Posts by vineeee

I know that but:

It seems program need to be compiled and decompiled " ASCII ". If i read right Nachi CFD controller has 64KB file size limit for program. I have controller from year 2016, i can not believe these numbers, if the number be 100 times higher it still not be much, but 64 KB that is from year 1980. Very disappointing.

Have exactly same problem. Will tray knnklnc solution.

Hello,

I'm a beginner, I have a CFD controller and a MZ07L robot arm. I would like to know if it is possible to edit a program on a PC, for example in Notepad++. As shown in the picture, if I open the file that I downloaded from the controller, it is distorted (encoded). Nicely readable on the left side, distorted on the right. Or maybe someone knows how I have to "code" it in one and the other direction..

I hope I was clear enough. Any comments would be greatly appreciated. Thanks in advance!

Thank you!

Short videos in teach and repeat mode.

Teach mode

Repeat mode

You are the man kwakisaki. Problem solved.

Explanation of solution in my case.

First i study I/O on X204 and shorted pins:

2-15

3-16

4-17

5-18

6-19

7-20

11-24

12-25

X206 not touching (all open)

and all working on repeat mode. On Teach mode i got error 1334.

I'm a bit disappointed that the c70 External I/O manuals doesn't say under this error that you need to look at how the X206 is set up.

Now solution:

Short pin X206

2-10

3-11

"external trigger disabled"

Now thanks to kwakisaki i have fully working Kawasaki robot

Quote from kwakisaki

If you have a brake release box, that will certainly help until the teach issue is resolved.

First time i hear about break release box. How is look like, how is working?

I manage to do approximately zero-ing.

I am still with my first problem. Can't move robot in teach Mode.

I open side panel to look at two relays. They both of them engaged when i run program in repeat mode (engage one relay at motor power on and when start program engage second relay).

When tray to use Teach mode, listen carefully and hear that no relay is activated, not even when I "successfully start the motor power up-light orange lamp", when i push engage button throw known error. No relay sound at all in Teach Mode.

Is there any relays exclusive for teach mode? (not using in repeat mode) If yes, where located ?

Thank you!

Maybe i was writing a little confusion.

As i say i not have a lot of experiences with robot, some with Kuka and some with Nachi. But first time use any Kawasaki robot.

I did not test Automatic mode before.

When i run test program (1 line program -> move to home position) robot moves to home command. And robot arm make collision, because all axes are completely unset (not zero-d).

Now i study a little more and now i can change programs on tech pendant, and i also found good command to move just one axis at a time with low speed. DRIVE (joint, degree, speed) example DRIVE 2,-5,5. Moving axles slowly running program (1 line program) multiple times. I couldn't watch the axles hit and had to study to at least move each axle out of that state

I have some problems with 6th axle because is only one sticker (for zeroing) left on that axle, any idea hot to find reference point ?

Of course I'm interested in fixing Teaching mode. But i am very glad to move robot at least in automatic mode.

Robot moves in automatic mode. I tray test program with only home line. And home was . No correct home, no software limit,.. collision . Any idea how to move robot to right direction without teach mode. How to re-zero robot in automatic mode? Impossible..

If robot moves, maybe some new idea what is wrong with teach mode is there separate relay line for teach mode?

Thank you

Quote from kwakisaki

The errors you are receiving are all tied in with safety circuits, so could be bad wiring to, so please check X204 is correct with external IO manual configurations for C70 and X204 configurations.

If x204 is not correct configured i can not get so far to enable motor on. I read instruction several times and make short circuit after reading.

Quote from kwakisaki

I cannot give 100% assurance, but weak point for aging on these controllers is main safety relays located on 1HK board.

Where i can find these relays. Which board is HK?

Thank you

kwakisaki

Where i can find?

1HP dipswitch and jumper settings

Fuses in 1HP all 3 are ok. I can't find any switches on this board? One jumper jp1 and nothing else one red button (i read if i am correct pressed only when i am doing initialization after change of boards apply configuration).

Now X204 i shorted to get running according to manual (bypass safety...).

On back of the controller i think is 1GB PC Board (Servo Board).

kwakisaki Thank you for your help and time.

I am quite new to robotics, but i hungry to learn more.

I like to resolve which board is which.

I think from up to down on picture it is mark as:

1.) 1GA

2.) 1HP

3.) SLOT3 in my case communications with external devices (external I/O) i think

I hope that i am right.

Hello everyone,

i have bought used robot FS03N with controller c70f (condition unknown at sale).

I changed manipulator battery. Then their is no error on boot, i can turn motor power on. When i tray to move manipulator i get 1334 error

Error code : -1334

MFP : Servo control line error.

I read all manuals which i can find for this controller. I found two error explanation:

1.)

Error code : -1334

MFP : Servo control line error.

Message kind : Error Manual division : Standard

Error processing : Motor OFF Error reset : Possible

Error logging : YES

Content:

Information of having done the demand of the brake open (It is not brake opening

confirmation) does not return within the fixed time (2 seconds) according to the command

line communication from the servo board even if servo control ON (SVCN) signal is sent from

the AS software to the servo board (1GB PC Board etc.) through the register of EPLD on

the power sequence board (1HP PC Board etc.).

l C4X,C70 Controller

Main cause:

· Defect of the power sequence board.

· Defect of the servo board.

· Defect of the harness between the power sequence board and servo board.

Measure:

· Exchange the power sequence board and the servo board, etc.

2.)

ERROR CODE -1334 Servo control line error.

Brake open command is not returned within 2 seconds when the servo control on

(SVCN) signal is sent from the AS software to the servo board (1GB) through the EPLD

register of the power sequence board (1FP/1HP). Main causes include:

1. Defect in the 1FP/1HP power sequence board.

2. Defect in the 1GB servo board.

3. Incorrect 1GB board dip switch settings.

4. Defect in the harness between the two boards. (XGB-CN1↔XHZ-CN4)

5. Defect in the harness between the 1GC/1GD power block and K3 contactor.

(X1SA↔MS, X1-SA↔XGC/XGD-CN10/CN12)

6. Defect in the harness between the 1GB servo board and the 1GC power block.

(XGB-CN12↔XGC/XGD-CN8, XGB-CN13↔XGC/XGD-CN9)

7. Defect in the 1GC/1GD power block.

⇒

Repair or Replace harnesses as needed.

⇒

Exchange the power sequence board and the servo board, etc.

Check 1GB board dip switch settings.

____________________________________

As we all know controller c70 is out of support. I have complete robot in very good condition (robot arm, controller, cables, TP).

Can anyone advice me?

1.) Can this be fixed (low cost up to 200 EUR/USD)

On ebay i can buy used one of possible two cards which are preferred to be damaged (50999-1692R23 or 50999-1599R10).

I can dig deep on ebay and find one of them for about 200 EUR/USD shipped to my country.

2.) Sell working parts to cover my cost of buying it.

If i choose option 1 which my heard like to do, i must be sure that will solve my problem. I can't afford to buy two or more boards.. I must find which board is defective and buy only this one. Here i need help if you advice me to tray to repair.

If not complete robot will gone, some parts will be sold and some working parts will be discarded..

Any schematic of boards will be very good if anyone can share (if i have this, maybe i can repair board locally). First of all i need to know which board is broken.

Thank you all

Hi

i am newbie to robotics. I am asking you if anyone tell me where i can read more about configuration two KRC2 files (MenueKeyUser.ini or MenueKeyKuka.ini).
I need to know syntax and meaning of certain parameters.

Example few lines;

mpMessPunkte            = MonitorCalibrationPts,,     ,         ,POPUP,mMessPunkte
miZusatzlast            = SetupA3LoadData,  5000, HMI , MEASUREMENT;60
miFehlerGrenzen         = SetupErrorBounds, 5000, HMI , MEASUREMENT;80,,,20
miFOURPOINT_TOOL        = SetupToolXYZ4P,   5000, HMI , MEASUREMENT;20

I think is like left to right;
german name of parameter = english name of parameter,
not know, what mean "," or number "5000" is "," wildcard for any think or not defined ?
not know, what mean "HMI"
not know, what is after ";" eg. ;60 maybe user level ? (which levels are available) user, expert, admin? but sometimes is like eg. ;80,,,20 ?? i totally confused

Thank you anyone for helping me understand this.

Here two pictures of cabinet label and controlPC:

It seems like KRC2?

Hi,

here i have two more pictures. On the door is written KRC 2

But inside it seem a little older equipment.

Hi all

i have one question about compatibility of kuka kabinet, teachpendant and kuka control PC.

So far, I thought that everything must be the same (exampel KRC2 cabinet, KCP2 teachpendant, control PC same generation with different configuration RAM, ..).

But today I saw an example when was connected the (V)KRC1 teachpendant to the KRC2 cabinet.
Type of teachpendant connected to KRC2 cabinet was 00-105-201 KPC Krc1

Can anyone tell me where i can find compatibility list teachpendant-cabinet-control PC ?
Thank you!

Hello

as panic mode write it, do not use special characters in file name. You have drawings_ do not use _ , use only letters and numbers.
I am new to robotics and i have exact the same problem..