Dear panic mode,
I linked to my thread and I posted pictures from "before" and "after".
This is how it works for me:
https://www.robot-forum.com/attachment/37812-img-0370-jpg/
The 0-Ohm resistors configure the ESC chips.
Dear panic mode,
I linked to my thread and I posted pictures from "before" and "after".
This is how it works for me:
https://www.robot-forum.com/attachment/37812-img-0370-jpg/
The 0-Ohm resistors configure the ESC chips.
Just want to let you know that I had a similar problem which I solved by moving two resistors in the KCP2. It is a KCP2 with a mode switch with 4 positions (T1, T2, EXT and AUT).
I had the same issue, that switching drives on in EXT and AUT did not work.
OK, I was curious enough to disassemble the working KCP2.
I found that the jumpers were set to "ohne E2" and some traces that someone else resoldered the jumper from "with" to "without" in the working KCP.
I did the same modification to my non-working KCP et voilà:
I can now switch on drives in AUT and EXT and everything works as expected.
I hope this has some value for some people around ... But please bear in mind that messing with the safety circuit can have severe consequences and damage robots and kill people!
I did investigate the robot side of the KCP: X19 only has three cables:
With this configuration I am able to work in all 4 modes with one KCP.
Again, all 4 modes work with my cabinet and one KCP but not with another.
In contrast to
the mode selection is done over ESC or CAN in my case.
Dear all,
I have got a working VKRC2 cabinet (MP9) with KSS 5.6.12 and a working KCP2. It works fine in all modes: T1, T2, AUT and EXT.
When I switch the KCP I can still work in T1 and T2, but cannot switch on the drives in AUT and EXT.
Wiring of X9, X10, X11 and X12 on CI Board is fine. It has E2 keyswitch for which I added two jumpers.
I can track down the different behaviour to the KCP2.
The KCP2 in question is labeled (on the outside): "KCP2 00-107-264".
The board inside says "KCP2.0-CPU-REV005" and has the 0-Ohm SMD resistor placed at VW(E2-SL).
It has a four position Mode Select key switch. The mode switch works and I can see "T1", "T2", "AUT" and "EXT" on the status bar of the KCP. Internal variables "$T1" etc. switch correctly. Also, the ESC-CI board switches some relays. So this seems fine to me.
I physically checked the Drives On (1) push button. It works fine and measured up to the PCB that pressing it actually connects to pins. And releasing opens the pins again.
The Drives Off (0) button also works.
With the working KCP I am able to switch on the drives in all modes (AUT and EXT with external PLC / push button on KCP).
With the non-working KCP
It is good to have a working system and to track it down to the KCP2. Actually I had to check everything until I decided to just swap the KCP
What could be wrong with the KCP? Why does it allow to enable drives in T1 and T2 but not in EXT and AUT?
And what can be changed to make it work?
BR
Sascha
I did my research and found this thread: Resistor inside KCP
I do not believe that the 0-ohm resistor mentioned physically affects the board as no traces are connected to the resistor. I think this is just a way of marking boards in mass production.
The configuration jumpers on the KCP (for the ESC?) are as following:
Master: Low
VZ1: Low
VZ2: High
ohne AVZ-T (without ...?)
mit BVZ (with ...?)
mit E2 (with E2 keyswitch, which is properly jumpered at CI board)
Sad to hear that your board broke.
Good/Bad to know that unplugging the VGA monitor can cause serious harm to the board.
Any clues what died? Is both KCP and VGA dead or just one of them?
Were you able to add another standard PC graphics card (AGP for example) and see if the board is listed in the BIOS PnP scan?
My number of robots is equal to the number of cards (1=1) so I don't have a spare at hand right now.
Hello,
I have a similar problem. I did not do the arm extension but received the robot with 3700mm reach. (1700mm between A3 and A4 and ZH 210 I)
mengeneci, Jihobrik Did KUKA respond? Have you got a working MADA?
After carefully studying many variants of $machine.dat and $robcor.dat
I was able to create a preliminary MADA for my robots. Maybe not as perfect as KUKA's version but at least it moves and inverse kinematics seems to be correct.
Thanks!
Yeah, shared panel is something interesting but I could live without.
Program Cooperation (Synchronisation of start) can "easily" be achieved with any fieldbus. Also the workspace management could be done over fieldbus.
But synchronized and geometrically coordinated movements seems to be difficult without RoboTeam ...
Oh thank you! That is very interesting to read, but a bit short. It is not going into the details of the software.
Yes, I know that there is some complexity involed in RoboTeam.
I might have to lift something with two or more robots (load sharing, synchronized and geometrically coordinated movements). I haven't found a better solution than RoboTeam yet.
Some parts might be available at a used-robot dealer.
There is also "KUKA.CR Motion Cooperation" documentation.
Here it is only in French
and I cannot download this version:
Might it be possible to also get these documents?
Dear all,
I am curious about KUKA.RoboTeam for KRC2 and would like to read the manual about RoboTeam and Motion Cooperation.
Could anyone please provide the manuals to me?
I have got some KRC2 running with KSS 5.6.12 (yes, they have MFC2 + DSE IBS C33 and work well with Windows XP) and maybe want to upgrade to RoboTeam.
Thank you and BR
Hi there,
what is the difference between
- KSD1-16 KUKA article number 00-105-350
- KSD1-16 KUKA article number 00-122-285
Are both compatible with KRC2?
panic mode Thanks for all the good hints. Yes, I have tools to read and write EEPROMs. I found a program which seems to read and write the EEPROM on the card, without removing it. Need to check carefully if this works. I have a decent number of robots, so I can swap and replace cards if necessary.
I doubt that A900 is the address. The quoted post says: "check sum A900" which I read as: when you modify a bit, you have to make sure the checksum of the whole EEPROM shall be A900 again.
The VGA controller on KVGA is F65550 from Chips and Technologies, Inc. It is supported by the Linux kernel. I could try to find the required information in the kernel sources.
There is also SM.com (and fp.com and ct.com) that switches to KCP+VGA. It is only 8 bytes large. Disassembled:
seg000:0000 ;
seg000:0000 ; +-------------------------------------------------------------------------+
seg000:0000 ; | This file has been generated by The Interactive Disassembler (IDA) |
seg000:0000 ; | Copyright (c) 2018 Hex-Rays, <support@hex-rays.com> |
seg000:0000 ; | Freeware version |
seg000:0000 ; +-------------------------------------------------------------------------+
seg000:0000 ;
seg000:0000 ; Input SHA256 : 8866C025E78E0DEED8EB4794FFE4301FE7F5497AC891CFA89BE13AA5D6590D86
seg000:0000 ; Input MD5 : BCB2351ECCD9CEE47FFDDCEA58964FF5
seg000:0000 ; Input CRC32 : 34FD745D
seg000:0000
seg000:0000 ; ---------------------------------------------------------------------------
seg000:0000 ; File Name : C:\Users\shsa\Downloads\pcm-4825\Drivers\Bios\Sm.com
seg000:0000 ; Format : Binary file
seg000:0000 ; Base Address: 0000h Range: 0000h - 0008h Loaded length: 0008h
seg000:0000
seg000:0000 .686p
seg000:0000 .mmx
seg000:0000 .model flat
seg000:0000
seg000:0000 ; ===========================================================================
seg000:0000
seg000:0000 ; Segment type: Pure code
seg000:0000 seg000 segment byte public 'CODE' use16
seg000:0000 assume cs:seg000
seg000:0000 assume es:nothing, ss:nothing, ds:nothing, fs:nothing, gs:nothing
seg000:0000 mov ax, 5F51h
seg000:0003 mov bl, 2
seg000:0005 int 10h ; - VIDEO -
seg000:0007 retn
seg000:0007 seg000 ends
seg000:0007
seg000:0007
seg000:0007 end
Display More
Accordingly to VGA BIOS OEM Reference Guide 0x5f51 is the Switch Display Device routine, and 2 is "Simultaneous". Same info from Ralf Brown's Interrupt List. (welcome to the Internet of the 90s
So many options.
I like to have KCP+VGA output starting at boot. I would like see boot messages (BIOS and Windows and KSS) on the external monitor (and probably later on a piKVM).
I was looking for a readymade solution/instructions to activate both outputs directly at boot.
Seems to me that I need to find a BIOS file that has the default set to "simultanous". I wasn't able yet to find which bit needs to be changed in the BIOS file.
https://www.robot-forum.com/robotforum/kuk…25417/#msg25417
The Forum Search button is your friend.
Unfortunately, the link is not valid anymore. Is there any archive?
Does anyone still have some information about this? Or is this information lost forever? The original post seems to have disappeared. Any help much appreciated.