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1 Repair and procurement of spare parts
Repair and procurement of spare parts
Repairs to the KR C may only be carried out by KUKA customer support personnel or by customers authorized to do so after participation in a relevant KUKA Robot Group service seminar.
1.1
Customer repair
As far as customer repairs to the KR C are concerned, only the exchange of modules is envisaged. A defective motherboard is exchanged together with the PC rack.
1.2
Repair by KUKA service personnel
Repairs within modules may only be carried out by specially trained KUKA Robot Group personnel.
A repair by KUKA Robot Group service personnel carries the following guarantees:
G carried out by specially trained, experienced personnel
G compliance with the ESD directives
G use of the required special tools
G optimal conditions for locating faults and searching for the exact causes
G technical revisions carried out
G overall test of the PC on completion of repair.
1.3
Procurement of spare parts
The article numbers for spare parts are listed in the electronic spare parts catalog (KUKA
Parts) on a CD--ROM that accompanies every control cabinet.
The KUKA Robot Group supplies the following types of spare parts for KR C repairs:
G
New parts
Once the new part has been installed, the part that has been removed can be disposed of.
G
Exchange parts
Once the exchange part has been installed, the part that has been removed is returned to the KUKA Robot Group.
A “Robot Repair Card” is supplied with the exchange parts.
The Repair Card must be completed (see Chapter 12) and returned to the KUKA Robot
Group.
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Table of contents
- 7 Repair and procurement of spare parts
- 7 Customer repair
- 7 Repair by KUKA service personnel
- 7 Procurement of spare parts
- 8 Fault analysis and elimination
- 8 Fault analysis
- 8 Isolation of faults using checklists
- 8 Isolation of faults by exchanging components
- 9 Typical fault profiles
- 9 Fault profiles related to the PC
- 9 Power supply
- 9 Basic configuration
- 9 Drives
- 9 PC-- related peripherals
- 10 Fault profile checklist
- 15 Fault profiles related to DSE and machine data
- 15 Program crashes ( with possible loss of mastering)
- 15 The robot does not move in jog mode
- 16 The drives cannot be switched on
- 17 DSE error messages when booting the system
- 17 DSE x not found
- 17 Memory test error DSE x
- 17 DSE x does not run up
- 18 DSE axis assignment Ax
- 18 Power module axis Ax not / incorrectly connected
- 18 Machine data loader canceled
- 18 Incorrect machine data
- 19 DSE error messages during operation
- 19 Watchdog interpolation cycle Ax
- 19 Synchronization error with DSE Ax
- 19 Regulator limit exceeded Ax
- 19 Stopped Ax
- 19 Motor temperature Ax
- 20 Fault profiles related to the MFC
- 20 Controller hangs when loading software components
- 20 KCP control panel does not work
- 20 No image on KCP
- 21 Operating mode switchover on KCP does not react
- 21 When PC is booted, the operating system VxWorks does not run up
- 22 Fault profiles related to the KCP
- 22 No display on the LCD
- 22 Drives cannot be switched on
- 22 No entries can be made via KCP
- 23 EMERGENCY STOP cannot be acknowledged
- 23 Space Mouse does not work
- 24 Fault profiles related to a field bus card
- 24 Communication via diagnostic interface not possible
- 24 Error message “ xxxxx I/ O driver configuration error”
- 24 After inserting the field bus card: no display, controller does not boot ( Stop 0)
- 24 The controller “ hangs” after initialization of the field bus card
- 24 No external power supply for slave when controller switched off
- 25 Servo drive module messages and error displays
- 25 Servo drive module LEDs ( KSD1)
- 26 KCP messages for drives diagnosis
- 27 KPS-- 600 messages and error displays
- 27 KPS-- 600/ 10 and / 20 LED indicators
- 28 Meaning of LEDs 1 and 2
- 28 Meaning of LEDs 3 and 4
- 28 Meaning of LEDs 5 and 6
- 29 KPS-- 600 error messages on the KCP
- 31 KPS-- 27 operating state indicators
- 32 DSE-- IBS operating state indicators
- 33 RDC2 operating state indicators
- 34 ESC diagnostic tool
- 35 Softkey bar
- 36 ESC diagnosis error messages
- 39 DSE-- RDW diagnostic tool
- 39 Main menu of the DSE-- RDW diagnostic tool
- 40 Language selection
- 41 System info
- 42 MFC2 register display
- 43 DSE IBS information
- 44 Display RDC table
- 45 RDC offset and symmetry adjustment
- 46 Check RDC-- DSE communication
- 47 Drive bus diagnostics
- 48 Drive bus error list
- 49 Drive bus diagnostics -- KPS-- 2
- 50 Drive bus KSD 1-- 16
- 51 Error messages valid for the KPS-- 600
- 52 Error messages valid for the KSDs
- 53 Oscilloscope
- 53 Display
- 54 File selection
- 54 Oscilloscope screen
- 55 The information window
- 56 The softkey bar
- 56 The color softkeys
- 57 The scaling function
- 58 The zoom function
- 58 The Save function
- 58 The r. m. s. value function
- 60 Print
- 60 The cursor functions
- 63 The filter function
- 64 Superposing traces
- 66 Changing color assignments
- 67 Switching curves on and off
- 68 Configure
- 70 General
- 71 Trigger condition
- 73 Trace status
- 73 Trace data
- 77 Examples of a trace
- 81 Robot repair card