库卡机器人kuka---故障信息与故障处理

Systemmeldungen05.03.01en1of322SOFTWAREKRC...SystemMessagesKUKASystemSoftware(KSS)Issued:18May2006Version:012of322Systemmeldungen05.03.01eneCopyrightKUKARoboterGmbHThisdocumentationorexcerptstherefrommaynotbereproducedordisclosedtothirdpartieswithouttheexpresspermissionofthepublishers.Otherfunctionsnotdescribedinthisdocumentationmaybeoperableinthecontroller.Theuserhasnoclaimstothesefunctions,however,inthecaseofareplacementorservicework.Wehavecheckedthecontentofthisdocumentationforconformitywiththehardwareandsoftwaredescribed.Nevertheless,discrepanciescannotbeprecluded,forwhichreasonwearenotabletoguaranteetotalconformity.Theinformationinthisdocumentationischeckedonaregularbasis,however,andnecessarycorrectionswillbeincorporatedinsubsequenteditions.Subjecttotechnicalalterationswithoutaneffectonthefunction.3of322Systemmeldungen05.03.01enContents1Systemmessages4................................................SystemMessages4of322Systemmeldungen05.03.01en31SystemmessagesThistablecontainsanoverviewofthesystemmessagesthatcanbedisplayedinthemes-sagewindowofthegraphicaluserinterface.Asystemmessageconsistsofthefollowingitemsofinformation:12:18:021342WorkenvelopeexceededKCPC...TimeNo.SourceMessage12:18:031376KCPActivecommandsinhibitedMessagegroupMessagetimeMessagenumberOriginatorofthemessageMessagetextMessagegroupThemessagegroupisthecategorytowhichasystemmessagebelongs.Itisrepresentedbyasmallicon.NotificationmessageNotificationmessagescontaininformationorindicateoperatoractions,programmingerrorsandoperatorerrors.Notificationmessagesarepurelyforinformationpurposesanddonotinterruptprogramexecution.StatusmessageStatusmessagesindicatethestatusofthesystem.Statusmessagesarealsoinformationalincharacter,butcaninterrupttheapplicationprogramtoacertainextent.Astatusmessageisautomaticallydeletedassoonasthestatusthattriggeredthemessageisnolongerapplicable.AcknowledgmentmessageThesefrequentlyappearfollowingastatusmessage(e.g.“EMERGENCYSTOP”)andmustbeconfirmedbymeansofasoftkey.Anacknowledgmentmessagemayinterruptanapplicationprogramordisablejogmode.Itindicatesdisruptiontoprogramexecution.DialogmessageTheoperatormustrespondtothesemessagesusingasoftkey.Adialogmessagestopsarunningprogram.Itisautomaticallydeletedwhenoneofthesoftkeysofferedispressed.Theprogramisthenresumed.1Systemmessages(continued)5of322Systemmeldungen05.03.01enMessagetimeThemessagetimeindicatesthesystemtimeatwhichthemessagewasgenerated.MessagenumberWiththeaidofthemessagenumber,thecorrespondingcause,effectandanyavailableremedycanquicklybelocatedinthelistofsystemmessages.OriginatorofthemessageThemoduleresponsibleforthesystemmessageisindicatedinthiscolumn.MessagetextTheactivesystemmessageisdescribedhereingreaterdetail.Pleasenote:Eachsystemmessageismosteasilyfoundusingthemessagenumber.Forthispurpose,allthemessageshavebeenarrangedhereinatabularstructure.1EMERGENCYSTOPMessagenumberMessagetextTypeofmessageCauseDescribesthereasonforthecurrentsystemmessage.Describestheresponseofthecontrollerwhenthesystemmessageinquestionisgenerated.Describestheremedialmeasure(s)thatcanbetakentoeliminatetheproblem.EffectRemedyLinesareonlyincludedinthetablewherenecessary.Whenamessageisgenerated,placeholderssuchas“%1”arereplacedwithrelevantvalues.SystemMessages6of322Systemmeldungen05.03.01en1EMERGENCYSTOPCauseEMERGENCYSTOPbuttonpressed.EMERGENCYSTOPcircuitbroken.EMERGENCYSTOPtriggeredbyprogram.EffectPath--maintainingbraking.Allactivecommandsinhibited.RemedyReleasetheEMERGENCYSTOPpushbutton.CheckEMERGENCYSTOPpushbuttonandEMERGENCYSTOPcir-cuit.Rectifyandacknowledgethesignalledfault.2InternalerrorCauseInternaltestofKRCsoftware.EffectRamp--downbraking.Allactivecommandsinhibited.RemedyAcknowledgemessage.3MessagebufferoverflowCauseThemessagebuffercontainingthemessagesthatarecurrentlyactive(acknowledgementandstatusmessages)hasreachedacertaincapacitylimit.EffectRamp--downbraking.Allactivecommandsinhibited.RemedyRectifyandacknowledgethesignalledfaults.4BufferbatteryvoltagelowpowermodulenumberCauseThevoltageofthebackupbatteryistoolow.EffectNexttimethecontrollerisswitchedoff,itwillnolongerbepossibletowritecompletelytotheharddisktherobotdatathatneedtobesaved.RemedyExchangethebattery.1Systemmessages(continued)7of322Systemmeldungen05.03.01en5MalfunctionKCPorRCPCauseKCPdefective.EffectPath--maintainingbraking.Allactivecommandsinhibited.RemedyExchangeKCP.6TransmissionerrorKCPorRCPCauseConnectiontoKCPisfaulty.EffectRamp--downbraking.Allactivecommandsinhibited.RemedyCheckKCPcable.7I/ODrivernotready:drivernumber0RemedyNoonlinehelpiscurrentlyavailableforthissubject.Informationcanbefoundintheoperatinghandbooks.8SystemtimeinvalidCauseThesystemtimeisinvalid,accordingto“TIME_HW_FAILURE”,andhasbeensettotheinitialvalue.EffectSystemtimehasbeeninitializedwiththesetting01.01.9300:00:00,00.RemedyUpdatethesystemtimeusingthe“syszeit”form.9MFC--OvertemperatureCauseMFCovertemperature.EffectPath--maintainingbraking.RemedyCheckfanincontrolcabinet.ExchangeMFCifnecessary.SystemMessages8of322Systemmeldungen05.03.01en10Errordig