Thank you, indeed i checked the cables that run inside the base,
no bad bending, no scratching, good grease,
also checked all the pins at the various connectors and enclosures,
and the error didn't appear again since saturday.
Let me hope that it was only some dust/oxidation,
it is a pain to replace the A2 power cable with all those crimped pins.
I checked all the cables, even the ones that run inside the robot arm,
they look pretty good.
Shouldn't it say "torque exceeded" or something like "torque error" in case of faulty counterbalance?
The error appears almost everytime at the same position (A1 90°)
The operating mismatch is gone,
but sadly, it keeps tripping the RCD in the middle of automatic operations,
(2 times since yesterday)
and it gives:
common KSD-Error A2
motor cable A2
I swapped A2 and A3 KSDs, but the problem is still on A2,
can it be the motor that leaks to ground?
Can be that a cause to fail for the KPD-600?
I didn't know that menu existed,
I managed to diagnose the External contactor of the KPS600,
problem solved! Thank you
Hello everyone,
few months ago I restarted using my robot: KR210-2 2000 from 2008
with cabinet KRC2 edition2005, from BMW, KSS 5.5.16 and SafeRobot 1.1
Suddently, since last week, without touching anything it gives randomly:
404 EMERGENCY STOP safety controller
484 Operating Mode mismatch with input T1 on SafeRDC
Since those errors are not listed in the manual,
someone has a guess on the cause?
On the pendant it appears a question mark on the operating mode icon.
-?-
I already tried to replace the pendant,
also tried reinserting all the safety bridges and contacts on X11 and X40, with no luck,
same thing for all the connectors on the ESC CI3 board;
it works for 10 / 15 minutes, than it trips, and I have to reboot it removing the power,
(or power cycling the ESC board and acknowledge the errors,
disconnecting and reconnecting X6 on, or the external X11).
That means ESC A - B chain has an error, correct?
I have some hints, I'm suspicious (or they are only coincidences)
that it happens most of the times near the switching on or off of the cabinet fan (it is very hot these days),
or near the switching on or off of the drives contactor.
Also to note, sometimes it trips a 300mA RCD in the middle of an operation
(not only at the switch on or off, i know that it is common)
Can it be because there is a slightly higher line voltage than usual?
Sometimes (way less frequently) it gives
common KSD-Error A2
Maybe is it related to a power bus fault from KPS-600?
There is also a problem with the KPC control pc:
while doing a lot of tests to diagnose,
in two occasions it was not booting,
and i had to reseat all the cards inside it.
In conclusion, I disconnected and reconnected about everything inside the cabinet,
the error keeps popping up...
any help or guesses would be appreciated.
Thank you
Hello everyone,
after more than 2 years I'm here again with this robot,
I left it on the corner for a while,
but I started to play with it again two months ago.
Suddently, since yesterday, without touching anything it gives randomly:
404 EMERGENCY STOP safety controller
484 Operating Mode mismatch with input T1 on SafeRDC
Since those errors are not listed in the manual,
someone has a guess on the cause?
On the pendant it appears a question mark on the operating mode icon.
-?-
I already tried to replace the pendant,
also tried reinserting all the safety bridges and contacts, with no luck,
it works for 10 / 15 minutes, than it trips, and I have to reboot it removing the power.
I have some hints, I'm suspicious (or they are only coincidences)
that it happens most of the times near the switching on or off of the fan (it is very hot these days),
or near the switching on or off of the drives contactor.
Thank you
but that alone does not match exactly drives icon
$PERI_RDY seems indeed matching the "I" on the pendant (and the drives contactor) in all modes, I tried T1 T2 and Auto and it does the job, or am I missing something since you are saying that? Thank you
$PERI_RDY seems what I was looking for. Thank you!
Hello everyone,
I'm looking for an output signal (or better a system variable) that can be read
to obtain the "drives status" or the drives contactor on/off signal,
equivalent to the green "I" on the pendant that stands for "Drives ready";
$DRIVES_ON tricked me to think to read it, but it is obviously only an input used in Automatic External mode.
(I'm using the robot in T1, T2 or AUTO)
I need to use it to drive an external device, so I'm thinking of routing it to an output in SPS.SUB
Anyone knows something about that?
Thank you
Hello, and welcome.
The schematic is still shared in post #1,
in the GDrive shared folder link.
Bye
It is in the picture in the first post of this thread
You should look firstly at the hardware and at the schematics if profisafe is there.
Then about safety, in general, KRC2 has connection points in the bottom connectors for the gate and the emergency stop; how it works, it is as usual in industrial automation, dual contacts, power disconnect, software warning, etc. Manuals are a great help going deeper
Yes, that solved! I was missing this part. Thank you
Hello everyone,
I'm trying to calibrate the DKP400 turn-tilt table external axis as external kinematics of my KR30 HA robot,
as the operating manual says, it should be simple,
touching a point (in my case X 210mm far from the DKP400 flange center) four times in different approaches.
So the point $ET1_TPINFL is declared, as external axes manual says, like this in machine.dat :
FRAME $ET1_TA1KR={X 0.0,Y 0.0,Z 510.0,A 0.0,B 0.0,C 90.0}
FRAME $ET1_TA2A1={X 0.0,Y 340.0,Z 0.0,A 0.0,B 0.0,C -90.0}
FRAME $ET1_TA3A2={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
FRAME $ET1_TFLA3={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
FRAME $ET1_TPINFL={X 210.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
But when i select
Setup > Measure > External kinematics > Root point,
after choosing system no 1, giving it a name, and choosing continue,
the KSS 5.6.8 (running on KRC2) gives this error :
"It is not possible to measure the external kinematic 1 of type #NONE"
Has anyone faced the same issue? Is there a way to proceed with the calibration?
The Tool is selected and Base is too (0, 0, 0, 0, 0, 0,)
Thank you
Thanks @Florida
but since also messing with the config gui in C:\INETPUB\WWWROOT\index.htm i wasn't able to solve,
i went ahead with the registry modification suggested here:
https://www.roboterforum.de/ro…d/3453-fehlermeldung-ltc/
That solved
I can not find LTC submenu in Diagnosis in my KSS 5.2
Does selecting that launch an external executable?
If so, is there a way to launch it? (Don't know if useful: i found LTCserver.exe in C:\KRC\BIN but it does nothing)
Thank you
Wow! How did you make this Mickey Mouse path program?
Hello @edkorea,
did you find the way to permanently aknowledge that notification after the maintenance has been done?
Thank you
I would rather leave it as is instead of contacting KUKA and paying maybe 100euro for a hinge.
I was hoping to find the brand and model, i don't think it is custom made by KUKA,
do you know something about it? Thank you
Hello,
did you get any information about it?
I also need a door hinge for my KRC2 cabinet.
Thank you
