Posts by eeleker
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I was in the field yesterday and checked the robot. The system repeated this error every 1.5-2 minutes, regardless of operating mode. I have almost completely renewed the X11 connection. I checked the entries on the card. But unfortunately there was no improvement. The only thing I noticed was this: When this error occurred, the 3rd and 4th LEDs on the KPS were glowing red. However, when I removed the XS2 socket or cut off the power of the ESC card, there was no change in these LEDs. Could this be a sign? I don't know.
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We started the robot in the morning and after working for about 5 minutes, it stopped giving the errors "208-Error in ESC safety loop", "1-EMERGENCY STOP", "20-External Emergency Stop Pressed". I'm currently undecided on which problem I should solve. When such an error occurred before, we sent the ESC card to the service, but it was sent back saying there was no problem.
I fixed it with the reset button on the ESC board. When I tried to run it again, it gave the same error again.
Should I be suspicious of KPS?
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Thank you for your reply "Skyefire".
We turned on the robot a few days later to try what he wrote, and the messages were no longer there. Even though we had turned it off and on intermittently before, the messages remained every time. But after a few days they disappeared. Isn't this weird? This is the situation that has come as a result of all the events that have happened. Anyway, tomorrow we will commission the robot for production in the morning and see what happens.
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Hi,
We experienced a series of problems after the power outage the other day. First, we detected that the "machine.dat" file was corrupted in the robot system. I refreshed this file from the backup system and made the "MASTER" settings again. After working for a while, the robot started to give "DRIVES ERROR ** No. TRIP" error on all axes. After these events, after turning the robot system on and off, the robot worked smoothly for a while. The next day, after the robot started working, "208-Failure in ESC safety loop", "1-EMERGENCY STOP" and "External Emergency Stop Pressed" errors appeared and the system stopped. When I turned the robot off and on again, there were now "1574-KRC system error 14 tLTC" and "1574-KRC system error tDebugTask" messages and the messages were not acknowledged. I turned the system on and off a few times normally and a few times by doing "Cold Start", but unfortunately nothing changed. Does anyone have an idea for a solution?
KRC2 KSS 4.1.7
KRC210 L150 (2003 Year)
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First of all, thank you for the time you spent to answer this question. I will give a logical answer to your comment about security later. However, there are a few things I don't understand about your answer to my question. Where will the subprogram you gave as an example run?
Will it be located in an "SPS" so that it can control the "T1" mode and the "EXT" mode?
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Hi,
In our project, we created a "Teaching Program" for the operator to determine some of the points used during external automatic operation. In the teaching program, the robot manipulator positions itself near the point to be taught and closes the program (with "HALT"). Then, the operator puts the robot in "T1" mode, takes a suitable position relative to the product, and then puts it back in "EXT" mode to run the program. As soon as the robot program starts working again, it saves its current position in a variable and continues this cycle by going to the other area for the next determined position. However, after switching from "T1" mode to "EXT" mode and the program runs, the manipulator naturally moves to the last point when the previous "EXT" mode was turned off, and this is not a movement approach we want. For us, it needs to move in a positive direction at a certain distance perpendicular to the selected "BASE" area and then go to the last point where it was closed in the previous "EXT" mode. I tried many variations for this, including "SPS". For example, I tried to move the robot to the desired position by braking by triggering an "INTERRUPT" on the "SPS" side, but I saw that the program was not in "RUN" mode when returning to the previous position and naturally, "INTERRUPT" was of no use.
Finally, I reviewed the questions and answers asked about this issue in the forum. However, I could not find the appropriate answer to my problem. Is there a way I can program or cancel this rotation movement of the robot? By the way, the program should not be reset. Because there are five points that need to be introduced.
(KUKA KRC4 KSS 8.3.21)
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Today it also gave the following error twice. Then the error is gone. It has never given this error before. Fans are working, no abnormality. Is KPS the source of all the problems?
"1064 - Ackn.: over temperature fan PM1"
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How are the safeties wired?
Only one external emergency stop button is connected to the connector in the safety cable group. When I check it, it seems to be working. Of course, if these are the cables you're talking about. But if the contact drops as a result of a voltage drop, I did not analyze it. But in my first test, I'm thinking of starting the robot by short-circuiting the external emergency stop cables.
"Mode Change" could be caused by a faulty keyswitch (is the T1/T2/AUT/EXT switch located on the KCP or the KRC2?).
The mode switch is in KCP (there are only T1/EXT modes in KCP since it is a WV robot). I don't think the mode switch is faulty because as I mentioned in my first post, the mode change error came after 3-4 days. But there may be a problem with the KCP cable.
However, it could also be caused by loose wiring on the X11 connector. The power for the ESC board routes through the X11, and a loss of that power can cause the Mode to change to "?", the Unknown Operation Mode.
I checked X11 and other connectors. In fact, when I first checked, I found that a cable was loose in the terminal and fixed it. But I'll check again, there might be a cable I skipped. By the way, as you mentioned, the mod "?" becomes unknown.
The fact that this occurs at the same time as an External E-Stop Error suggests to me the issue is ESC power. Loss of power to the ESC would cause those relays to fall open, which would be indistinguishable from an actual external E-Stop.
Could KPS be the reason for the power loss of the ESC you mentioned in the last paragraph? I have no information because I did not look at the electrical project of the KRC controller. Does the ESC board get power from KPS?
Finally, when I entered the "Safety Circuit Diagnosis" screen, I saw the following errors in the error field. Also, I saw "Communication error at node 2" and "Bytetimeout at protocol reception" statements in the definition section.
"Communication error 0"
"Communication error 2"
"Communication error 3"
"Communication error 6"
"General error 4"
"General error 7"
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Hello,
We have a (V)KRC2 KR210-L150 robot that we installed before. The robot was not working for a long time due to lack of work. About 3-4 hours after turning on the robot to work the other day, the errors I mentioned below occurred. I reset the ESC card from the button on it and it started working again. But after 3-4 hours, the same errors came again and the robot stopped. There was no "1362-STOP due to operating mode change" error among the errors I mentioned below, it started to come today. I checked the cables in the sockets on the ESC board and fixed what I found to be loose. But it still keeps giving the same errors. I started to suspect KCP after the error "1362-STOP due to operating mode change" came up today. Where should I look for the error?
"208-ESC Failure in ESC safety loop"
"1-EMERGENCY STOP"
"20-External Emergency Stop Pressed"
"1362-STOP due to operating mode change"
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Hi,
The service was unable to detect any errors in the products. Later they said they would replace the components of both units one by one. We decided to start with KPS first. KPS arrived 4 days ago and I assembled it. We opened and checked every day morning and evening and there is no problem at the moment. I will start the programs on Monday morning. Thank you to everyone who replied and helped. I'll let you know here if anything changes.
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I agree with you. I assume it's probably a KPS error. Today I left KPS and computer for service just in case. After repair and testing they will deliver it to me. I will share the result here.
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Yes true. driver errors appear on first boot and are not acknowledged. After these errors, when I cut the power, the system does not turn off using the battery. It shuts down instantly without delay. I also just changed the batteries and checked under load. I also checked the cables with the tester.
The robot does not cause any problems during the day, that is, in 5-minute shutdowns. However, it continues to give these errors when it is closed at the end of the working hours and opened after about 12 hours.
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Hi,
Recently my Kuka krc2 robot started giving errors. When I turn on the robot in the morning, the following errors occur.
245-Servo Bus disturbance DSE 1
121-Over Current A2
216-DRIVES ERROR A3 No. 16
216-DRIVES ERROR A4 No. 17
216-DRIVES ERROR A5 No. 16
121-Over Current A6
246-Servo bus disturbance DSE 1, no buffering and automatic data stroge possible
*At different times, the error codes related to the above axes are replaced with each other.
These errors cannot be confirmed. When I turn off the robot, the computer does not turn off from the battery. When I open it again, this time the following errors appear.
223-Power module axis 1 not or wrongly plugged.
223-Power module axis 2 not or wrongly plugged.
223-Power module axis 3 not or wrongly plugged.
223-Power module axis 4 not or wrongly plugged.
223-Power module axis 5 not or wrongly plugged.
223-Power module axis 6 not or wrongly plugged.
28-Drivebus DSE 1 participant No 1 does not exist.
When I turn it off and on again, this time the following errors appear.
106-Perform mastering A1
106-Perform mastering A2
106-Perform mastering A3
106-Perform mastering A4
106-Perform mastering A5
106-Perform mastering A6
When I take it in for service everything seems normal. The error does not occur when they connect the devices individually to another controller. But when I install it on my own robot, when I turn it off in the evening and turn it on in the morning, the same malfunctions occur. But after mastering, there is no problem in turning it on and off for a short time during the day. Can you please help me?