motor data

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

....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

in english

What's the failure message or did you get no message?

Pls. post a complet robot archive

test this:

$PMCHANNEL[7]=121

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

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 ??

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, #E6

correct 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, #E6

correct 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 ????

Check all the Ethernet cables in your cabinet, check the wireing to the RDW box and check the wireing IN the RDW box

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!!

Look at Progress.ini in folder /init

Kundenversion=

;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 =1

Is necessary to change anything? (remeber, I have a 7 axis into KRC2)