hello!
Someone has the data of the engine art. number :00-115-925? Must also hints of the same configuration
My system is KR16L6, KRC2, SOFTWARE V5.4.14, EXTERNAL AXIS MGU 0850-125.
motor data
- Robo_ter
- Erledigt
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in this Doc page 25 there is a engine art. number :00-115-925
Engine Mx_110_130_40_S0
Sorry just in German
Greeting Stefan
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....das pdf wollt ich auch gerade anhängen
aber hier noch ein pampflet von Kuka mit einer Tabelle -vergleich alte neue Motoren, vielleicht auch mal hilfreich
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in english
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the external axis does not work, please check that the error in machine data
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What's the failure message or did you get no message?
Pls. post a complet robot archive
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test this:
$PMCHANNEL[7]=121
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That's an other question, did you have a single break module on your 7. axis ??
You can see this module on top of the KSD-Module exists two green plugs with 8 and 4 pins
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This is the arquive of the robot.
Please help me! -
Do you have a SingleBreakModule on the KSD-Module of the Axis ?
Then the Variable have to be $PMCHANNEL[7]=121
Without SingleBreakModule $PMCHANNEL[7]=21 is correct
Do you hear the Breaks of the Engine open ??
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The robot has the following errors:
INCORRET SERVO PARAMETER A1.... TO A6
SERVO BUS DISTURBANCE DSE1
0 KPS MODULES AT DSE1<->PM CHANNEL[1]=20 INVALID VALUE.......TO PM CHANNEL[6]
POWER MODULE AXIS E1 NOT OR WRANGLY PLUGGED -
Hello , i think i have found your problem (axis 7 is a linear axis):
$machine.dat
1338 DECL EX_KIN $EX_KIN={[glow=red,2,300]ET1 #NONE[/glow],ET2 #NONE,ET3 #NONE,ET4 #NONE,ET5 #NONE,ET6 #NONE} ;EXTERNE KINEMATIKEN #NONE,#EASYS,#EBSYS,#ECSYS,#EDSYS,#EESYS,#EFSYS,#ERSYS
1339 DECL ET_AX $ET1_AX={[glow=red,2,300]TR_A1 #NONE[/glow],TR_A2 #NONE,TR_A3 #NONE} ;EXTERNE ACHSEN #NONE, #E1, #E2, #E3, #E4, #E5, #E6correct for linear axis:
15 $AXIS_TYPE[7]=[glow=red,2,300]1[/glow]
1338 DECL EX_KIN $EX_KIN={[glow=red,2,300]ET1 #ERSYS[/glow],ET2 #NONE,ET3 #NONE,ET4 #NONE,ET5 #NONE,ET6 #NONE} ;EXTERNE KINEMATIKEN #NONE,#EASYS,#EBSYS,#ECSYS,#EDSYS,#EESYS,#EFSYS,#ERSYS
1339 DECL ET_AX $ET1_AX={[glow=red,2,300]TR_A1 #ET1[/glow],TR_A2 #NONE,TR_A3 #NONE} ;EXTERNE ACHSEN #NONE, #E1, #E2, #E3, #E4, #E5, #E6correct for turning axis:
15 $AXIS_TYPE[7]=[glow=red,2,300]3[/glow]1338 DECL EX_KIN $EX_KIN={[glow=red,2,300]ET1 #EASYS[/glow],ET2 #NONE,ET3 #NONE,ET4 #NONE,ET5 #NONE,ET6 #NONE} ;EXTERNE KINEMATIKEN #NONE,#EASYS,#EBSYS,#ECSYS,#EDSYS,#EESYS,#EFSYS,#ERSYS
1339 DECL ET_AX $ET1_AX={[glow=red,2,300]TR_A1 #ET1[/glow],TR_A2 #NONE,TR_A3 #NONE} ;EXTERNE ACHSEN #NONE, #E1, #E2, #E3, #E4, #E5, #E6 -
Your KSD is mounted in the base cabinet, or did you have an extended cabinet with on top montage ????
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Mounted in the gabinet base.
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Is odd because the errors are for all AXIS!
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Check all the Ethernet cables in your cabinet, check the wireing to the RDW box and check the wireing IN the RDW box
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Hello,
Someone has the data of the engines for KRC1 (KR100-KR150-KR200 robots).
Best Regards -
Hi people!
We fineshed to install the external axis! But we have now an other problem!
1 - When we try to use the Automatic mode the robot says: (no. 221 ) MODE INADMISSIBLE E 2
2 - How to enable the T2 mode without install again? I remenber that we can change a ";" in a .dat file.
Thanks a lot!!
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Look at Progress.ini in folder /init
Kundenversion=
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;Customer version for internal control tasks
; 1 = KUKA (Basic type)
; 2 = VW (VKRC 1)
; 3 = KUKA (without mode T2)
; 4 = GM (General Motors !! not for R2.2.8 and lower !!)
; 5= KUKA (mit E2/E7 Schliessung)
KUNDEN_VERSION =1Is necessary to change anything? (remeber, I have a 7 axis into KRC2)
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