Posts by Arrari

Hi. I have an issue with Panasonic YA-1NPAL. When I try to move any axis - E4000 error pops up.

I've tried to move the Robot in the Overrun release mode, and it is working fine and don't show, that any of axis in overrun state.

Also there was 3 external axis installed, but i have removed it in settings and disconnected most of internal wiring. But i think, that something missing from that axis, because right now I don't have access to maintenance mode, to remove them entirely. Where should i look? This robot is pretty old and it was bought with a lot of periphery, but without any documentation. And because even it's power card is different i'm not entirely sure where to look.

Quote from vvelikov

For me it looks like messed up procedure for end of the seam in config.dat

Check again all the signals where you define the end of a seam in Arc.Tech section in config. dat

Never used Kempi, so cannot help with the IO numbers

Thank you, i'll check that out. But the strangest thing for me that it don't starting second seam even in "simulation" run.

Hi all.

I have a problem with executing more then one welding seams in one programm on my Kuka KR C2.

It weld one seam just fine, but then it stops. It continuing it path right to the start of the next seam (ARC ON instruction) and then stop.

At first there was "Process is active" notification, which is one of the signals from I/O mapping from welding machine and it obvious why it would not start. This signal is active for a few seconds and then turning off (so, basicly, welding machine saying that weilding of that seam is completed). And in ARCTech there is an timing option for "Seam end" condition. But it aperantly isn't working.

I tried unlist "Process is active" signal from I/O mapping, but second seam still don't want to start. And it lists no errors.

If i try to make this with two separate programs (each one with one seam) and call them from the third one - it's works fine. The problem is in more seams in one programm. Honestly, i have no idea, what's wrong with it.

So... What should I try to check first? There is no usefull info about this in ArcTech manual.

More info about setup:

Kuka KR C2 v5.5.16 / KR 60 L30 HA

ArcTech Digital 3.2.4

Kemppi KemArc Pulse 450 connected via DeviceNet

Hello!

We have a min-mag welder, that connected to our KUKA robot via DeviceNet. And we have a few problems, when we try to make some simple programs on it.

Our setup:

KR C2 with KSS version 5.5.16

On it installed CR.ArcTech Digital V3.2.4 Build28

We clearly have connection, because on reciever plate all two LEDs are green. And it even send us Power Supply Ready signal:

The issue is that this Power Supply Ready is constantly flashing. Like the bus is noisy. Ofc we have terminators on both sides and resistance is withing aseptable window (58-60), so it should not be noisy.

Before that we had our Acknowledge PS set at 13. This should acknowledge all errors at our power supply. And this thing also constantly switched on/off.

Issue:

When I try to write some simple programms it's just constantly setting program play speed to 0. And i can't adjust it. Yeah, welding also don't start.

And the most strange thing is, that on our KRC4 this worked like a charm, With the same mapping, settings and even cable.

So... What can cause such strange behavior? Or is there some "features" of such old robot, that I should know?

I also should mention, that our MFC card isn't working stable at all. All LEDS on it are dead and it even "died" week ago. But simple "Plug out, blow some air, plug in" helped.

Could this be the cause of the problem?

Quote from panic mode

every hint to self-help is already stated at least once.

Well... We tried read everything many times and check all available info. Searched answers on this forum and etc. But this still a little bit overwhelming o:

Basicly right now we have two leads:

1) That somehow our Kemppi think, that he is master.

But there are no setting at welding controller or switches on Anybus plate, to even verify that case. Plus previous owners said, that welding machine definitly was controlled by robot.

And also we looked at internal indication at SmartPad. Robot definitly sees his EL6752 as master device. So... We are unsure, how we can change/verify this even more and change some Pulse 450 to slave, if it even has changing from slave to master.

2) Something with IO Mapping.

We tried to connect to our thing via WorkVisual and it says us this:

Our DTM setting:

And we also found this thing in Kemppi manual for our type of controllers.

201-208 to byte 5. Bit 3 on PowerSourseReady. So this should work. As i understand, "Invalid connection data" means that it sends/received incorrect package. But, as i suspect, my understanding is wrong o:

Quote from panic mode

but there is no sign of 24VDC wires connecting to DeviceNet bus. i am talking about purple cable that connects EL6752 and Kemppi. That cable is five conductors for a reason. power is not somehow trickling through EK1100 and E-Bus and EL6752 to that cable - you need to bring the 24VDC to it somehow, either by installing DeviceNet MultiTap module (terminal X941) or by bringing extra wires with 24VDC to that big gray connector at EL6752...

Thank you for that answer. That helped a lot. And now we are having another "funny" problem. Our EL6752 now showing two greens, one solid and one flashing. But we still have KSS11049 "Error in deviceNet slave module (MacID=3 ...)(Error code: 1 - Station deactivated)

We are cleary turned on our Pulse450 with K60. It even have one green light at AnyBus M00453 indication panel.

We tried to change baud rate and macID via switches, but it didn't helped. (And green light on AnybUs plate changed to red, so we assume, Kuka at least seeng this)

Quote from panic mode

and you still did not confirm which of the two is acting as a master.

KR C4 with EL6752 should be master. But, as you can see, we cleary have "tiny" lack of experience. And if you can push us in the right direction - we will be much appritiate.

So... Can you give us a few hints, what we should check?