Posts by ManMan88
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Hi everyone,
We're using a kr10 r1100-2, with KRC4 Compact, KSS 8.5.8 and RSI 4.0.9.
Our system works with auto_ext, where the main computer controls which krl programs runs each time.
One of the programs, allows to choose which rsi file to load and then enters the RSI_MOVECORR mode.
The rsi diagram contains a stop block which command to exit the RSI_MOVECORR mode. This stop block is triggered from a channel in the Ethernet block.
Usually, everything works perfectly fine. But once in a while (could be several hours), the following error appears:
Error KSS29002 - Object Stop_1 returns error RSIBad (Stop_1 is the stop object I was talking about).
It does happen at the same krl line every time, but as I said, it just happens sometimes with no appearing reason.
The code looks like the following:
Code
Display MoreSwitch $SEN_PINT[4] Case 0 ; relative cartesian ; Create RSI Context GLOB_RSI_RET = RSI_CREATE(RSI_TOOL_CART_FILE_NAME[],GLOB_CONTID,TRUE) IF (GLOB_RSI_RET <> RSIOK) THEN HALT ENDIF ; Start RSI execution GLOB_RSI_RET = RSI_ON(#RELATIVE) IF (GLOB_RSI_RET <> RSIOK) THEN HALT ENDIF Case 1 ; relative joint ; Create RSI Context GLOB_RSI_RET = RSI_CREATE(RSI_JOINT_FILE_NAME[],GLOB_CONTID,TRUE) IF (GLOB_RSI_RET <> RSIOK) THEN HALT ENDIF ; Start RSI execution GLOB_RSI_RET = RSI_ON(#RELATIVE) IF (GLOB_RSI_RET <> RSIOK) THEN HALT ENDIF Case 2 ; absolute cartesian ; Create RSI Context GLOB_RSI_RET = RSI_CREATE(RSI_BASE_CART_FILE_NAME[],GLOB_CONTID,TRUE) IF (GLOB_RSI_RET <> RSIOK) THEN HALT ENDIF ; Start RSI execution GLOB_RSI_RET = RSI_ON(#ABSOLUTE) IF (GLOB_RSI_RET <> RSIOK) THEN HALT ENDIF Case 3 ; absolute joint ; Create RSI Context GLOB_RSI_RET = RSI_CREATE(RSI_JOINT_FILE_NAME[],GLOB_CONTID,TRUE) IF (GLOB_RSI_RET <> RSIOK) THEN HALT ENDIF ; Start RSI execution GLOB_RSI_RET = RSI_ON(#ABSOLUTE) IF (GLOB_RSI_RET <> RSIOK) THEN HALT ENDIF Default ; Create RSI Context GLOB_RSI_RET = RSI_CREATE(RSI_TOOL_CART_FILE_NAME[],GLOB_CONTID,TRUE) IF (GLOB_RSI_RET <> RSIOK) THEN HALT ENDIF ; Start RSI execution GLOB_RSI_RET = RSI_ON(#RELATIVE) IF (GLOB_RSI_RET <> RSIOK) THEN HALT ENDIF EndSwitch TRIGGER WHEN DISTANCE=1 DELAY=0 DO $SEN_PINT[1] = 1 TRIGGER WHEN DISTANCE=1 DELAY=0 DO $SEN_PINT[2] = 1 LIN_REL {X 0} RSI_MOVECORR()
The error is pointing on the LIN_REL {X 0} line.
The reason I'm using
CodeTRIGGER WHEN DISTANCE=1 DELAY=0 DO $SEN_PINT[1] = 1 TRIGGER WHEN DISTANCE=1 DELAY=0 DO $SEN_PINT[2] = 1 LIN_REL {X 0}
and not just:
Is because the second one is not working well, and I found the first one to work well.
What does the RSIBad means? That the stop object expects a boolean value and gets a different value?
I can't understand why it only happens once in a while when working repetitively executing the exact same programs.
I would appreciate any help.
Thanks!
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I deleted this post but for some reason it wasn't deleted.
I already figured out how to accomplish what I was looking for from the manual, I will test it tomorrow.Thanks for the answer anyway. I will keep the post for the public use.
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Hi,
I'm using KUKA kr10 1100sixx with compact krc4 running kss 8.3.35
I'm trying to define a mathematically coupled 7th axis.
I just got a drive box for an additional axis and it's connected to an external KUKA motor. (which is connected to the linear axis)The mechanical system is custom made - it's a vertical linear axis which the kuka robot is mounted on.
I want to create a mathematically coupled system (the kuka with the 7th axis), however I'm having difficulties.KUKA's support suggested to start with the KL100 in the configuration and continue from there.
However, the KL100 is a horizontal axis and I couldn't find how to change it's kinematics.
I also tried adding KukaDriverKinematics with the corresponding motor I have, but I also couldn't find any option to define the kinematics.Is it possible to define a mathematically coupled kinematic system with a custom vertical liner axis (kuka does not have vertical axes)?
If so, can you guide me how it can be done?by the way, I read the entire Configuration of Kinematic Systems documentation and couldn't find an answer.
Thanks!
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Hi Everyone,
We're looking for a solution for a 7th linear axis for our kuka (KUKA kr10 1100sixx with compact krc4 running kss 8.3.35).
We want to use a servo motor controlled by a servo drive and let the KRC4 to control this drive (so we will be able to create synced motion).
I read this post: https://www.robot-forum.com/robotforum/kuk…85886/#msg85886
But I'm still not sure about the answer to my question -> Does KRC4 support Beckhoff's ax5000 servo drive family through EtherCAT communication?
I heard that KUKA's electronics hardware is made by Beckhoff and that it should work, but it's just an assumption.Did any one tried to pull it off?
(We are also trying to figure it out with KUKA's support, but it takes to much time with them).Thanks!
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I was able to find a solution .
Apparently the problem is that I use RSI with relative Cartesian correction.
This correction is accumulated and applied to each motion command given to the controller.
Then, when a PTP motion is issued, I guess the controller ignores it, and instead commands the robot to move to the corresponding Cartesian position plus the accumulated RSI correction.I tried using RSI_OFF and then RSI_ON in order to initialize to 0 the accumulated correction, but it did not solve it for me (I think it should).
However, the way I solve it is using RSI_OFF, then issue the PTP motion, and then reactivating the RSI with RSI_ON.
For example:CodeGLOB_RSI_RET=RSI_OFF() IF (GLOB_RSI_RET <> RSIOK) THEN HALT ENDIF PTP change_wrist GLOB_RSI_RET=RSI_ON(#RELATIVE) IF (GLOB_RSI_RET <> RSIOK) THEN HALT ENDIF
Many thanks to anyone who took the time to help!
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I had some time today to try and simple down the problem.
I found out the if I don't use the line:The problem disappears. But I must use this feature, so I need to find some solution.
I'll try using some other RSI commands (maybe RESET?) to solve it.I'll update later with a detailed short program that reproduces the problematic behavior.
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I have some more information that I've just noticed.
During the described motion, A5 starts with -3.45 and during the motion it approach the value of 0 (where A4 and A6 spins fast) but then moves to the negative side again towards -23.44.
It seems to behave just as a LIN motion, but the velocity is controlled by VEL_PTP
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Quote
Post photo of robot in both standard cannon position {A1 0, A2 -90, A3 90, A4 0, A5 0, A6 0},
and palletizer position [/size]{A1 0, A2 -90, A3 90, A4 0, A5 0, A6 0}did you mean: palletizer position [/size]{A1 0, A2 -90, A3 90, A4 0, A5 90, A6 0} ?
attached are the images
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Quote
Are axis 4 and 6 set to endless? In this case the controller runs axis 4 and 6 to move minimal axis distances using a shortest path rule.
How can I check it?I'll explain better the problem and how to reproduce it (it's long - BOTTOM LINE AT THE END OF THIS REPLY).
As I mentioned earlier, this behavior happens for several cases, here I give an example just for one.Attached are the files which are in MADA folder, I did not change them.
I start by running cell.src:
Code
Display More&ACCESS RVP &COMMENT HANDLER on external automatic DEF CELL ( ) ;EXT EXAMPLE1 ( ) ;EXT EXAMPLE2 ( ) ;EXT EXAMPLE3 ( ) ;FOLD INIT DECL CHAR DMY[3] DMY[]="---" ;ENDFOLD (INIT) ;FOLD BASISTECH INI GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( ) INTERRUPT ON 3 BAS (#INITMOV,0 ) ;ENDFOLD (BASISTECH INI) ;FOLD CHECK HOME $H_POS=XHOME1 IF CHECK_HOME==TRUE THEN P00 (#CHK_HOME,#PGNO_GET,DMY[],0 ) ;Testing Home-Position ENDIF ;ENDFOLD (CHECK HOME) ;FOLD PTP HOME Vel= 100 % DEFAULT;%{PE}%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:HOME, 3:, 5:100, 7:DEFAULT $H_POS=XHOME1 PDAT_ACT=PDEFAULT BAS (#PTP_DAT ) FDAT_ACT=FHOME BAS (#FRAMES ) BAS (#VEL_PTP,100 ) PTP XHOME1 ;ENDFOLD ;FOLD AUTOEXT INI P00 (#INIT_EXT,#PGNO_GET,DMY[],0 ) ; Initialize extern mode ;ENDFOLD (AUTOEXT INI) ; INIT RSI AND EKI init_rsi() init_eki() eki_interrupt() clear_camera() LOOP P00 (#EXT_PGNO,#PGNO_GET,DMY[],0 ) SWITCH PGNO ; Select with Programnumber CASE 0 P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request pick_tool(safe_pos_tool1, change_wrist1, approach_tool_fast1, approach_tool_slow1, take_out_tool1, rotate_tool1, safe_pos_tool_ax11) ; Call User-Program CASE 1 P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request pick_tool(safe_pos_tool2, change_wrist2, approach_tool_fast2, approach_tool_slow2, take_out_tool2, rotate_tool2, safe_pos_tool_ax2) ; Call User-Program CASE 2 P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request pick_tool(safe_pos_tool3, change_wrist3, approach_tool_fast3, approach_tool_slow3, take_out_tool3, rotate_tool3, safe_pos_tool_ax3) ; Call User-Program CASE 3 P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request return_tool(safe_pos_base1, return_switch_wrist1, approach_base_fast1, approach_base_slow1, pull_up1, safe_pos_base_ax1) ; Call User-Program CASE 4 P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request return_tool(safe_pos_base2, return_switch_wrist2, approach_base_fast2, approach_base_slow2, pull_up2, safe_pos_base_ax2) ; Call User-Program CASE 5 P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request return_tool(safe_pos_base1, return_switch_wrist1, approach_base_fast1, approach_base_slow1, pull_up1, safe_pos_base_ax1) ; Call User-Program CASE 6 P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request spray_wall() ; Call User-Program CASE 7 P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request scrape_wall() ; Call User-Program CASE 8 P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request ;pick_tool() ; Call User-Program DEFAULT P00 (#EXT_PGNO,#PGNO_FAULT,DMY[],0 ) ENDSWITCH ENDLOOP END
the init_rsi and init_eki and eki_interrupt programs are attached.
this is the clear camera program:
Code
Display More&ACCESS RV1 DEF clear_camera ( ) DECL POS clear_position ;FOLD INI ;FOLD BASISTECH INI GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( ) INTERRUPT ON 3 BAS (#INITMOV,0 ) ;ENDFOLD (BASISTECH INI) ;FOLD USER INI ;Make your modifications here ;ENDFOLD (USER INI) ;ENDFOLD (INI) ; Move to start position ;PTP {A1 0, A2 -90, A3 90, A4 0, A5 90, A6 0} clear_position = {X 241.6, Y 14.46, Z 508.24, A 180.0, B 0.0, C 180.0} BAS(#VEL_CP, 0.15) LIN clear_position END
Now I call program num 4 -
Codereturn_tool(safe_pos_base2, return_switch_wrist2, approach_base_fast2, approach_base_slow2, pull_up2, safe_pos_base_ax2)
the values of these passed vars are:
Quote&ACCESS RV1
DEFDAT return_tool PUBLIC
DECL GLOBAL POS safe_pos_base2={X 450.0,Y 200.7,Z 368.24,A 180.000,B 0.0,C 180.000}
DECL GLOBAL AXIS return_switch_wrist2={A1 -29.5, A2 -50.6, A3 139.6, A4 20.86, A5 -3.45, A6 -98.05}
DECL GLOBAL POS approach_base_fast2={X 360,Y 206.0,Z 109.17,A 132.31,B -1.37,C 179.50}
DECL GLOBAL POS approach_base_slow2={X 300,Y 206.0,Z 109.17,A 132.31,B -1.37,C 179.50}
DECL GLOBAL POS pull_up2={Z 130.000}
DECL GLOBAL AXIS safe_pos_base_ax2={A1 -24, A2 -65.25, A3 130.3, A4 -3, A5 23, A6 -24.21}
ENDDATThe return_tool program is:
Code
Display More&ACCESS RV1 DEF return_tool (safe_pos_base:IN, return_switch_wrist:IN, approach_base_fast:IN, approach_base_slow:IN, pull_up:IN, safe_pos_base_ax:IN) DECL POS safe_pos_base, approach_base_slow, approach_base_fast, pull_up DECL AXIS return_switch_wrist, safe_pos_base_ax ;FOLD INI ;FOLD BASISTECH INI GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( ) INTERRUPT ON 3 BAS (#INITMOV,0 ) ;ENDFOLD (BASISTECH INI) ;FOLD USER INI ;Make your modifications here ;ENDFOLD (USER INI) ;ENDFOLD (INI) BAS(#VEL_CP, 0.2) BAS(#VEL_PTP, 15) ; go to tool 1 approach position LIN safe_pos_base PTP return_switch_wrist LIN approach_base_fast BAS(#VEL_CP, 0.1) TRIGGER WHEN DISTANCE=1 DELAY=0 DO $SEN_PINT[2] = 1 ; tell ROS that ready for move_corr TRIGGER WHEN DISTANCE=1 DELAY=0 DO $SEN_PINT[1] = 1 ; activate rsi_correction LIN approach_base_slow ; start move correction -> ROS CONTROL ; In this process, the robot connects to the tool RSI_MOVECORR() ; The tool is connected to the robot, take it out TRIGGER WHEN DISTANCE=1 DELAY=0 DO $SEN_PINT[1] = 0 ; deactivate correction BAS(#VEL_CP, 0.1) LIN_REL pull_up BAS(#VEL_PTP, 4) PTP return_switch_wrist $SEN_PINT[2] = 0 END
This program perform as I would expect (however, I can reproduce the behavior here if I replace PTP return_switch_wrist with PTP safe_pos_base_ax)
Now, I run program number 0:
Codepick_tool(safe_pos_tool1, change_wrist1, approach_tool_fast1, approach_tool_slow1, take_out_tool1, rotate_tool1, safe_pos_tool_ax11)
these are the values of the vars:
Code
Display More&ACCESS RVO1 &REL 5 DEFDAT pick_tool PUBLIC DECL GLOBAL POS safe_pos_tool1={X 450.000,Y -200.700,Z 368.240,A 131.540,B 0.0,C 180.000} DECL GLOBAL AXIS change_wrist1={A1 41.4800,A2 -50.9000,A3 152.200,A4 -6.70000,A5 -10.3000,A6 -54.2600} DECL GLOBAL POS approach_tool_fast1={X 225.00,Y -179.0,Z 155.000,A 77.7000,B -1.00000,C 179.700} DECL GLOBAL POS approach_tool_slow1={X 225.00,Y -179.0,Z 135.000,A 77.7000,B -1.00000,C 179.700} DECL GLOBAL POS take_out_tool1={X 430.000} DECL GLOBAL AXIS rotate_tool1={A6 90.0000} DECL GLOBAL AXIS safe_pos_tool_ax11={A1 26.0000,A2 -69.6000,A3 136.100,A4 -1.00000,A5 23.4400,A6 26.0300} ENDDAT
This is the pick_tool program:
Code
Display More&ACCESS RVO1 &REL 5 DEF pick_tool (safe_pos_tool:IN, change_wrist:IN, approach_tool_fast:IN, approach_tool_slow:IN, take_out_tool:IN, rotate_tool:IN, safe_pos_tool_ax:IN) ; decl vars DECL POS safe_pos_tool, approach_tool_fast, approach_tool_slow, take_out_tool DECL AXIS change_wrist, rotate_tool, safe_pos_tool_ax ;FOLD INI ;FOLD BASISTECH INI GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( ) INTERRUPT ON 3 BAS (#INITMOV,0 ) ;ENDFOLD (BASISTECH INI) ;FOLD USER INI ;Make your modifications here ;ENDFOLD (USER INI) ;ENDFOLD (INI) BAS(#VEL_CP, 0.2) BAS(#VEL_PTP, 0.1) ; go to tool 1 approach position PTP safe_pos_tool_ax ;LIN safe_pos_tool PTP change_wrist LIN approach_tool_fast BAS(#VEL_CP, 0.1) TRIGGER WHEN DISTANCE=1 DELAY=0 DO $SEN_PINT[1] = 1 ; activate rsi_correction TRIGGER WHEN DISTANCE=1 DELAY=0 DO $SEN_PINT[2] = 1 ; tell ROS that the robot isready for move_corr LIN approach_tool_slow ; start move correction -> ROS CONTROL ; In this process, the robot connects to the tool RSI_MOVECORR() ; The tool is connected to the robot, take it out BAS(#VEL_CP, 0.04) TRIGGER WHEN DISTANCE=1 DELAY=0 DO $SEN_PINT[1] = 0 ; deactivate correction LIN take_out_tool TRIGGER WHEN DISTANCE=1 DELAY=0 DO $SEN_PINT[2] = 0 ; BAS(#VEL_PTP, 5) PTP safe_pos_tool_ax ;$CP_VEL_TYPE = #VAR_ALL BAS(#VEL_CP, 0.15) LIN safe_pos_tool END
The weird behavior occurs at the beginning, with: PTP safe_pos_tool_ax
#############################################################
BOTTOM LINE: THE PROBLEM THAT OCCURS:
#############################################################
I move with PTP from:
which gives the position ~=to:
which should give the position of: ~=
(Note, I set #VEL_PTP 0.1 because the robot stops due to a4 crossing max vel if it's moving faster(because of singularity?!?!))WHAT HAPPENS IS:
The robot move to:
and the position is: ~=it means that it rotates A4 -180deg and A6 +180 deg, and it is doing it very fast, as if it is crossing a singularity point with LIN motion
well, that's it. I really appreciate your help!
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I apologise for not being consistent, this problem occurs for few different motions.
I'll post tomorrow an organized explanation of everything.
Thank you for your help.
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I would add that this happens in programs which are called from the cell.prg during auto ext mode.
In this programs I don't call the usual module init statements (as ir_stomp or initmov for example if I remember correctly) -
I'll need to check it tomorrow, but as I remember, for example, moving from:
{A1 41.4800,A2 -50.9000,A3 152.200,A4 -6.70000,A5 -10.3000,A6 -54.2600}
to:
{A1 26.0000,A2 -69.6000,A3 136.100,A4 -1.00000,A5 23.4400,A6 26.0300}would end with A4 179 and A5 -23.44 (maybey A6 is also different, and all the rest is the same)
As I understand, A5<0 and A5>0 are different STATUS. But for some reason the robot persists on A5<0 in this example.
Can it be a bug in KUKA's software?
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Hi,
I'm using a KUKA kr10 1100sixx with compact krc4 running kss 8.3.35.I'm having a really tough time with this problem.
I know from other robots (not kuka) that when PTP AXIS (AXIS is the AXIS type defined in KUKA), the robot should go explicitly to the angles I tell it for each joint.
However, sometimes, when I issue PTP AXIS in a middle of a program (usually in order to change the wrist position (a5 >0 to a5<0 for example) it moves in such a way to preserve the STATUS of the previous position.
It ignores the exact a is valus I give, and instead move to the position resulted from the axes I sent, but with different axes valus to keep the STATUS.It's driving me nuts
I tried using PTP POS with different STATUS and TURN values, nothing works! The robots persist in keeping the last STATUS (a5 >0 to a5<0 for example).
All I just want is to PTP AXIS to work properly -> move each axis to the exact location It's given.
Does anyone know how to solve it?
Thanks!!!
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I don't have a function AUTO_EXT_DATA_EXCHANGE, that's one of strange things. I guess it's something that runs in the background.
I also suspect it relates to EKI.
I'll check your suggestions and report
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sorry, I dropped a 3. It is kss 8.3.35.
This is my cell.src:
Code
Display More&ACCESS RVO &COMMENT HANDLER on external automatic DEF CELL ( ) ;FOLD INIT DECL CHAR DMY[3] DMY[]="---" ;ENDFOLD (INIT) ;FOLD BASISTECH INI GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( ) INTERRUPT ON 3 BAS (#INITMOV,0 ) ;ENDFOLD (BASISTECH INI) ;FOLD CHECK HOME $H_POS=XHOME1 IF CHECK_HOME==TRUE THEN P00 (#CHK_HOME,#PGNO_GET,DMY[],0 ) ;Testing Home-Position ENDIF ;ENDFOLD (CHECK HOME) ;FOLD PTP HOME Vel= 100 % DEFAULT;%{PE}%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:HOME, 3:, 5:100, 7:DEFAULT $H_POS=XHOME1 PDAT_ACT=PDEFAULT BAS (#PTP_DAT ) FDAT_ACT=FHOME BAS (#FRAMES ) BAS (#VEL_PTP,100 ) PTP XHOME1 ;ENDFOLD ;FOLD AUTOEXT INI P00 (#INIT_EXT,#PGNO_GET,DMY[],0 ) ; Initialize extern mode ;ENDFOLD (AUTOEXT INI) ; INIT RSI AND EKI init_rsi() init_eki() eki_interrupt() clear_camera() LOOP P00 (#EXT_PGNO,#PGNO_GET,DMY[],0 ) SWITCH PGNO ; Select with Programnumber CASE 0 P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request pick_tool(approach_tool1, take_out_tool1, safe_pos_tool1) ; Call User-Program CASE 1 P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request pick_tool(approach_tool2, take_out_tool2, safe_pos_tool2) ; Call User-Program CASE 2 P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request pick_tool(approach_tool3, take_out_tool3, safe_pos_tool3) ; Call User-Program CASE 3 P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request return_tool(approach_base1, pull_up1, safe_pos1) ; Call User-Program CASE 4 P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request return_tool(approach_base2, pull_up1, safe_pos1) ; Call User-Program CASE 5 P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request return_tool(approach_base3, pull_up1, safe_pos1) ; Call User-Program CASE 6 P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request prog1() ; Call User-Program CASE 7 P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request prog2() ; Call User-Program CASE 8 P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request prog3() ; Call User-Program DEFAULT P00 (#EXT_PGNO,#PGNO_FAULT,DMY[],0 ) ENDSWITCH ENDLOOP END
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I'm using a KUKA kr10 1100sixx with compact krc4 running kss
8.35edit: 8.3.35.I read in some other posts that when recieving this error, one should contact KUKA for help.
I just wanted to check here if anyone else encountered the same error.
The exact error is:
System error 14 in task auto_ext_data_exchange.I get this error sometimes when using the auto ext mode. I never get this error during a successful run of auto ext, just before it runs or after it stops.
If I leave the controller on auto ext mode (but not running) after some time this error also appears.
I can't really tell a set of actions that causes that error except for the previous case.Does anyone knows what is the auto_ext_data_exchange task (it's not a task I'm running)?
Or anyone have an idea what may cause this error?Thanks!
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Thanks alot ShaktiMan!
We found this F6 fuse and it is busted (we also checked F21 and it's fine).
So you are probably rightNow we just need to find a replacement for that fuse.
It is this fuse:
https://www.autozone.com/electrical-and…nn-fuse/32367_0Edit:
We tried with a replacement fuse, and it works -
Hi everyone,
We managed to burn one of the pins (UP_24V) in the X41 connection - please see attached doc for the drawing.
There's no voltage coming out of this pin anymore.
does anyone know if it's fixable? Is it just a fuse or transformer which is replaceable?
If it is, do you know where is it located - or where does this pin in connected to in the KRC4?Thanks for the help!