KUKA KR CS Box-2 Compact Controller for Four Axis SCARA Robot

Troubleshooting: Display panel and alarm codes

The display panel has 2 red LEDs (Error, E Stop) and 2 green LEDs (Auto, Manual), as well as a four digit 7-segment digital display. C-3 indicates that the system is normal; 800 indicates an error, and the digital display scrolls to show the error code; E-SP indicates emergency stop, both red LEDs are on; E-CC may indicate system startup, communication failure between display panel and controller, system disabled but emergency stop not pressed, or backup in progress; UPOK indicates that the update is in progress. Insert a USB flash drive during backup, press the Trigger button, wait for the display of "----", and after successful backup, the file name format will be bckp_date time. zip, bckp_ip_date time. txt, and bckp_date time MD5。

Common alarms and handling: 65 motion element errors, check limit, tracking errors, and drive errors; 66 CPU overload, reduce loops, decrease page refresh, restart controller; The 3006 element has been attached to the task. Stop the attached task before starting a new motion task; 3016 envelope errors, check Pemax and collision; 3017 axis tracking error, reduce speed, check for collision; 3022 return to zero over distance, check the limit switch; 3058 driver not enabled, click the system enable button; 3082 feedback speed exceeds limit, reduce command speed, check encoder; 3115 enters the following mode to check for mechanical arm interference, zeroing, and motion errors; 3117 is too close, reset the target point; 3121 target unreachable, modify Pmin/Pmax; 3154 reaches the maximum position, jog in the opposite direction; 3192 not attached, add Attach Group before exercise; 3204 inverse matrix cannot be calculated, modify the starting or ending point of the arc; 3245 zeroing error, reduce zeroing speed; Follow the error when stopping 3253, check the PEMax, enable the robot, and check the joint limit; 3335 limit switch triggered, check for return to zero and sensor; 5034 cannot accept host connections, check IP and network segment; Port 5043 is already open, please close the occupied port first; 5055 connection rejected or timed out, check IP and cable; 13102 additional torque exceeds the limit, check the load, speed, and acceleration; 13132 singular point, modify path; 19015 EtherCAT topology change, restart the system, check cables, and perform I/O remapping; 19020 driver short circuit, check U/V/W and grounding; 19021 to 19023 U phase continuous overcurrent, check U phase cable, reduce load, check insulation; 19024 hardware overcurrent, check mechanical card resistance, encoder wiring, and braking circuit; 19026 DC bus overvoltage, adjust input voltage, check braking resistance; 19027 DC bus undervoltage, adjust input, check power cable; 19028 power module overheating, reduce load, replace driver, improve heat dissipation; 19031 Regenerative resistor overload, avoid frequent and rapid stops; 19043 encoder data abnormality, check the encoder cable and replace the encoder; 19045 encoder communication timeout, check the encoder wiring; The 19051 driver is continuously overloaded. Check the encoder wiring and replace the encoder; 19053 drive output phase loss, check the motor and brake wiring; 19054 motor stalling, check encoder wiring, strengthen anti-interference; 19055 current tracking error is too large, check for mechanical jamming; 19059 motor brake abnormality, check the brake circuit; 19061 STO1 trigger, check the STO1 cable and circuit; The speed following error of 19068 is too large. Check for mechanical jamming, reduce acceleration, and optimize the regulator; Instantaneous overload of motor 19079 to 19081, reduce load, check for jamming and braking; 19087 encoder overheating, reduce ambient temperature, replace driver; 19088 encoder battery undervoltage, check battery wiring, set current value, replace battery; The power on position error of 19090 is too large. Check the encoder battery and battery voltage; 19096 brake control abnormality, check brake wiring, 24V and drive; 19113 axis 0 secondary velocity tracking error, reduce speed, check interference; The 20005 system is not enabled. Check the safety board contact, fan, parameter consistency, and zero return; 20007 unable to enable group, check emergency stop, drive error, confirm button; From 2009 to 20104, if the target exceeds X/Y/Z, reverse jog or modify the target point, increase Pmax/Pmin; 20123 SDO error, check driver and I/O cables, restart; 20140 singular point, move J2 away by ± 15 °, modify the path; 20151 STO signal, check I/O and drive cables; Unable to allocate tools and bases in September 2016, please check the coordinate system; 20217 Exceeding UserFrame, restricting or modifying targets; 20273 update failed, check firmware, cables, and replace drivers; 20285 unable to load application, check compilation, tool coordinates, APP status; 20310 unable to run remote tasks, check communication parameters; Execute Stop 1 on 20488 as the fan speed is below the threshold, check the fan cable; 20507 safety board is not in the enabled state, check for short circuit between deadman and safety board; 20537 joint coordinates are out of range, modify coordinates; 20562 EtherCAT topology change, perform I/O remapping; The maintenance of A3/A4 belts, splines, and encoder batteries from 20791 to 20793 has expired. Replace the components and enter a new lifespan; 20830 cannot set displacement, disable or separate motion group; Data recovery failed from 20840 to 20844. Check the controller serial number, cable, and restart; 20907 Invalid signal name, check the I/O module and old I/O; 20939 The safety door opens on Auto/Remote and continues to close; 20954 unable to open communication channel, check port, network, cable, restart; 20978 motor cannot be activated due to overheating, waiting for the motor to cool down; 21105 Topology changes update data, waiting or refreshing; 21108 reboot failed, check I/O module, redo I/O remapping; 21112 to 21115 cannot run/load, execute I/O remapping; 21136 remapping with topology changes, re execute; 21138 failed to obtain topology, restart the system; 21139 EtherCAT master station status change, execute I/O remapping.