That really depends on the workload the robot will be doing. The robot moving at fast vs slow velocity changes the power consumption, as does the load on the robot; is it 5kg or 55kg?
The best way to do it is to run the robot for the day for the application it will be doing and measure the power/energy consumption.
Which KSS version? Were all the robots setup the same way at the same time?
I believe in KSS 8.5 the default user is not allowed to trigger any outputs, but that can be changed via the menu, which user is allowed which functionalities.
Usually, the default user should not be able to change anything, as you do not want someone walking by to start making changes.
Depending on the safety protocol used, but basically:
- If it CIP Safety, under Bus Structure, go to EtherNet IP and deactivate the local safety slave.
- If it is ProfiSafe, under Bus Structure, go to Profinet and change from PROFIsafe to No PROFIsafe.
- If it is FSoE, ...
Once you deactivate it, the little popup in the bottom right should appear that asks to add a SIB Board. If you have just X11, then add SION-SIB-STD, if you have both X11 and X13 then add SION-SIB-EXT.
For more details, read the manuals for the protocols used.
Yes, that is normal. If you look at the documentation, it will tell you what pin is for what, or search the forum as there are wiring samples.
What type of controller? KRC4/KRC4 compact/KRC5
What steps did you take when changing from X11 to Profisafe?
Can you post all the errors on the smartPad in English?
You have to change the configuration in WorkVisual. You will need to add the Safety board that was installed with X11, and remove the settings for the safety PLC.
If you remove the settings for the safety plc first, a proposal of changes message should popup (lower left corner) that will ask you if you want to add a SIB board.
You will then be required to accept safety configuration checksum on the smartPad after the deployed changed WorkVisual project.
Yes, they have a different payload. Motors may or may not be the same, but I believe some motors might be different. (to compensate for the higher payload)
Assuming you are purchasing new, there is no difference in which controller and software options you have for the two robots.
Try to answer the questions asked by those trying to help you.
What accuracy are you looking for? Is it +/- 0.01 mm or +/- 2 mm?
When you says: this type of robot(krc2), which one? KRC2 is controller. You mentioned two sizes in the first post, they may have different accuracies.
Did you look into the documentation of the robot you are looking for? They have their accuracy specified for each type/size of robot. The robot also has different path accuracy, depended on the speed.
The message was error 6008 I believe which is “robot stop on”. There is an output/estop spot with nothing wired to it at the moment. How do I wire that to make it work?
Than that would be the first thing to start with. As panic mode mentioned, you need documentation; without it, and without prior knowledge, there is not much you can do.
Perhaps if you at least have the electrical diagram for the controller, then at least that would be the first step to wiring safety to the controller.
What about afterwards, i.e. do you know how to program the robot? **Documentation!
What is the message?
You said you checked E-stops, but only on the teach pendant and the controller itself?
I believe on the controller there is a slot for wiring "Output/E-Stop". If you do not have an E-stop wired to that, that may be the issue.
Hopefully I understand the question correctly.
Do you mean the correction values for A4-A6 as mention as in your step 2?
I know that when one receives a new wrist, it comes with a tag attached to the wrist with all those values. (As each wrist will be different as they are not all exactly the same) You will then have to enter those values manually and correctly. If you do not have those values, perhaps contact KUKA and they might have them. Otherwise, I am not aware of how to find them.
I had an issue like that not to long ago. One file somehow got corrupted, and I was not able to even grab it from a working version and added to this project.
After contacting KUKA, the way to fixit was to use a previous image of the controller, and if not present, they would have to send a technician to put a new image on the controller.
Please read the pinned tope READ FIRST...
Which KRC version?
Which software version?
You mentioned 7 axis? Do you have an external axis? Linear rail?
Did you replace the KPC battery?
For the lost of mastering:
What other messages are you getting?
Did you check for blown fuses?
Could be the RDC itself.
After mastering, are you able to move the robot? In axis and cartesian? In cartesian, is the robot moving as it should?
Was the mastering alright before you bought the robot? Do any cables seem damaged?
The error tells you exactly what is wrong, one or more axis of the robot are not mastered. If you go into mastering, you will see which ones are not mastered, and you will have to master the robot.
There usually is another message telling which ones are not mastered as well.
KUKA does not use encoders, they use resolvers.
All the data is saved on the RDC that is on the robot.
There are no batteries on the robot, just the two 12 V, and 1 CR in the KPC (KUKA PC).
The larger batteries are to ensure a proper shutdown of the controller.
The purpose of the small coin battery is just like any other coin battery on any PC motherboard.
Maybe I was unclear. Allen Bradley has different types and models of PLC's. Some have Ethernet connection by default, some do not, and require an additional ethernet module.
I have attached two types of PLC's (ControlLogix and CompactLogix) of how they look like and the possible slots.
Contact your local distributor!
When it comes to safety, I try to not use second hand (personal choice).
Your best bet is to contact your local distributor for Allen Bradley products as they can assist you.
You will require more than just the Safety Partner (Which is what is posted above).
You will require the Power Supply, as well as Safety Input (Output) card to wire your E-Stop and door too. You will also require an ethernet module to ensure you can communicate to the robot controller.
The one you are looking at is the type ControlLogix, look at CompactLogix as the price range is quite different, especially for such a small application.
Not all flanges require that interface, therefore check what type of flange you have first.
What type of flange do you have? It is a silver sticker on the flange, it will be in German.
Look at the Media Flange Assembly and Operating Instructions (it should have come with the robot, if not, googling it will find a copy).
In there, look for the flange you have on the robot (silver sticker on the flange). The document will then lead you to the exact pinout of the flange.
Depending on the flange type, X76 does not power all connections in the flange.
