Please check whether the relays in the ESC board respond when you press the deadman switch. Its a pair of relay which picks after which the KPS gets command to pick the contactor I suppose.
Posts by sanoopgr8
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Oh thanks for the info
One more query do safe robot feature inbuilt for KRC 4? -
Hello
I'm having a problem with one of the KRC 4 robot and its concluded that the ESC board. I have spares for my KRC 2 robots and I know that safe robots have CI3 Tech type ESC board. Will the board I purchased for KRC 2 robot works for KRC 4 ? Please adviceThanks
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Thanks for your reply
But my need is a fool proof system where even if one masters robot at incorrect position the robot should not accept it or only if the robot is at mastering position the mastering option should be made available.
RS I'm not talking about universal robots at all mine is a GANTRY robot with only 3 axis and a gripper its A1 axis slides on a parallel beam with master and slave motors. A2 is a carriage like system on the robots own beam A3 is over A2 (picture attached)
Hope you got Atleast a vague picture of the robot.
Now, for mastering such a robot we don't use any special device just go to setup select mastering select dial and press master (assuming) keeping robot at correct position physically.
Hope I'm not confusing you people
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Hello RS
No I'm not talking about standard kuka 6 axis Robot. I'm using a area gantry robot with kuka controller. Inorder to master this robot ( make its postion zero ) we need not use the EMT device all we have to do is move robot to its predefined position and press master. Now this predefined position is visually matched as there is no any electrical feedback to validate it. I need to verify the position robot is currently positioned is actually the predefined position by means of any sensor. Only if the sensor input is ON I should be able to master my robot.
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Hello
Recently there was a collision of robot at my work. When we had checked the logs it said A1 master was done and when I checked the robots physical position and value in the kCp it was quite vague. Thus concluded operator has mastered the robot at incorrect position.I'm using a gantry robot with Kuka controller krc 2 ( external kinematics ). Is there a way by which I can prevent mastering at wrong location. I thought of providing a sensor at the X beam and only after receiving the sensor input robot's A1 axis could be mastered . How to lock the mastering facility this way ?
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I'm not an experienced programmer. I would like to learn more about the OPC server option in kuka is there any documentation about it ? Is it included in Parts n docs ? Please advice. Thanks
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Thank you all for the replies. The problem was with the robot's ESC CI3 tech card's K1 and K2 relays which are for the drives on. Either of the two replays were not picking caused the problem
Replaced it and now robot is safe and sound. Bad luck it didn't throw any error as such -
Yeah this time I compared it with the archive and found both are similar so you are right. Reload the drivers of what ? You mean the PC drivers ? Reboot the PC ? Can you elaborate please ? As I'm still stuck with the problem
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I was wrong the connector terminals 38 39 are linked with 50 & 51 . I'm facing the same problem again and couldn't recover from it yet.
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We are using safe robots and hence the inputs are used . I also wonder why those inputs drops and after rewriting the mada file it became fine. Does it have any relationship ?
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In order to perform mastering test or brake test I need to move the robot for which I need drives on enabled
Safe mode operation not possible is a common message which after acknowledge gets ok. My only concerns is the qualifying inputs, I'm not able to find out what are those inputs can you say what are those ? -
KRC V5.5.14
Error imageDiagnoses page shows Qualifying input in green and not ok status whereas in running robots its in red and ok status is present
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Also pressed reset button in ECS board no change even then
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I'm running a KR 150 in safe robot system. One of the robot stopped during normal operation (Auto ext mode) when checked drives on were not enabling( status ) and also safe mode operation not possible message was present. I tried following
1 checked X11 X40 for any loose contact ( both connectors are wired to Plc ) also changed KCP but no improvement.
2 changed kps 600 suspecting it to be faulty but no improvement.
3 changed Mfc card no improvement.
4 Reworte the mada file initially didn't work later changed from Cartesian to axis specific then on drives on enabled .
I'm not able to judge whether it's an issue with the mada file or some hardware problem as it may cause problem in the future. Can somebody let me know what else I need to check -
The system log gets overwritten once its buffer gets full isn't it ? Since I have like n number of commands sent to robot every min the lig buffer would get full very soon ? Correct me if Im wrong
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Following is my server's log
Code
Display More13/12/2014 22:03:28,355 kukacom Sent: ROB502DBT096GET#3553T1X31Y3Z0M28692N2690U0O99G99F10S6B928A6C0D1H1169I1009L1Q1W999V213P84J0K381&1(3)0 13/12/2014 22:03:28,733 kukacom: ReSent: ROB502DBT096GET#3553T1X31Y3Z0M28692N2690U0O99G99F10S6B928A6C0D1H1169I1009L1Q1W999V213P84J0K381&1(3)0 13/12/2014 22:03:29,077 kukacom Sent: ROB502DBT096CTR#3553T1L1 13/12/2014 22:03:29,418 kukacom Sent: ROB502DBT096PUT#3553T2X1Y302Z0M0N0U0O99G99F10S0B0A6C928D0H80I0L1Q3W999V213P0J0K381&0(3)0 13/12/2014 22:03:32,843 kukacom Recv: DBT096ROB502BGN#3553T1 13/12/2014 22:03:34,240 kukacom Recv: DBT096ROB502END#3553T1H9999G0E0P0J0K0 13/12/2014 22:03:34,573 kukacom Sent: ROB502DBT096CTR#3553T2L1 13/12/2014 22:03:34,961 kukacom: ReSent: ROB502DBT096CTR#3553T2L1 13/12/2014 22:03:35,742 kukacom Recv: DBT096ROB502TTI#3553T1X0Y0Z0A6646B0J0 13/12/2014 22:03:51,136 kukacom Recv: DBT096ROB502BGN#3553T2 13/12/2014 22:03:52,150 kukacom Recv: DBT096ROB502END#3553T2H0G0E0P0J0K0 13/12/2014 22:03:53,278 kukacom Recv: DBT096ROB502TTI#3553T2X0Y0Z0A17844B0J0
I just wanna know whether the Kuka controller has such a log for me to verify whether it had received the commands as you can see the Recv telegrams above.
And if you are talking about advance run pointer yep I know but I'm a beginner in programming.
Thanks
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Hello
I'm using a KRC2 kuka controller in KMC configuration for a gantry robot application. The robot runs in auto external mode and gets its movement commands through PLC via profibus in Message telegram packets. The telegrams are actually generated by the server which controls and maintains the inventory for the buffer in which the gantry works. The problem is the server actually created the telegrams and also got acknowledgement from robot but in real world robot hasn't executed the task given to it. My question is, does the controller logs all its messages which it gets from PLC if so where can I find it. Or it's upto the developer to create such a log in the controller ? Hope I had conveyed my question clearly
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Hello people
I have a KR150 L 120 and we found a mild oil leak from the A5 axis though there was no any collision at all with the neighbouring robot (safe robot configuration). I would like to know is there any way to check the healthiness of the gearboxes of all axis also is it necessary to change the gearbox of A5 alone. Currently the robot is around 4 years in production line.Thanks