Safety Box Error

[Annegret Haldiman]

ihave krc4 with kss 8.2.X and KR-120.

the robot have two safety circut then connected to X11.

when one of the safety network is disconnected and one is connected, the robot show me grey blank screen, with a man buckle to sear in yellow and the robot is stuck.

i need to do a restart to the robot, so i can continue work with him.

It seems like the case of life connection. I think you should start with electrical connections. You can find the related documents in parts and documents CD. You can find their X11 connections and controller internal connections.

i putted a shorted X11 circut to bypass the safety circuits.

still get the message : Safety stop.

the icon of men buckled is yellow, IP is green, robot icon is in red.

the only why to reset the problem is turn off the robot and then turn it back on.

i tried to work with shorted circut. after a few seconds, safety stop

Zeev is trying to explain the 3 icons on top of Smartpad (KRC4) when you turn the KeySwitch. I facd few days back similar problem with one of my new KRC4 robots. I was trying to jog it and after few degrees of jog it was entering into safety stop. I started diagnosis step by step.

1). Checked all the X-11 connections.

2). Checked all the connections inside the controller.

2). Tried reconfigure Safety configurations.

3). Reloaded the base project from WorkVisual and tried configuration again.

4). Then with one of my colleague, I checked the 24 VDC voltage on the controller and drives. The voltage was dropping after few seconds of jogging the axes. So, the KPS (Power Supply) was faulty.

Now, I hve few questions to you Zeev:

1). Are you trying to jog the robot? Is it able to move or simply doesn't allow you to do so.

2). Did you try Start-up mode operation?

3). Do you see any other alarm message other than Safety Stop?

4). Could you post some screenshot of the alarm window?

Sounds like your contacts you wired into robot safety circuit is not fast enough (both contacts must switch at the same time or within tight time limit), you get cross channel fault and safety locks out until you reboot. Check download section for X11 wiring examples for KRC4.

Looking at the picture it seems like the Smartpad is loosing connection with the Robot Interface. Did you try to check the ethercat connections coming to the controller? These ethercat connectors are really a pain. They get loose if not properly inserted.

It is little bit tricky with DC voltage circuit if you ask me. A minor surge can blow off your electronic devices without even a blink to the protections you have. The best way to deal with electronics is to have proper earthing with lowest possible earthing resistance.

really? fuses are for overcurrent protection and nothing else. overcurrent is not the only reason for failure, there is also overvoltage, over temperature, over competence of end-user, over whatever...

are u using vscode or android studio? if u can run flutter run on terminal, that means that there is --no-sound-null-safety specified in either vscode or android studio configuration.. u can fix this by removing that.. for vs code u can check .vscode/launch.json or just open settings and search for "flutter run additional args".. for android just edit configuration.. if u can't find it, just search how to enable sound null safety to flutter and from there u know where its specified.

Solution : I am Using VS Code goto settings and find "Flutter Run Additional Args" and remove the --no-sound-null-safety if you have added before. My Problem Solve You Should try it

We have this error showing up on our Kuka LBR iiwa 14, and I'm not quite sure where to start the diagnostic. I've researched the error pretty extensively on this forum, and I've seen that it had been previously attributed to problem with fuses, but I have checked all the fuses and they are all fine. I would welcome any guidance towards the next step I should be doing in order to resolve this issue. The device refuses to move even though it has no load. Is there any way I can re-calibrate it or reset the torque sensors?

this is robot with by far greatest sensitivity of any industrial robot. and yes, it also need to be handled with care because it cannot take much punishment. and it cannot be repaired in field. usual problems are blown fuse or deploying project with wrong configuration. but those are not the only possible problems, there is nothing to rule out hardware faults. there is no visible external force acting on it, but that does not mean that joint is not stressed. it could be seized due busted gears just to name one.

if i recall correctly , change mode to T1, unmaster one axis, login as safety (password is 'argus') then you should be able to select KRF mode and try jogging again.. (away from obstacle or limit). if this helps you an always master axis again.

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