss00070-no-more-user-memory-available/
I see that TRACE folder again...
Simple solution is to restore backup image using Recovery USB Stick but ... i would be surprised if someone actually created that backup before making changes to the system. Do you have recovery stick?
Another option is to get someone (knowledgeable) to fix this. Is there a nearby KUKA tech? He/She will have right tools and skill to get you out of this.[/size]My guess is that someone pasted (or dragged) folders to wrong location. Either way, if you are considering doing something about it yourself I would say:
1. MAKE FULL BACKUP NOW - yes i know your system is already a mess, but i am confident you are capable of making so much more . so... at least make sure to be able to get back to THIS state
2. PLAN before you do anything (ask yourself how can each of your actions be reverted and get you back to previous state)
3. It may be a simple fix too... Generate list of all files and directories for comparison with other robots. For example try command line like "DIR C:\KRC\ROBOTER\*.* /S > D:\KRC_FILES.TXT", and post it here and wait for help.
Also you may try to replace WoV project directly from HMI (do not use WorkVisual). Make a copy of Base project (if not altered yet) and activate it. Then login as expert and delete C:\KRC\ROBOTER\KRC\R1\TRACE and reboot. If you still see KRC:\R1\TRACE after reboot, your CURRENT WoV project(s) are corrupt