Posts by amex

Hello everyone!

I have an idea to make my KUKA LWR with KRC2 controler a handle with which to train/teach my robot. This handle will be mounted on the Robot Flange.

The handle will have 2 buttons for which I would like to ask you how I can connect them using the robot's i/o port.

One button will be the "Enabling switch" located on the control panel, the other button will be for setting a new point.

My question is, does anyone know how I can connect these two buttons so that I can externally control the contactor and setting a new point.

Thank you in advance for the ideas.

Kind regards,

amex

Quote from panic mode

carefull....is that legal? why not try to download from Leoni size or ask them for support?

I will try for support from Leoni. I think the SW is not problem I not ask for Licese. The SW without licese is as demo version...

Hello,

I do not see how to send you private massage. Want to ask you if you have the software of Leoni on disk because I need it...

If you can help me.

Quote from amex

Thank you for your answer. Want to ask you what you mean with CG?

I have understand it - CG = center of gravity

Thank you for your answer. Want to ask you what you mean with CG?

Hello,

I have read the documentation of my LWR4 Robot but for me is not clear how to understand the payload diagram. I need to understand it

because I want to create a tool-head for the robot. Could you please explane me how I can read and undestand the attached diagram.

What is the Point marked with "P"?

Thank you in advance!

Best regards

Quote from panic mode

Well, you need the space mouse, preferably wireless one. then get SDK for it (also there is Connexion forum for support). this will allow reading mouse values.

Then you need to send the values to robot. this can be done through RS232 for example or EthernetKRL or KukaOPC or similar.

The next milestone is to get robot move based on mouse input and record current robot position when button is pressed.

Finally you need program to play back those recorded positions. which part you have problem with exactly.

Thank you "panic mode" for the information. The 3DConnextion space mouse come with USB Receiver Dongle - Can I use it or I need to to be RS232 Ethernet KRL Interface?

Hello all,

I have the folling asking aobut KUKA LBR Robot.

The Robot is Model: KUKA LBR IV

The Controller is Model: (V)KR C2

The Control Panel is Model: KCP2

Can I control and learn (program) the robot using 3D Maus for example Connexion witch to mount on the head (tool) of the robot and to control it and to set the end point with pressing the button.

Please check the following link: Link one

and this one to understand what I mean: Link two

and this one to understand what I mean with learning between the different points: Link three

Some one with experience or open source solution for my asking. Any information will help me to understand how to do that.

Thank you in advance!

Best regards

I have found the right documentation with right pinout and wiring diagrams for my controller.

Now I have good result - the EMERGENCY mode now work and the ESC Controller have supply now I can diagnose.

I have other error in status windows that I can not understand where is the problem. I have read all documentation but can not find the needed information. Also the error codes are:

6503 Configuration error I/O driver DN2DRV

310 KS Safety circuit for drives not ready

200 KS Drives contactor off

1034 Error on writing, driver: DN2DRV

482 LR LR:Porigion-Control

This error that are bold marked can not fin information.

Thank you panic mode for the information.

I have found the needed documentation for my case and I have connect the needed connection to the Controller interface.

Hello all,

need KUKA LBR KRC2 LR Controller Year 2009. Its a bit different from the standard KRC2 Controller. I attach and the Picture of the controller.

Thank you in advance!

Its two different wiring diagrams for internal power supply and external on KR C2.

My controller is: "Type: LC Controller" - is written on the label

I have try with internal power supply (by me on Pin19 and Pin37 have not 24V) and with external 24V power supply - the result is the same with the same errors.

I attach the wiring diagrams

You think that the problem is in the robot (arm manipulator) or in the Robot control box where is the PC, UPS, ESC and other component for control the robot.

Hi SkyeFire,

Thank you for your reply

We have not supply voltage between Pin37 - 0V ESC and Pin19 - 24V ESC - we messured by power on 0V between this two pin on connector X11

NEW UPDATE INFORMATION:

I have open the bottom metal cap and have see the ESC PCB. It have a one little button for restart I have press it but agian without result.

From the KCP2 Controller I'm going to the menu Monitor > Diagnosis > ESC Diagnosis and after that shot me error massage in yellow

! 122 ESC Error reading diagnostic data

I will attach the ESC PCB.

Hallo all,

I have the following problem with KUKA LBR with LR Controller 2009 and KCP2 Control Panel.

I have buy the robot soon but I can not start it to jog. In the status windows show me following error massage:

200 KS Drives contactor off

1034 Error on writing, driver: DN2DRV

482 LR LR: Position-Control

364 KS Unknown Operation Mode (?)

6503 Configuration error I/O DN2DRV

420 KS Local Protective Stop (QE)

1 KS EMERGENCY STOP

20 KS External EMERGENCY STOP Pressed

404 KS EMERGENCY STOP Safety controller

310 KS Safety circuit for drives not deady

I have read the KUKA Documentation and have simulate the EMERGENCY STOP signals on X11 connector but the error code can not be removed. I have make the other connector for simulate all protection inputs of X11 connector but again without result. (I attach the wiring diagram from the KUKA Documentation for simulate all protection inputs)

Could you please help me with information or ideas where can be the problem or what cam be wrong. I need and information where going the signals from the X11 Connector on the Control unit?

Thank you in advance!

Hello Guys,

I have not answer from you with ideas and issues of my problem with kuka emergency protection and today will try to simulate all possible emergency signals to try to jog the robot.

To simulate the hardware emergency protection will use the following wiring diagram for connector X11 from the kuka kr c2 dokumentaion.

If you have other ideas please write me.

Hello again,

I have read the Kuka instructions and documentation. I have the following error codes when I start the Kuka:

! 3:59:38 PM 6503 Configuration error I/О driver DN2DRV

! 3:59:41 PM 4 Buffer battery voltage low PM1 <- I have replace the both akku's and now do not show me this error [DONE]

! 4:00:24 Pm 420 KS Local Protective Stop (QE)

! 4:00:24 PM 1 KS EMERGENCY STOP

! 4:00:24 PM 20 KS External EMERGENCY STOP Pressed

! 4:00:24 PM 404 KS EMERGENCY STOP safety controller

! 4:00:24 PM 310 KS Safety circuit for driver not ready

! 4:00:24 PM 200 KS Drives contactor off

! 4:00:24 PM 1034 Error or writting, driver DN2DRV

! 4:00:24 PM 482 LR LR: Position-Control

! 4:00:25 PM 364 KS unknown Operation Mode (?)

The bolded error codes for the emergency afraid me but I have read the documentation and then is written that I must connect the emergency switch to connector X11. I have with bridge cables simulate the emergency connector as follow:

Connector X11:

bridge between Pin1 and Pin20

bridge between Pin2 and Pin21

bridge between Pin3 and Pin24

bridge between Pin4 and pin25

but without result

I have connect and external 24V power supply on the same connector X11 on:

Pin15 and Pin16 - Ground

Pin33 and Pin34 - 24V supply

but again without result

Want to ask you is it possible that this emergency stop to be a software settings or I make some wrong?

I think that when all this error codes was removed will have the possibility to jog the robot.

Thank you in advance!

Best regards

In Status window is following information:

! 3:59:38 PM 6503 Configuration error I/О driver DN2DRV

! 3:59:41 PM 4 Buffer battery voltage low PM1

! 4:00:24 Pm 420 KS Local Protective Stop (QE)

! 4:00:24 PM 1 KS EMERGENCY STOP

! 4:00:24 PM 20 KS External EMERGENCY STOP Pressed

! 4:00:24 PM 404 KS EMERGENCY STOP safety controller

! 4:00:24 PM 310 KS Safety circuit for driver not ready

! 4:00:24 PM 200 KS Drives contactor off

! 4:00:24 PM 1034 Error or writting, driver DN2DRV

! 4:00:24 PM 482 LR LR: Position-Control

! 4:00:25 PM 364 KS unknown Operation Mode (?)

Yes but how to do it? I'm new in the robotic world