Posts by Y105657LL

  • SRVO-062 alarm and thinking about encoder

    These days,I have experienced SRVO -062 Alarm。after this fault,I can't figure out the relationship of encoder and battery,so confusing.

    1.IF the controller is ON,the supply of encoder should be controller(save battery power),IF controller OFF,the supply of encoder should be battery.IS this right?if not,plz tell me

    2.if the controller is always ON and the 4 battery is exhausted,will SRVO-062 alarm occur?

    3.Does the SRVO -062 alarm mean "the robot need calibration"?

  • Robot PM in welding factory

    Quote from panic mode

    i would say make sure to have up to date backup for each robot, maintain robot and controller per manuals, don't let things escalate to a point of failure. this means keeping things clean, regular (and correct) work or replacement of wear and tear items (robot oil, batteries, counterbalance, energy supply, fans).

    optimizing programs for less frequent stops and less violent acceleration/jerk etc. and for gods sake make sure to tighten all strain reliefs, cable glands, buttons etc. plus one thing everyone forgets - maintenance of proper documentation. people walk on or throw away valuables like CDs, schematics etc. recovery sticks become expensive and no longer functional souvenirs...

    i was amazed how many people would complain about lack of documentation or support the moment i arrive... and when i open cabinet i see shoe prints, scratches and all kinds of stains and damage to CDs and schematics. guess where my sympathy levels are after seeing that.

    got called once to fix robot that did not work any more. robot was on pedestal, and base was covered with rugs drenched in oil and impregnated with sharp metal chips. and the operator was trying to squeeze past robot to recover dropped part. in process pulled on those rugs and disengaged X30 connector. such nice place to start fire....

    Thanks. I got it. About data backup,we did regular program backup every 2 months and system image file. Oil change and counterbalance check are the part of annual maintenance project. As for clean, I can't ensure all of it, the cabinet seems ok,but robot arms is bad,especially the gear box of A3 which is dusty on the surface,the workers can't clean it with dry rag. I'LL make some strategies to handle it.

    Optimizing program is important, but I didn't care much about the motions.the speed of most program is 100%,even at A4 huge angle change,maybe I should look over all the robots.

    About Docs,I usually find it in accessory USB and the related OPTION DOC file. but I still do not have KUKA PARTS & DOCS,I can't find the CDs.

    I'll notice all of you said,thank you:grinning_face_with_smiling_eyes:

  • Robot PM in welding factory

    Hi! How You guys doing. I am a maintenance technician in a BIW shop, I work with 60 servo KUKA welding robots. This is my second new job and is also a new challenge for me. I used to work as a robot integrator. But now, I have to change my work property, pay more attention to the robot preventive maintenance or repair.I don't know how to start with it. All I did recently is optimizing program and some KRC2 robots upgrade project. So, Can you guys who had worked in factory give me some EXP and maintenance works contents including: 1.reducing robot downtime 2. Diagnostic 3. Finding robot problems in advance(using tools?I even saw that use thermal imagery on robot arms in some factory interview video.etc ...)

    THANKS for your suggestion and share:grinning_face_with_smiling_eyes: BTW thanks for some friends like panic mode. skyfire.etc in KUKA forum.they helped much :winking_face:

  • Adding a servogun external axis to KRC4

    Quote from panic mode

    yes 40A is pretty much the standard when it comes to servo guns.

    both robots will need tech package to control the servo-gun. not sure why you need gripper tech but if you do have things like gripers etc. that will do the job nicely.

    for R1 you do not need to replace anything, robot axes stay on KSP40 and KPP3, so you need to add KSP40 for E1.

    for R2 you need to replace KPP0 with KPP1-40, so E1 will be connected to this KPP1.

    since you are adding only one axis, robot RDC will do just fine to connect servogun resolver.

    THANKS!!I haven't thought that add KSP40 for E1,I only think that use KPP1_40 for E1:fearful_face::fearful_face:....oh,my...:loudly_crying_face:

    As for the OPt,we'll add new servogun TC for both robots.

  • Adding a servogun external axis to KRC4

    There are 2 robots with different drive configuration:

    R1: KPP3-20 + KSP40

    R2:KPP0 + KSP20 +KSP40

    Both do not have external axis.

    Planning:add a servogun to this 2 KRC4 robots.

    Related info:

    KSS VERSION 8.3.40

    Opt: only one basic boardpackage option and one gripper tech.

    For R2 I can replace KPP0 with

    KPP1 40,but for R1 I don't know the optimal way. or I need a KSP20 and a

    KPP1 40 ？that maybe cost too much for R1...:fearful_face:

    That is right? BTW KPP1 40 is required for servogun.

    THANKS for your suggestion in advance:grinning_face_with_smiling_eyes::grinning_face_with_smiling_eyes::face_blowing_a_kiss::face_blowing_a_kiss:

  • What is the real reason that coupling profinet device via KRL is Timeout ?

    Quote from massula

    I would add that in some ProfiNet devices, like Festo manifolds, there are differences between regular modules and "docking" modules (FSU), and is very common take a look at ProfiNet configuration and find that the network was misconfigured with a normal module, when in fact it should be configured with the docking one. Most of times the regular ones will work, but will take more time to finish the bus coupling. But sometimes You will have timeout problems.

    And older GSDML files also can produce this kind of error.

    Thanks! You mean add that is "IF ret==1 THEN run KRL command again"?

    The module is SMC and I think GSD should be OK? I'll check it.

    As you say ,sometimes we still have,It's not easy to figure out the root.thanks for your share:winking_face::winking_face:

  • What is the real reason that coupling profinet device via KRL is Timeout ?

    Quote from panic mode

    well, are you sure timeout value is not set too short?

    and why is it hard to post EXACT message - with message number AND timeout value?

    did you read READ FIRST?

    My bad...this happened few weeks ago,and recently it works well.I think Timeout is easy to understand, the real reason is worth to discuss:frowning_face:. Back to the question,the Timeout value is 1000,I didn't change it. When waiting for RET==0, I just need to run KRL command again and coupling successful

  • What is the real reason that coupling profinet device via KRL is Timeout ?

    Hi! I'm working on a KRC4 robot,here are some related info:

    1.KSSVersion :8.3.28

    2.Profinet KRC-Nexxt 3.2

    3.tools:gripper and servogun

    4.tool change device:ATI

    The problem is that when I dockon the gripper and coupling the profinet device(USER ID:78) via KRL command :

    RET=IOCTL("PNIO-CTRL",50,78)

    Wait for RET==0

    In most cases , it executed successful. But sometimes it's Timeout, The RET value was 1,so the robot was waiting RET ==0 until we found it's not working,but if I run this coupling KRL command again,it's always coupling successful(the RET value became 0 ). According to the manuals,the RET value means different coupling status,0 is executing successful,1 is executing Timeout,2 is internal error.why?why I need to execute the command second time?or I should optimize the dockon program:

    IF the RET==1then run KRL command again.

    It's like a useful idea. But my question is:

    1.what is the real reason for "Timeout",the profinet cable and power supply is ok.

    2.what is the difference between "the profinet device lost connection" error and profinet coupling"Timeout"?

    3.how do you bros program the profinet coupling KRL Macro:grinning_face_with_smiling_eyes:

    Thanks for your reply and share.:winking_face::winking_face::winking_face:

  • restore a new kuka HDD image for KRC4

    Quote from panic mode

    stick should be configured to only work with KUKA controllers.

    silent mode is fine and very useful feature unless you don't mind carrying around extra monitor, keyboard and mouse.

    It's damn hard...I updated the USB to 2.2. But didn't check the checksum file... Because I don't get how to do it.

    Then I updated to 3.0,it seems well,update is success.

    After that,I put the imageC&D to USB.Restoring was also going right.I was pleased.....but when I turn it on.cannt connect to KRC came out again..so I decided to use GUI mode, select images,start to restoring.that also works well.after turn off KRC and plug out USB..I TURN it on again....damn. Can't connect to KRC came out.....

    Oh.no....Im so tired...help:loudly_crying_face::loudly_crying_face::loudly_crying_face:

  • restore a new kuka HDD image for KRC4

    Thanks! Dear moderator:winking_face_with_tongue:l learned those knowledges.after update my KUKAUSB, I will not setting the silent mode... :grinning_face_with_smiling_eyes::grinning_face_with_smiling_eyes:

  • restore a new kuka HDD image for KRC4

    Quote from panic mode

    yes that may work but one need to be careful for same reason you mentioned.

    not sure what exactly it checks for. it must be proprietary but there is not much to go after since not much is in the controller PC. i would guess it is trying to identify motherboard (which is one of the things i look for in my software). so when the signature is not in the DB, stick would need to be updated to a newer version.

    :loudly_crying_face:I'm confused....motherboard is original. I'll try to find the same KSS...:tired_face:

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