Hi.
The clue is what is drag stylus as said panic mode ?
How to highlight more then one program, on KRC 2 there was pressed CTRL and selecting programs ?
Marek
Hi.
The clue is what is drag stylus as said panic mode ?
How to highlight more then one program, on KRC 2 there was pressed CTRL and selecting programs ?
Marek
Hi.
I have simple question. How to select few programs not all on KRC 4 in Navigator panel to prepare archive ?
Usually I'm using build in Windows Explorer but never used this option in KRC app.
Marek
OK.
I will explain You method of handshake.
At starting of program in Home position You have to prepare makro for example for releasing for all of machines in robotic cell.
All of machines can works, then If some mahine send You signal "take part" You have to freeze machine by sending signal for example "STOP machine" to machine.
You take part by gripper, and in SAFE position of robot You send signal again "Release machine", and machine can do his duty or You can load machine with new one part.
You have to just recognize and have signal list for machine and use it in robot program, simpliest way is preparing condition like
taking_part = M19 > Makro19= I19 & ...........
or
OUT[19] == TRUE
WAIT FOR IN[19]
Marek.
Hi.
Why do You can not use normal digital input from machine and use it in controlling of movement ?
Hi.
If motor works fine in other axis so there is problem with power supply for brake or for motor.
Check for continous wires.
Rotating motor manually ? It's allowed for emergency purpose. I've tried this method few times and You can use this method in the case when You have some problems with gear or motor. Beware for long time rotating, just for checking.
Marek.
Hi.
Shorty:
You can measure coil, You can try to move motor on brake on, unscrew safety cup located on motor (black cup)and use metric tool wrench and You can try to rotate softly motor ccw or cw doesn't matter, of course You do it ONLY on main switch off. Maybe You can have problems with bearing. After this You have to make MASTERING of robot that is obvious.
Electrical junctions :
motordaten pdf - page 45,
krc2 eplan - page 18,
Hi.
There You have mechanical service pdf for this version of robot. If You know China language there is possible to download it. If not You can read it only online.
http://www.docin.com/p-413723308.html
Hi.
I can write You about VKRC conditions to start robot from PLC. You are using KRC version so I think there are some diffs between those systems.
Marek
ok so after demount wrist You have same problem with gear, it sounds like problems with for me motor brake, or cable or phisically brake it's not working, check motor cable there You have +27V and neutral to release brake during moving of motor, in a docs section You can find pinout motor cable
with encoder value ? could be problem with RDW card or encoder cable, should be that You try to move axis 4 and there is no feedback infos about changing encoder value for axis 4, robot has mastering ?
Marek
For me
1. demount wrist
2. try moving axis 4 without wrist
3. if You have problems without wrist could be problems with cardan rod inside axis 3 or with bearing.
4 if You have problems with mounted wrist could be mechanical problem with gear from axis 4
5. could be problem with motor for this axis
Marek
cmos battery problem
Hi.
Path to this app is Setup -> Service -> DSE-RDW.
Then press 2 then You will see service menu.
See screenshots below.
1. http://postimg.org/image/4k0pf5cov/
2. http://postimg.org/image/plroolrst/
3. http://postimg.org/image/tu74z0i1h/
4. http://postimg.org/image/6d1ryaf4l/
Marek.
Hi.
Error is about wrong configuration of A6 correctly with parameter 1.
You can get more infos when You run RDWDSE dos application, in KSD for axis 6 You have Error code number and IBS-Trip number. There You can get more info about problem with Kuka Servo Drive for Axis 6.
Marek
Hi.
Have You checked machine.dat for axis 4 and 6? Do You have the same KSD's configuration files for both of axies ?
Marek
Hi.
How can You fix cards ? It's needed to be regenerate those cards. I'm still thinking that is some problems with cable, can You swap cable ? Do You have spare encoder cable ? That is not common RDW or DSE cards are broken, have You dismount/mount RDW card ? There is possibility to make shortcuts and brake cards when You screw hexs not in proper holes (using plastic plugs). You know what I mean ? If there is problem with electonics with DSP processor You have to regenerate or change cards. When You startup KSS on DSE card green led is led or flashing ?
Marek
http://postimg.org/image/eaoajqgdj/
http://postimg.org/image/j93fs5ujn/
Hi nc56.
Go into Service > RDV-DSE Dos application. Press 2 then 7 and You will see communication on every axies. If on any axis is 0000 not runing numbers there You have problems with comm from motor encoders through RDW card to DSE card via encoder cable. If You have checked RDW>DSE cable as good then I will check RDW card and DSE card based on MFC card.
If You like to change motors You can easily change plugs on RDW card simply unplug A4 and plug for example into A7 socket and then check in RDW-DSE Dos application.
Marek
Hi.
Simply unplug "+" which goes to batteries and use multimeter to measure voltage which is going from Powermodul. If You have 27V on it there is problems with batteries. Checking voltage on batteries with multimeter is not proper, You have to check CURRENT.
Marek
ps. if You need schema for PM6-600 write on PM.
Hi.
In KRC1 cabinet You have recharging modul situated in Powermodul PM600. In KRC2 cabinet there is specializated modul from Siemens to recharge batt.
On KRC1 You don't have visualization of state of batts. You have to measure current on working cabinet from PM600 to batts. On KRC2 it's simple because You have LED diode in the front of cabinet. If it's blinking it is sign that You have problems with proper working of batts (undevoltage etc.). On this Siemens modul You have info about problems with proper proces of keeping in a good conditions batts > fault diodes and working modes (time to keep shuting down process.
Marek.
ps. Voltage is +27V without loading.
Hi Casius.
1. On version Retrofit VKRC 8.2.20 You can unplug SmartHmi after pushing disconnect button (white button on top of panel), then You have to wait 20 sec and there is ability to unplug panel without any problems with E-stop.
2. You have wire-up two channels external E-Stop (on the BMS side You have to prepare Pilz applications (Open door Pilz, second for robots and other devices E-stop safety buttons, third for cell E-stop safety buttons), Then You have to use next one Pilz to check all of rearmed PILZ safety relays, manual resetting). When You prepare safety for cell You can use contacts on last global Safety Pilz Relay to cut robot safety. I can not upload example application for pilz but this is easy to find on Pilz web page.
Of course safety circuits must to be build in acoordance to IEC 61508 is an international standard of rules applied in industry. It is titled Functional Safety of Electrical/Electronic/Programmable Electronic Safety-related Systems (E/E/PE, or E/E/PES).
http://en.wikipedia.org/wiki/IEC_61508.
Hello everybody.
I've done instalation XML Server 2.2 on VKRC4. I have configuration files in EthernetXML folder with all of DEF's but when I'm using them in VW_User there is problem with (registration) this that all of this XML's configuration files are not "visible" when I'm trying to use them.
for example : RET=EKI_Init("XMLServer")
Has anybody any idea where is problem ?
Marek.