I took another KSD from another robot. The problem is disappeared.
So it is definitely damaged KSD.
I took another KSD from another robot. The problem is disappeared.
So it is definitely damaged KSD.
Hello.
I try to move another KRC2 ed05 robot.
I connected everything properly.
Checked all cables.
Try to move.
Axis 1,2,4,5,6 move properly.
But then I try to move axis 3 I get errors
2962 Ackn. Common KSD-Error (all drives)
1239 Ackn. Synchronization error (all drives)
I noticed that when I move any axis green light on drives constantly.
But on 3rd drive it blinks.
Should I replace KSD?
Can I change KSD on 2nd 3rd axis?
For the checking.
If yes. It needs some changes in configuration?
Just leave it here.
Problem is solved.
Configure > I/O > Automatic external
>>>>> $MOVE_ENABLE =1025 (it was =3)
RESTART
NO CHANGE.
Just COLD START - robot moves.
yes i know about enabling switch...
it is robot what stayed in the store for a long time. I do a reanimation.
I continue investigation.
Found one interesting thing.
Earlier I switched ProfiBus driver OFF in IOSYS.INI (i dont have any PLC now)
Now while i checked Automated externals i found variable $MOVE_ENABLE = 3
So i changed it to = 1025.
After i saved it "ACTIVE COMMANDS INHIBITED" doesnt appears at all.
When i try to jog the axes i hear brakes but robot doesnt move.
I found another variable $DRIVES_ON = 2
Should i change this to the 1025 as well?
Hello
Can someone help me.
I definitely don't see what's wrong.
No errors but can't move.
Kuka KRC2 KSS5. 2
Hello paulfile.
Have you alredy solved the problem with
ACTIVE COMMANDS INHIBITED.
I've got the same. With no other errors.
Robot doesn't move.
I even can't make mastering.
Ok... I will write. Soon. When i find solution
It wasb asolutely no reaction on the keyboard.
I drawed schematic and checked the board by oscilloscope.
Internal controller doesm't start pollling the keyboard.
I can describe my investigation here if somebody interested in.
I think something wrong with the internal routine. Unfortunally i dont have the same pendant.
No. I dont want to use the robot in paint now.
So i think if i disconnect internaal I.S.Unit i can use usual pendant instead of I.S.
Right?
Hello everybody.
I have P200E with teach pendant A05B-2301-C307.
Now keyboard of this pendant doesnt work and i cant start robot at all.
I checked everything near pendant and found thar local controller doesnt start a polling the keyboard. So as i see A20B-2100-0520 board is corrupted. And i have to buy a new one. But may be i can buy new pendant?
Question:
Which type of pendant is suitable for Rj3iB?
Can i take more new pendant? For example A05B-2301-C370.
Does anybody know exactly?
Hello. I have got the same problem. Are you already fixed it somehow?
Absolutely agree kwakisaki and Skooter
The problem has been resolved.
Below I describe how my investigation proceeded.
Perhaps it will help someone.
PURGE UNIT check flow switch and pressure switch (both disconnect 200V to servo amplifier)
Also it has intrinsic inputs for two sensors ROT (Robot overtravel) and HBK (Hand broken).
This inputs passed throw servo amplifier and the corresponding error comes out on the screen.
ENC/BRAKE UNIT has two power inputs on top part and two output in lower part 24VPG (A and B)
Input 24VPG comes from internal board near main contactor. (24 V - Ok).
Input PGC24 coms from separated internal power supply unit (unit SOLA SDN 5-24-100P was corrupted).
As mentioned above 24VPG is a power supply for encoders (No voltage). Оbviously PGC24 = 24PVG.
So i replaced the corrupted unit.
SRVO-068 DTERR was replaced by SRVO-062 BZAL all axes.
Menus > System > Variables $MASTER_ENB >>>> 1
Menus > System > Type > Master/Cal > RES-PCA
WELL DONE..
BUT in documentation says "...shunts all encoder five volt lines to ground…" if something wrong.
So I fear that the power supply is ok, but all signal lines are shunted.
I don't see any enable/disable signal on the face panel of ENC/BRAKE UNIT.
Thank you Skooter.
You showed me the way.
I think the same. Your idea regarding encoder brake unit seems to be the most correct. I completely agree.
In documentation says:
"...
The encoder/brake unit performs the following functions:
• Shunts all encoder five volt lines to ground when power is turned off or purge is lost.
..."
Yesterday i checked purge module. But in my version i don't see direct connections between PURGE UNIT and ENC / BRAKE UNIT.
Simulated errors ROT and HBK. It works.
Unfortunally i didn't have voltmeter. So can continue only tomorrow.
Now I'm preparing to check
PGC24V on the top part of the encoder/brake unit (is this some kind of enable signal??)
and check 24VPG lower half (power supply for DC/DC ?? i think so).
I also check system variables.
Clamps were tightened in control cabinet. Connectors unplugged and plugged again. No reaction.
Encoder/Brake Module in the controller actually buffers signals from pulse coder.
But no LED on him. Can anyone tell how to test this module.
BRAKE ENABLE OFF is correct position.
1. To release the brakes, set the BRAKE ENABLE switch to ON (ONLY FOR MANUAL BRAKE RELEASE).
2. To activate the brakes, set the BRAKE ENABLE switch to OFF.
Thank you for the clarification about batteries.
Still studying the documentation.
Yes batteries is another alarm code. But what can i did.
By the way, I would be grateful if you can tell me where this battery is.
Today I found another remedy in documentation.
The attach instruction is executed when the tool is not attached
– Phenomenon
The tool is not actually attached. So, a communications alarm such as ”SRVO–068 DTERR alarm” occurs
on the pulse coder. Correct this by Remedy 1 or Remedy 2 below according to the present conditions.
Remedy 2
1 Directly change the system variable to detach the tool. To do this, set the following system variable to ”0”:
$SCR_GRP[servo tool operation group No. (normally, 2)].$AXISORDER[all 1 to 9] = 0
2 Turn the controller power OFF then back ON.
3 The robot starts up with the tool in a detached state. Move the robot by manual feed to physically attach
the robot and tool.
4 Execute the attach instruction to attach the tool.
5 The tool can be used as it is after it is attached regardless of the battery type.
Looks like my case. May be someone did this in the past?
Anyway i will try on Monday.
Thank you for your responses
of course I saw your post written 4-5 years ago.
And I checked the connection in the cabinet. Everything is fine here.
This is not my case.
The equipment worked without errors and was simply turned off for a long time.
There must be something else.