Been in contact with Kuka Australia.
Here is there suggestion:
Hi Chris,
I've been looking for some solution and I found this information:
Let me know if it's useful information, otherwise, we can try to find something else.
Been in contact with Kuka Australia.
Here is there suggestion:
Hi Chris,
I've been looking for some solution and I found this information:
Let me know if it's useful information, otherwise, we can try to find something else.
you mean CI3, connector X5? if so, that is not keyboard and mouse, it is a safety circuit and should always be populated...
This is the connector here and the unpopulated spot on the board
Just trying to understand Cross3 as we are thinking it might have something to do with the watch dog error.
Putting this link here as a reference:
https://ntnuopen.ntnu.no/ntnu-xmlui/bit…e=1&isAllowed=y
page 23
control F = Cross3
Thanks SkyeFire. It worked perfectly. We are down to one fault code
Number | Source | Message |
328 | KCP: connection error WATCHDOG ERROR |
I've spent the day hypothesising, but haven't found any fix yet.
Chris
These are the fault codes still present.....
Number | Source | Message |
1541 | KCP | Machine Data error |
256 | M.DA…. | Erroneous DSE axis assignment E1 |
259 | Loader | /R1 machine data loader aborted |
The default location for SPS.SUB is in /R1/System/
Define "access" -- are you using SELECT, OPEN, VIEW ERR, or something else? Note: using the "enter" key counts as SELECT, which you don't want.
What user group are you logged in as when you try to access the SPS?
If using OPEN on the SPS doesn't work, try manually cancelling the SPS first. That should be under the CONFIG menu. The 'S' icon in the bottom of the KCP should be grey (green is Running, red is Stopped). Normally, just using OPEN on the SPS should do all this automatically.1
The brute force method is to copy the SPS off, edit it with a text editor, then copy the edited version back into the robot and overwrite the original. You still have to Cancel the SPS before doing this though. Unless the SPS is cancelled, the system won't allow the overwrite, and using OPEN will generate a "file opened read-only" message.
Thanks SkyeFire. I tried it and it worked. Unfortunately the aforementioned fault codes are still there.
A big thankyou for your help guys! I really, really appreciate it. Worked on the robot pretty much all day and got rid of the old faults
Three new one came up. While it says three i think they could all be connected to one issue (or so it seems to me). so not far to go
Number | Source | Message |
1541 | KCP | Machine Data error |
256 | M.DA…. | Erroneous DSE axis assignment E1 |
259 | Loader | /R1 machine data loader aborted |
I did some googling and found this.......
I'm not sure how to put this into action or what/how to access what needs to be changed.
I opened $machine.dat , config etc, but i couldn't find $IFACE or $ADAR.
Do any of you gurus know what I should do?
Thanks in advance,
Chris
Really appreciating everyone's support and input!
Cheers,
Chris
Those files seem to be OK. But they aren't the original ones.
Post the originals, don't use external links, there comes a time when they aren't available any more.
May be there is a format problem in the file, that's not detectable in your file.
The actual files seem to be the default files after installation and seem to be correct.
Are there more fault messages right after booting without confirmation of any fault?
Hi Hermann,
I attached the original files above as you suggested. Hopefully this might highlight a bit more easily what we are dealing with.
I check if there were anymore fault messages after booting but there weren't same as before (see below for reference)
Number | Source | Message |
1541 | KCP | Machine Data error |
255 | M.DA…. | SOFTN_END[6] invalid value |
262 | M.DA…. | Erroneous /R1 machine data |
1421 | KCP | /R1/SPS : 10 Compilation Error |
1421 | /R1/SPS : 10 Compilation Error |
Chris
Original and Current SPS, Config and Machine files are in the zip file that's attached
Hello Guys,
Just following through of SkyeFire and Hermann's points. Found some interesting details.
Which $SOFTN_END[ ] members are throwing the error? 7? 0 should be a perfectly fine value, now that you've removed axis E1.
It is $SOFTN_END[6] . It says the source of the error was M.DAT.R1 (machine data?)
So I went through the both the original and current machine data file only to find that the value is the same in both files I have attached a screen shot to show what I mean.
Is there a standard value that I could put in there, or should be in there?
I will also attach the current and previous Machine and Config files and Hermann suggested.
The SPS errors should be easy -- if you navigate to the SPS, highlight it, and hit the "errors" button (takes the place of the Select button, IIRC, when you highlight a file with compilation errors), it will show you a list of each line that has an error, and the "view" button will jump you into the editor, directly on that line (you may have to expand all the Folds first). Simplest quick-fix is to comment out each line that's creating an error, and see what happens.
Most likely, the SPS errors are due to some of the variables you removed from $CONFIG.DAT. That's fine, those variables were for hardware you don't have, so you can just remove those parts from the SPS. In fact, you can probably just remove any Alema or Delphi sections from the SPS entirely, assuming they're clearly marked.
Hi SkyeFire,
Having a bit of trouble with the SPS. The SPS folder is empty and when I click on it says "no objects" on the other hand there is a SPS file under archive/disk/krc/r1/system. When i try to access it on the kuka it says "command not available".
I have attached both the current and the previous SPS files (not folder) hopefully that provides some clarity.
Please let me know if you need more info or files.
Cheers,
Chris
So, Protip: you don't need to do all that work comparing the files. Just use a program like KDiff3, set it to only display the lines that differ, and have it generate a dual-column report of the differences. It'll save you a lot of work, and paging through hundreds of identical lines.
Which $SOFTN_END[ ] members are throwing the error? 7? 0 should be a perfectly fine value, now that you've removed axis E1.
The SPS errors should be easy -- if you navigate to the SPS, highlight it, and hit the "errors" button (takes the place of the Select button, IIRC, when you highlight a file with compilation errors), it will show you a list of each line that has an error, and the "view" button will jump you into the editor, directly on that line (you may have to expand all the Folds first). Simplest quick-fix is to comment out each line that's creating an error, and see what happens.
Most likely, the SPS errors are due to some of the variables you removed from $CONFIG.DAT. That's fine, those variables were for hardware you don't have, so you can just remove those parts from the SPS. In fact, you can probably just remove any Alema or Delphi sections from the SPS entirely, assuming they're clearly marked.
$AXIS_DIR[7] looks wrong in your posted file -- make sure it's valid. "=]" isn't.
Thanks for the tip SkyeFire.
I will check the E1 axis value you suggested and thanks for the suggestion on the SPS errors, sounds like the way go, and I will check and make sure everything is valid as you mentioned. I'll get back to you with how I get on.
Thanks for you help!
Chris
Those files seem to be OK. But they aren't the original ones.
Post the originals, don't use external links, there comes a time when they aren't available any more.
May be there is a format problem in the file, that's not detectable in your file.
The actual files seem to be the default files after installation and seem to be correct.
Are there more fault messages right after booting without confirmation of any fault?
Thanks for your input Hermann!
I will attach the files later today as you mentioned and i will boot up the robot and check for more fault messages right after booting as you mentioned and get back to you. They sound like interesting points which i think could shed light on what's going on. Thanks!
Cheers,
Chris
Hi Guys,
We are getting close, we can almost taste it.
These are the final remaining errors. any help would be amazing right now. we are close to the finish line
Number | Source | Message |
1541 | KCP | Machine Data error |
255 | M.DA…. | SOFTN_END[S] invalid value |
262 | M.DA…. | Erroneous /R1 machine data |
1421 | KCP | /R1/SPS : 10 Compilation Error |
1421 | /R1/SPS : 10 Compilation Error |
I dug through the archives and saw that that there as quite a large difference between the $config.dat file and the $machine.dat file. I was wondering if they would given a clue as to what is wrong. I did a comparison to make it easier to see what maybe going wrong. They are below (notice the Alema automation at the bottom of the config)
I spent ages getting the $config.dat file and the $machine.dat file nicely colour coded on the forum so that it was easy to see, but unfortunately, two - hundred thousand too many characters so I have the link below:
$machine.dat file:
https://drive.google.com/file/d/1UdbXG_…iew?usp=sharing
$config.dat file:
https://drive.google.com/file/d/1O0Dj60…iew?usp=sharing
Any help would be greatly appreciated!!!
Cheers,
Chris
We've copied our log files in case this helps:
What we shared with you was the very original version of our system.
We have just followed our own instructions and re-removed the seventh axis.
We now have
255 M.DAT.R1 $SOFTN_END[6] invalid value
262 M.DAT.R1 Erroneous R1 data
55 Initialization of the DSE running
We can no longer access the SUBMIT interpreter
when we attemt to re-start Submit Interpreter we get the following error
1541 KCP Machine Data error
I am unsure what to make of that right now.
Dave
Dave here on Chris' PC
253 M.DAT.R1 Erroneous DSE axis assignment E1
259 loader R1 machine loader data aborted
55 Initialization of the DSE running.
If all else fails we can re clone the HD and retry. Pretty confident it is something we did.
I'd drink another beer right now as it is hot and muggy where we are but we have very strict laws on drink driving.
Something is still looking for the seventh axis but we are slowly working through it trying to learn as we go.
On Hard Drive E:
Hi Hermann,
We have been following your instruction regarding resetting the archive, however we couldn't delete the files because the delete button font is in light blue and does not respond to the mouse.
Thanks Hermann. We did cancel the Submit Interpreter and that enable us to delete files !!!
Thanks again Hermann.
this is what we did: