Posts by Ravo

Check cables on KPS and KSD

Do you have some other errors codes?

It's not the same, but is similar. On the newest robot you have 30/51c, on the old one you have probbably 30/51...

Is this robot from SHL?

If you have a chance, first change DSE, and if than will be the same problem try also to change KPS.
In my company we had the same problem and was KPS failiure. We bought new and now machine works without problems.

Regards, Gasper

Is this really works? I'm also interesting for this... In past I tried to changed this on oldest versions of Kuka robots( kr30/51c) but doesn't work.
So, this could work in KRC2 robots?

Thanks and best regards, Gasper

Hello,

I have 5 complete Kuka SHL polishing and grinding robots for sale. Kuka kr125 KRC1. Robots are in very good shape.
For more ingormation you can contact me on email: gasper@poliranje-ravnikar.com

best regards

Hello,

I have 5 complete Kuka SHL polishing and grinding robots for sale. Kuka kr125 KRC1. Robots are in very good shape.
For more ingormation you can contact me on email: gasper@poliranje-ravnikar.com

best regards

Thanks fluke

How I can do this? Do you have any instructions? Would you like to help me by this?

Thanks

Hello everyone,

I need some help about change speed on the robot, so, my working cycle on the robot now is 29min, but I'd like to reduce speet that will be than cycle 25min. Global speed is 100% and by vel.cp and by ptp points I have always speed 2. Please help me if someone know what I could write in to the program that the robot will be a little bit faster.
On my old one kuka robot I found $rel_vel, but here on krc2 I didn't found anything.
Please give me some advice. Thank you very much.

regards, Gasper

We had on both robots same error messages, and by one was RDW failiure, by other was KPS failiure.

Regards

Did you replace also RDW card?

Thanks for answer, I fixed problem with changing $REL_VEL=xxx

Have a nice weekend

Hello

Could be RDW card in robot arm, I'm 95% that is RDW.
regards

Hello

I had the same problem, we did try to change all, but the problem was KPS.We just changed KPS and the robot start without problem.

regards

Hello everybody,

I have small problem, so I have on teach pendant globaly robot speed set up on 100%. I would like that robot will be a little bit faster, so I have in program, for example $VEL.CP=0.5, but if I write instead $VEL.CP=0.5, $VEL.CP=0.8 the robot has the same speed like with $VEL.CP=0.5
Working cycle take the same time with different $VEL.CP=xxx type robot KUKA kr30/51c
What dou you think, if I write instead $REL_VEL=80, $REL_VEL=100??
Attached program and I marked on the bottom of the program what maybe could be for change for higher speed...

&ACCESS RVP
DEF L938948 ( )
;EXT VORG_UP ( )
DESCR INI
INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
INTERRUPT ON 3
BAS (#INITMOV,0,"-" )
H50 (0 ) ; init
INTERRUPT DECL 22 WHEN CHK_CODE>0 DO CHK_UP1 ( )
INTERRUPT DECL 16 WHEN $IN[1]==FALSE DO IUP16 ( ) ; inverter control
INTERRUPT DECL 18 WHEN $IN[2]==FALSE DO IUP18 ( ) ; ispad_zraka control
ENDDESCR
STA:
PTP HOME
KOS_SENOR:
IF $IN[3]==FALSE THEN
$OUT[13]=TRUE
HALT
$OUT[13]=FALSE
GOTO KOS_SENOR
ENDIF
KOS=1
OFFSET=0
PALETA.X=0
$OUT[10]=FALSE ;orodje odpri
HALT
LOOP

WAIT FOR $IN[1] ; inverter control is missing
INTERRUPT ON 16
WAIT FOR $IN[2] ; ispad_zraka is missing
INTERRUPT ON 18
;----------------------------
;vzami kos
$BASE=BASE_DATA[10]:{X 0,Y 0,Z 0,A 0,B 0,C 0}:PALETA
$TOOL={X 20.0,Y 0.0,Z 470.0,A 0.0,B 0.0,C 0.0}
;HALT
PTP P675 C_PTP
PTP P676 C_PTP
LIN P677 C_DIS
LIN P678
$VEL.CP=0.05
LIN P679
WAIT SEC 0.5
$OUT[10]=TRUE ;orodje sapri
WAIT SEC 1
LIN P680 C_DIS
LIN P681 C_DIS
$VEL.CP=1.1

PREVERI_KOS1:

LIN P682
WAIT SEC 1
IF $IN[3]==TRUE THEN
$OUT[13]=TRUE
HALT
$OUT[13]=FALSE
GOTO PREVERI_KOS1
ENDIF

PTP P695 C_PTP

PTP P683 C_PTP
;HALT
DESCR BASE 0
BAS (#BASE,0,"-" )
ENDDESCR
DESCR TOOL 1
BAS (#TOOL,1,"-" )
ENDDESCR
$IPO_MODE=#BASE

;GOTO JUMP

;$OUT[10]=TRUE ;Greifer auf
;PTP A1 C_PTP
;HALT
;$OUT[10]=FALSE ;Greifer zu
;HALT ;Kontrolle Greifer zu
$OUT[1]=TRUE ;Motor 1 vklop
;-------------------
;Poliranje ENOTA1
$BASE=BASE_DATA[1]
$TOOL={X 25.0,Y -355.0,Z 215.0,A 0.0,B 0.0,C 0.0}
$VEL.CP=1.59
PTP P541 C_PTP
$VEL.CP=0.20
LIN A4 C_DIS
LIN A5 C_DIS
LIN A6 C_DIS
LIN A8 C_DIS
LIN A9 C_DIS
LIN P729 C_DIS

$TOOL={X 25.0,Y -175.0,Z 345.0,A 0.0,B 0.0,C 0.0}

LIN P755 C_DIS
LIN A27 C_DIS
LIN A28 C_DIS
LIN A29 C_DIS
LIN A30 C_DIS
LIN A32 C_DIS
LIN A33 C_DIS
LIN P834 C_DIS
LIN P835 C_DIS
LIN P836 C_DIS
LIN P837 C_DIS
LIN P838 C_DIS
LIN P839 C_DIS
LIN P840 C_DIS
LIN A34 C_DIS
LIN A35 C_DIS
LIN A36 C_DIS

$TOOL={X 25.0,Y -30.0,Z 505.0,A 0.0,B 0.0,C 0.0}

LIN A40 C_DIS
LIN A41 C_DIS
$VEL.CP=0.35
L
$TOOL={X 25.0,Y 335.0,Z 185.0,A 0.0,B 0.0,C 0.0}

LIN A69 C_DIS
LIN A70 C_DIS
LIN AA1 C_DIS
$VEL.CP=1.59
PTP P822 C_PTP
PTP A72 C_PTP
PTP P757 C_PTP
$VEL.CP=0.8
PTP A75 C_PTP
$VEL.CP=0.35
LIN A76
LIN A77 C_DIS
LIN P758 C_DIS
LIN P759 C_DIS
LIN P760 C_DIS
LIN P761 C_DIS
LIN P762 C_DIS
LIN P763 C_DIS
LIN P764 C_DIS
LIN P765 C_DIS
LIN P766 C_DIS
LIN P767 C_DIS
LIN P768 C_DIS
LIN P769 C_DIS

$TOOL={X 25.0,Y -30.0,Z 505.0,A 0.0,B 0.0,C 0.0}

$VEL.CP=1.59
PTP P820 C_PTP

$TOOL={X 25.0,Y -175.0,Z 345.0,A 0.0,B 0.0,C 0.0}

$VEL.CP=1.59
PTP X1 C_PTP
PTP X2 C_PTP
PTP P824 C_PTP
PTP P823 C_PTP
$VEL.CP=0.2
LIN X3 C_DIS
LIN X6 C_DIS
LIN P699
LIN X7
$VEL.CP=1.59
PTP X8 C_PTP
PTP P700
PTP X9 C_PTP
$VEL.CP=0.2
LIN P723 C_DIS
LIN P724
LIN P725 C_DIS
LIN P726 C_DIS
LIN P727 C_DIS
$VEL.CP=1.59
PTP X10 C_PTP

$OUT[2]=TRUE ;Motor 2 vklop
$OUT[1]=FALSE ;Motor 1 isklop

;poliranje ENOTA2
$BASE=BASE_DATA[2]
$TOOL={X 25.0,Y -175.0,Z 345.0,A 0.0,B 0.0,C 0.0}

$VEL.CP=1.59
PTP A101 C_PTP
PTP A102 C_PTP
PTP P102A C_PTP
$VEL.CP=0.45
LIN A103 C_DIS
LIN P642

$VEL.CP=1.59
PTP A141 C_PTP

$OUT[3]=TRUE ;Motor 3 vklop
$OUT[2]=FALSE ;Motor 2 isklop

;poliranje ENOTA3
$BASE=BASE_DATA[3]
$TOOL={X 25.0,Y -355.0,Z 215.0,A 0.0,B 0.0,C 0.0}

PTP A145 C_PTP
PTP A146 C_PTP
$VEL.CP=0.15

LIN P572 C_DIS
$VEL.CP=0.37
LIN A150 C_DIS
L
$TOOL={X 25.0,Y -30.0,Z 505.0,A 0.0,B 0.0,C 0.0}

LIN A160 C_DIS

LIN A169 C_DIS
$VEL.CP=0.02
LIN A170 C_DIS
LIN P487 C_DIS
LIN P496 C_DIS
$VEL.CP=0.37
LIN P488 C_DIS

LIN P495 C_DIS
$VEL.CP=0.37
LIN A173 C_DIS
L
LIN P497 C_DIS
$VEL.CP=0.02
LIN P498 C_DIS
LIN A180 C_DIS
LIN P500 C_DIS
$VEL.CP=0.02
LIN P501 C_DIS
LIN A181 C_DIS
$VEL.CP=0.37
LIN A182 C_DIS
LIN A183 C_DIS
LIN A184 C_DIS
LIN A185 C_DIS

$TOOL={X 25.0,Y 335.0,Z 185.0,A 0.0,B 0.0,C 0.0}

LIN P502 C_DIS

LIN P514 C_DIS
LIN P515 C_DIS
$VEL.CP=1.59
PTP P516 C_PTP
PTP P517 C_PTP
PTP P519 C_PTP
PTP P518 C_PTP
PTP P518A C_PTP

$OUT[4]=TRUE ;Motor 4 vklop
$OUT[3]=FALSE ;Motor 3 isklop

;poliranje ENOTA4 SVETLENJE
$BASE=BASE_DATA[4]
$TOOL={X 25.0,Y -355.0,Z 215.0,A 0.0,B 0.0,C 0.0}

PTP P579 C_PTP
$VEL.CP=0.7
LIN P580 C_DIS
L
LIN P590 C_DIS

$TOOL={X 25.0,Y -30.0,Z 505.0,A 0.0,B 0.0,C 0.0}

LIN P591 C_DIS

LIN P602 C_DIS
$VEL.CP=1.55
PTP P605 C_PTP
PTP P606 C_PTP
$VEL.CP=0.7
LIN P607 C_DIS
LIN P608 C_DIS

$TOOL={X 25.0,Y -355.0,Z 215.0,A 0.0,B 0.0,C 0.0}

LIN P609 C_DIS
LI
LIN P620 C_DIS

$TOOL={X 25.0,Y -30.0,Z 505.0,A 0.0,B 0.0,C 0.0}

LIN P621 C_DIS

LIN P632 C_DIS
$VEL.CP=1.59
PTP P633 C_PTP
PTP P634 C_PTP
PTP P635 C_PTP

$OUT[4]=FALSE ;Motor 4 isklop

;jump:

DESCR TOOL 1
BAS (#TOOL,1,"-" )
ENDDESCR
;$IPO_MODE=#TCP ;tu
$RED_VEL=80

$VEL.CP=0.2

CONTINUE
$OUT[1]=FALSE ;Motor 1 aus

CONTINUE
$OUT[2]=TRUE ;Motor 2 ein

DESCR BASE 2
BAS (#BASE,2,"-" )
ENDDESCR

$VEL.CP=0.2

DESCR BASE 3
BAS (#BASE,3,"-" )
ENDDESCR
$OUT[2]=FALSE ;Motor 2 aus

;VORG_UP ( )

CONTINUE
PULSE ($OUT[11],TRUE,1 ) ;Hupe
JUMP:
;-----------------------
;odlozi kos
$BASE=BASE_DATA[10]:{X 0,Y 0,Z 0,A 0,B 0,C 0}:PALETA
$TOOL={X 22.0,Y 0.0,Z 400.0,A 0.0,B 0.0,C 0.0}
;HALT
PTP P684 C_PTP
PTP P685 C_PTP
LIN P686 C_DIS
$VEL.CP=0.1
LIN P687
;wait sec 0.5
$OUT[10]=FALSE ;orodje odpri
WAIT SEC 1
LIN P688
LIN P691 C_DIS
LIN P696 C_DIS
LIN P697 C_DIS
$VEL.CP=1.1

PREVERI_KOS2:
LIN P692
WAIT SEC 1
IF $IN[3]==FALSE THEN
$OUT[13]=TRUE
HALT
$OUT[13]=FALSE
GOTO PREVERI_KOS2
ENDIF

PTP P689 C_PTP
PTP P690 C_PTP
;HALT
KOS=KOS+1
OFFSET=OFFSET+115
PALETA.X=OFFSET
IF KOS>11 THEN
KOS=1
OFFSET=0
GOTO STA
ENDIF

ENDLOOP

END

Please help me

thank you and have a nice evening

So, now we found the problem. It was Power module. POwer module which service brought to us was not new, but used, Now we put on it new one and robot working normally.

Thanks and regards, Gasper

Today we changed al new ksd's from a1-a6, all cables and brand new kps. Can be that some from ksd can be in bad situation. Now i'll put every second day old ksd on it. From a6 to a1.

You will be informed

Thanks and regards, Gasper

Yesterday I also changed ksd 1 with ksd 2. Now its the same errors like in first post... Servo bus disturbance dse1 and servo bus disturbnce dse1 no buffering and automatic data storage...

So, kps is changed, bus cable from pc to kps also, rdw is also changed. Tomorrow I will try to change cable from ksd to ksd..

Any more idea??

Thank you very much!!

So, robots was just turn on for 5 hours and than some errors:
-1223 ackn. under voltage pm1
-1201 buffer battery voltage low pm1
-1228ackn. ballast switch energized for too long pm1
-1229 ackn watchdog power module pm1
-1239 ackn synchronisation error drive a1-a6

Any ideas what happening with this robot, I'm our of my mind