KUKA KR C4 Midsize Assembly Guide

Fault 6: RDC or mastering malfunction. Check X21 data cable, shielding, plug locking, RDC power supply, and EDS. After replacing the data cable, it is necessary to re master. If the axis data is lost, check the battery, RDC, and motor encoder wires. Mastering testing can use EMD or reference switches.

Fault 7: Over temperature or fan alarm. Check the spacing between the top 300mm, side 50mm, and rear 100mm; Clean the heat exchanger, filter screen, and fan; Check the KPP/KSP radiator, brake resistor, and temperature sensor inside the cabinet. Do not install filter cotton outside the ventilation port, otherwise it will increase the temperature and shorten the service life of the equipment.

Fault 8: The safety stop cannot be cancelled. Check external safety stop 1/2, safe operation stop US2、 Enable signal, operational safety, and safety interface feedback. Security stop cancellation usually does not require confirmation, but operational security recovery requires confirmation. If the safety controller detects an error, it may trigger the safety stop 0, and diagnostic information needs to be checked.

Maintenance and documentation: making the system verifiable in the long term

Maintenance work must be carried out outside the danger zone; If entry is necessary, power must be cut off, tags must be hung, and electricity must be tested. After the controller is powered off, there may still be a residual voltage of up to 780 VDC in the intermediate circuit, and it is necessary to wait for at least 180 seconds. Follow ESD regulations during homework to prevent static electricity from damaging the board. Regularly inspect batteries, fans, contactors, fuses, labels, and warning signs. Nameplates, warning labels, and safety symbols shall not be removed or altered. Passwords should be changed before debugging and only authorized personnel should be informed.

When KUKA support is required, the robot model and serial number, controller model and serial number, software version, diagnostic package KRCDiag, external axis information, application project, and frequency of fault occurrence should be prepared. The more complete the information, the faster the positioning.