Posts by designfugitives

panic mode - thank you for the manual. I was able to finish the 7th axis integration. It came down to the two wires going from G1:K1 to F19.3. Last person that touched the controller disconnected them at K1. The sample wiring diagram in the manual made it very clear they where they needed to go.

Side bar - I read your Read First post before making my first post. Tried to register on myKuka - if that's what you meant by Xpert. The website even recognized me in the system because i reached out to their support and sales teams via email before. However, there was a glitch in the website that didn't allow me to finish the registration after entering my password.

Coincidentally - their support team emailed the same manual few hours after your reply.

Again - your help is much appreciated. Thank you.

panic mode - Thank you. Our controllers came with 2 KSD8 with SBM but there was nothing plugged into X16.

How do they interface? Where can I find wiring diagram?

From reading old post, do I have it right that X16 controls SBM? If so, where do the 3 wires from X16? Currently X16 is not connected to anything - no plug no wires.

happytriger2000 - what did you do to solve your problem? I'm getting the same message. thanks

What I've done - for hardware, I pulled the pre-installed KSD1-08 that had SDM2 jumper. Installed KSD1-32 with no SBM. This unit was purchased used with no SBM supplied.

In terms of software - below are the MADA variables I changed:

In KRC:\STEU\MADA\$OPTIONS.DAT

$EXT_AXIS=TRUE
$ENDLESS=TRUE
$ASYNC_OPT=FALSE

In KRC:\R1\MADA\$MACHINE.DAT

$DSCHANNEL[7]=7
$PMCHANNEL[7]=20

Set via axisconfigurator wizard

$BRK_MODE_BIT3=0
$EX_AX_ASYNC=0
$ASYNC_EX_AX_DECOUPLE=0

The messages are:

310 Safety circuit not ready
1146 Ackn. motor blocked E1

I should clarify the attached PDF from the first post shows the current hardware and software set up.

I read many of the older posts and started from scratch several times but haven't gotten passed the message on the last page of the PDF.

Some background info:

We bought a KRC2 system with 7th and 8th axes drivers installed with jumpered SBM2. The two axes were not configured as external axes when we first powered the controller on. Robot fully functional in all 6 axes - ran test programs.

I gathered from older posts I can install the 7th axes without SBM2. Proceeded to remove the existing driver and swapped it out for a 32A one to match our motor. Followed the instructions from the External Axes Documentation (09.12.2008) and configured the axis using the wizards.

What I am missing? Any help and insight will be much appreciated - been at this for more than a few days now.