I don't have CI3 in my cabinet,
i'll wait for Leon to read, since he has uploaded a schematic page "XS2 Electrical diagram.pdf " that seems to match
Posts by crk
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Hi panic mode,
thanks, but sorry, your version does not have the wiring for XS2/XS3/XS5 ports (the most important part that i need)
Looking at various schematics i think that the cabinet with extra XS5 port as mine is the same as XS2/XS3 but with the D pins block moved from XS2 to XS5,
i'm waiting for a confirmation before doing any wiring that can damage my robot. -
Hi Leon,
i noticed through the forum and your answers that you have probably my same cabinet (with XS5),
since i don't have the schematic for it,
can you share yours?
Thank you -
Hi @robot_rob
i see it is a long time that this thread is inactive,
but i'm having problems wiring my XS2 port (in particular bridges for T1 and T2),
since i see you talking about it here, can you share your wiring?
Thank you -
I didn't take a picture of the BSOD,
but that is not my main problem since i never do a cold reboot,
i think it is related to both software and hardware,
because windows take a long time to shutdown and the batteries don't hold a good charge to finish the shutting down properly,
and even the hardware is not perfect, i noticed some leaked capacitors around the CPU on the motherboard.
I didn't install Windows from scratch, i don't have a Windows XP embedded install CD,
Event Robotics sent me a new clean image with KSS 5.6, but i can live with that for now.My main problem was to find out how to wire the XS2 port, and now how to connect other jumpers to get into T1.
I found my way by reading here (thants to Leon):
https://www.robot-forum.com/robotforum/kuk…-c2-controller/
https://www.robot-forum.com/robotforum/kuk…kuka-vkrc2-(w95)
https://www.robot-forum.com/robotforum/kuk…o-external-mode
but i still need to find out how to wire the other jumpers (i suppose i need to),
around i see people talking about D pins on XS2, but my XS2 has nothing connected to D pins -
Today i have done a few more tests,
there is no way to jog the robot with "gate open" warning.
So i tried to bridge these others pins:
B5-B6
B7-B8
the only ones that could make sense from the VKR C2 cabinet schematic.
And it works!
I can now jog the robot in T2 mode, but i think i have to wire something else on XS3 plug to get into T1?!panic mode
The robot is directly from ex VW/Audi production line, it was working before,
but i got it without anything connected.
The key switch on the pendant has only 2 positions as mentioned.
Every time i do a forced cold reboot Windows XP gives a BSOD,
and even after checkdisk there is no way to reinstall control software
( yes, the installed version match the installer in D:\ ),
so i keep hibernating as usual and between tests i always recovered from backup image. -
I already read the READ FIRST,
but apparently you didn't read the thread since Reply #33
Do you think i'm not giving enough details?
You were going off topic by simply saying to "close gate"
I know i need to wire XS2 plug on my VKRC2 to clear gates warning,
and i also need another wiring to change from T2 into T1,
anyone can help me?
I didn't find the solution anywhere.
Thank you -
Hi, panic mode
which are the pins that i need to bridge to simulate a closed gate?
How can i switch from T2 to T1?
Thank you -
I'm having these 3 message lines:
Drives contactor off
SoftPLC: EMZ: Zange auf unzulaessiger Position
SoftPLC: EMZ1: kein Lebensbit - Bus pruefenWhen i press the deadman switch on the back of the pendant i'm having these 4:
Drives contactor off
SoftPLC: EMZ: Zange auf unzulaessiger Position
SoftPLC: EMZ1: kein Lebensbit - Bus pruefen
Operator safety / Gate openSo, do i have to wire something else to get rid of the gate contacts?
I don't have T1 or T2 on the pendant to select, but simply a "hand" symbol.
The "I" on the bottom where S I R icons are, stays red. -
Hi everyone,
looking at the schematic of my cabinet, the wiring suggested by Leon make sense,
so i have done it on XS2 plug.
I cleared the external emergency!
I also solved the software problem,
since every time i did a forced reboot from "Configure > 5 On/Off Options > 0 Force cold Startup" Windows was giving me a BSOD,
the only solution was to backup from image every time;
so i modified iosys.ini file inside the controller instead, commenting ";INTERBUSPCI" by going the way around: "Configure > 0 I/O > 3 I/O Driver" (there is Iosys button on the bottom)
saving modified file and reloading configuration from "Configure > Miscellaneous > 3 BOF Reinitialization" solved that.But now i'm still stuck on "Drives contactor off"
the controller also gives:SoftPLC: EMZ: Zange auf unzulaessiger Position
SoftPLC: EMZ1: kein Lebensbit - Bus pruefenIs the external unconnected PLC preventing me from jogging?
Thank you -
Hi Leon,
thanks for stepping in,
you wrote on that thread that the wiring you have done is for Audi version (with XS5),
i don't see XS5 on my cabinet.
Are you sure that it is the proper wiring that i have to make?
Thank you -
I already tried, no chance to start it.
But no problem, i'll recover from previous hard drive image and restart from the beginning, changing language etc.
I found out that some emergency stops are related to my external plug not beeing connected,
and my cabinet has XS2, no X11.
But i also don't have a dummy plug to use,
anyone can help me doing the wiring at the ESC card, and finding schematic? -
I killed KcpService.exe
the installation starts but the 5009 error is still there.
Anything else to close? -
I tried to reinstall the control software,
but it was giving me an error:Close any running programs
Empty your temporary folderSo i run Disk Cleanup and Check Disk (it has found some problems with files)
And then retried to execute the setupBut one more problem:
An error (-5009 : 0x80040702) has occurred while running the setup.
So i'm stuck.
The x11 wiring is a problem for later... (but i'm looking at it too)Here i attach some pustures of the labels that i found inside the cabinet,
anyone can help me finding which Ed. it is? -
Hi, thankfully yes (i didn't mention) i have fully imaged the hard drive before even performing the cold reboot!
And yes too, there is a KRC1_CD folder in D: drive
Do i have to make a fresh install by uninstalling KSS and reinstalling it from this folder?I didn't touch any config file (maybe the software modified something while i was touching language configurations?)
The hand symbol on the key selector should be T1 (so, there is no T2 for me?)
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Hi everyone. i'm new here (well, i'm new in robots too) but i have a great desire to learn.
I have always been in industrial automation (well, few years, i'm young), but never with my hands on a real robot.
I'm from Italy and i bought a KUKA robot KR210 from 2003 with KRC2 cabinet and VKCP2 pendant, from ex Volkswagen/Audi German production line, as a big boy toy for learning and having fun.I'm moving my first steps on turning it on, i changed the language from German to English, created a new empty program file, and few more things like seeing where some functions are and what they mean.
I'm a self-taught person, so those little steps are a lot for me.
My goal is to JOG the robot!Now let's move on why i'm writing here, i googled a lot and i came across this big awesome forum where i found my main source of what i know.
I want to continue this thread because it looks incomplete and my issue is similar to what vvelikov was having; hope it is useful to other people (feel free to move it if i'm wrong).First thing first, i can't find a way to turn into T1 mode, it stays to W0
and the key selector doesn't have the T1 and T2 modes and 4 symbols as shown in the manuals.
The key has only a hand and a cycle symbols.
How can i change it?I'm also having these errors:
Drives contactor OFF
Local Protective Stop
EMERGENCY STOP
External EMERGENCY STOP Pressed
Error on writing, driver: INTERBUS
Error on reading, driver: INTERBUS
Stop for error fieldbus
SoftPLC: ProConOS is stoppedAnd few other lines that i think are irrelevant.
The controller also says that mastering is needed on all my axis,
i want to do it with dial, but the drives are off!
So by entering the master menu every axis goes away by pressing on each of them and then i remain with no axis to master.So i assumed that the controller thinks that something is wrong with Emergency (but the red button on the pendant is not pressed),
is it maybe because the ESC card (is it the in/out interface card?) is not connected to anything outside the cabinet?
So the "I" on the bottom of the screen where S I R is situated never becomes green even pressing the enabling switches.I thought to modify the iosys.ini in C:\KRC\Roboter\Init by commenting the INTERBUSPCI line,
first thing i performed a cold start (found in miscellaneous)
And then the controller never started again (didn't modify that file),
Windows XP Embedded starts, but VKRC Software V5.4.10 HF13 gives this error:KUKA_HMI.exe - Common Language Debugging Services
Application has generated an exception that could not be handled
Process id=0x6b4 (1716), Thread id=0x710 (1808)By pressing Ok with the mouse that i connected, the software closes and the controller goes to a normal Windows desktop where i can access files, control panel, start menu, etc.
Is it because i changed the language?
How can i put it back where i started?
Thanks a lot