內容說明培訓

1、ESC 診斷KUKA Roboter GmbH, Hery-Park 3000, D-86368 Gersthofen, Tel.: +49 (0) 8 21/45 33-1906, Fax: +49 (0) 8 21/45 33-2340,© Copyright by KUKA Roboter GmbH CollegeI 20.10.2009 I College I NoLi I 1ESC 節(jié)點號KUKA Roboter GmbH, Hery-Park 3000, D-86368 Gersthofen, Tel.: +49 (0) 8 21/45 33-1906, Fax: +49

2、 (0) 8 21/45 33-2340,© Copyright by KUKA Roboter GmbH CollegeI 20.10.2009 I College I NoLi I 2節(jié)點號由總線順序確定，0代表master主節(jié)點ESC node 0 = KCP ESC node 1 = KPSESC node 2 = ESC-CI (選項):MFC無節(jié)點號ESC 診斷界面 (KCP)KUKA Roboter GmbH, Hery-Park 3000, D-86368 Gersthofen, Tel.: +49 (0) 8 21/45 33-1906, Fax: +49 (0)

3、8 21/45 33-2340,© Copyright by KUKA Roboter GmbH CollegeI 20.10.2009 I College I NoLi I 3KCP 輸入狀態(tài)KUKA Roboter GmbH, Hery-Park 3000, D-86368 Gersthofen, Tel.: +49 (0) 8 21/45 33-1906, Fax: +49 (0) 8 21/45 33-2340,© Copyright by KUKA Roboter GmbH CollegeI 20.10.2009 I College I NoLi I 4!表示:

4、“ drives on伺服上電 ”信號顯示所選節(jié)點輸入狀態(tài)當前選擇節(jié)點KCP 輸入狀態(tài)KUKA Roboter GmbH, Hery-Park 3000, D-86368 Gersthofen, Tel.: +49 (0) 8 21/45 33-1906, Fax: +49 (0) 8 21/45 33-2340,© Copyright by KUKA Roboter GmbH CollegeI 20.10.2009 I College I NoLi I 5ESC 診斷界面 (KCP)KUKA Roboter GmbH, Hery-Park 3000, D-86368 Gerstho

5、fen, Tel.: +49 (0) 8 21/45 33-1906, Fax: +49 (0) 8 21/45 33-2340,© Copyright by KUKA Roboter GmbH CollegeI 20.10.2009 I College I NoLi I 6前后節(jié)點切換當前選擇節(jié)點對應窗口內容ESC 診斷界面 (KPS)KUKA Roboter GmbH, Hery-Park 3000, D-86368 Gersthofen, Tel.: +49 (0) 8 21/45 33-1906, Fax: +49 (0) 8 21/45 33-2340,© Cop

6、yright by KUKA Roboter GmbH CollegeI 20.10.2009 I College I NoLi I 7KPS 輸入狀態(tài)KUKA Roboter GmbH, Hery-Park 3000, D-86368 Gersthofen, Tel.: +49 (0) 8 21/45 33-1906, Fax: +49 (0) 8 21/45 33-2340,© Copyright by KUKA Roboter GmbH CollegeI 20.10.2009 I College I NoLi I 8對應窗口內容顯示所選節(jié)點輸入狀態(tài)當前選擇節(jié)點ESC報錯1. 分

7、析KCP故障信息2. 啟動 ESC 診斷工具3. 選擇相應 ESC 節(jié)點4. 分析當前節(jié)點輸入狀態(tài)及相應信息5. 分析當前節(jié)點故障狀態(tài)及相應信息KUKA Roboter GmbH, Hery-Park 3000, D-86368 Gersthofen, Tel.: +49 (0) 8 21/45 33-1906, Fax: +49 (0) 8 21/45 33-2340,© Copyright by KUKA Roboter GmbH CollegeI 20.10.2009 I College I NoLi I 9Error故障KUKA Roboter GmbH, Hery-Park

8、 3000, D-86368 Gersthofen, Tel.: +49 (0) 8 21/45 33-1906, Fax: +49 (0) 8 21/45 33-2340,© Copyright by KUKA Roboter GmbH CollegeI 20.10.2009 I College I NoLi I 10分析 KCP故障信息ESC 報錯時診斷步驟:Error故障KUKA Roboter GmbH, Hery-Park 3000, D-86368 Gersthofen, Tel.: +49 (0) 8 21/45 33-1906, Fax: +49 (0) 8 21/4

9、5 33-2340,© Copyright by KUKA Roboter GmbH CollegeI 20.10.2009 I College I NoLi I 11Error故障KUKA Roboter GmbH, Hery-Park 3000, D-86368 Gersthofen, Tel.: +49 (0) 8 21/45 33-1906, Fax: +49 (0) 8 21/45 33-2340,© Copyright by KUKA Roboter GmbH CollegeI 20.10.2009 I College I NoLi I 12顯示當前節(jié)點輸入狀態(tài)

10、前后節(jié)點切換當前節(jié)點故障節(jié)點Error故障KUKA Roboter GmbH, Hery-Park 3000, D-86368 Gersthofen, Tel.: +49 (0) 8 21/45 33-1906, Fax: +49 (0) 8 21/45 33-2340,© Copyright by KUKA Roboter GmbH CollegeI 20.10.2009 I College I NoLi I 13雙通道安全回路故障KUKA Roboter GmbH, Hery-Park 3000, D-86368 Gersthofen, Tel.: +49 (0) 8 21/45

11、 33-1906, Fax: +49 (0) 8 21/45 33-2340,© Copyright by KUKA Roboter GmbH CollegeI 20.10.2009 I College I NoLi I 14顯示相應窗口故障故障顯示ESC 某一回路故障 / ESC 電源KUKA Roboter GmbH, Hery-Park 3000, D-86368 Gersthofen, Tel.: +49 (0) 8 21/45 33-1906, Fax: +49 (0) 8 21/45 33-2340,© Copyright by KUKA Roboter Gmb

12、H CollegeI 20.10.2009 I College I NoLi I 15ESC 某一回路故障 / ESC 電源KUKA Roboter GmbH, Hery-Park 3000, D-86368 Gersthofen, Tel.: +49 (0) 8 21/45 33-1906, Fax: +49 (0) 8 21/45 33-2340,© Copyright by KUKA Roboter GmbH CollegeI 20.10.2009 I College I NoLi I 16ESC診斷：故障信息分析 KCP故障信息ESC 安全輸入短路70µs70

13、81;sTA24V(A)Chip ANA (A)70µs70µsTA24V(B)Chip BNA (B)A、B兩通道信號具有時間差KUKA Roboter GmbH, Hery-Park 3000, D-86368 Gersthofen, Tel.: +49 (0) 8 21/45 33-1906, Fax: +49 (0) 8 21/45 33-2340,© Copyright by KUKA Roboter GmbH CollegeI 20.10.2009 I College I NoLi I 17ESC 安全輸入短路KUKA Roboter GmbH, He

14、ry-Park 3000, D-86368 Gersthofen, Tel.: +49 (0) 8 21/45 33-1906, Fax: +49 (0) 8 21/45 33-2340,© Copyright by KUKA Roboter GmbH CollegeI 20.10.2009 I College I NoLi I 18相應窗口給出故障信息TA 24 V 變成 0 V： 當測試輸出 TA 發(fā)出后. Chip輸入端應得到 0V 信號. 信號不對時, 輸出置為安全狀態(tài).ESC 安全輸入短路KUKA Roboter GmbH, Hery-Park 3000, D-86368

15、Gersthofen, Tel.: +49 (0) 8 21/45 33-1906, Fax: +49 (0) 8 21/45 33-2340,© Copyright by KUKA Roboter GmbH CollegeI 20.10.2009 I College I NoLi I 19ESC 安全輸入短路KUKA Roboter GmbH, Hery-Park 3000, D-86368 Gersthofen, Tel.: +49 (0) 8 21/45 33-1906, Fax: +49 (0) 8 21/45 33-2340,© Copyright by KUKA

16、 Roboter GmbH CollegeI 20.10.2009 I College I NoLi I 20顯示故障檢查連線顯示故障 chip（）狀況ESC 安全輸入短路短路故障: 內部急停 (KCP)短路故障: 外部急停短路故障: 操作模式短路故障: 檢測輸入 (QE)短路故障: 使能開關短路故障: 安全門短路故障: 其它開關 (E2)短路故障: AF (伺服就緒) and AA (伺服激活)硬件故障 KCP (即： 電路板故障等.)KUKA Roboter GmbH, Hery-Park3000, D-86368 Gersthofen, Tel.: +49 (0) 8 21/45 33-

17、1906, Fax: +49 (0) 8 21/45 33-2340,© Copyright by KUKA Roboter GmbH CollegeI 20.10.2009 I College I NoLi I 21安全輸出70µs70µs內部急停KUKA Roboter GmbH, Hery-Park3000, D-86368 Gersthofen, Tel.: +49 (0) 8 21/45 33-1906, Fax: +49 (0) 8 21/45 33-2340,© Copyright by KUKA Roboter GmbH CollegeI

18、 20.10.2009 I College I NoLi I 22比較比較各回自路編碼并與返回信號比較.信號不一致時, 輸出為安全狀態(tài).RLNA(B)Chip BLNA(B)70µs70µsLNA(A)Chip ARLNA(A)ESC 安全回路可反映出下列短路情況:返回信號RAE2(A)AE(A)70µs70µsChip ARAE(A)K124V70µs70µsKUKA Roboter GmbH, Hery-Park 3000, D-86368 Gersthofen, Tel.: +49 (0) 8 21/45 33-1906, Fa

19、x: +49 (0) 8 21/45 33-2340,© Copyright by KUKA Roboter GmbH CollegeI 20.10.2009 I College I NoLi I 23故障: 返回信號, 線圈 K1 A2KUKA Roboter GmbH, Hery-Park 3000, D-86368 Gersthofen, Tel.: +49 (0) 8 21/45 33-1906, Fax: +49 (0) 8 21/45 33-2340,© Copyright by KUKA Roboter GmbH CollegeI 20.10.2009 I C

20、ollege I NoLi I 24比較比較窗口顯示故障描述節(jié)點1 : KPS 600各回路比較輸出及返回信號的狀態(tài). 信號不一致時, 輸出為安全狀態(tài).RAE(B)Chip BAE(B)接觸器輸出故障 (輔助繼電器)輸出故障： AE 線圈故障: 返回信號, 線圈 K1 A2KUKA Roboter GmbH, Hery-Park 3000, D-86368 Gersthofen, Tel.: +49 (0) 8 21/45 33-1906, Fax: +49 (0) 8 21/45 33-2340,© Copyright by KUKA Roboter GmbH CollegeI 2

21、0.10.2009 I College I NoLi I 25故障: 返回信號, 線圈 K1 A2KUKA Roboter GmbH, Hery-Park 3000, D-86368 Gersthofen, Tel.: +49 (0) 8 21/45 33-1906, Fax: +49 (0) 8 21/45 33-2340,© Copyright by KUKA Roboter GmbH CollegeI 20.10.2009 I College I NoLi I 26顯示故障故障位置故障: 返回信號,輔助接觸器 K1KUKA Roboter GmbH, Hery-Park 300

22、0, D-86368 Gersthofen, Tel.: +49 (0) 8 21/45 33-1906, Fax: +49 (0) 8 21/45 33-2340,© Copyright by KUKA Roboter GmbH CollegeI 20.10.2009 I College I NoLi I 27故障: 返回信號,輔助接觸器 K1KUKA Roboter GmbH, Hery-Park 3000, D-86368 Gersthofen, Tel.: +49 (0) 8 21/45 33-1906, Fax: +49 (0) 8 21/45 33-2340,©

23、 Copyright by KUKA Roboter GmbH CollegeI 20.10.2009 I College I NoLi I 28故障窗口顯示故障描述節(jié)點 1 : KPS 600故障: 返回信號,輔助接觸器 K1KUKA Roboter GmbH, Hery-Park 3000, D-86368 Gersthofen, Tel.: +49 (0) 8 21/45 33-1906, Fax: +49 (0) 8 21/45 33-2340,© Copyright by KUKA Roboter GmbH CollegeI 20.10.2009 I College I N

24、oLi I 29故障: 返回信號,輔助接觸器 K2(選項 / 跳線 KPS 600)KUKA Roboter GmbH, Hery-Park 3000, D-86368 Gersthofen, Tel.: +49 (0) 8 21/45 33-1906, Fax: +49 (0) 8 21/45 33-2340,© Copyright by KUKA Roboter GmbH CollegeI 20.10.2009 I College I NoLi I 30窗口顯示一般故障描述節(jié)點 1 : KPS 600顯示故障故障: 返回信號,輔助接觸器 K2(選項 / 跳線 KPS 600)KU

25、KA Roboter GmbH, Hery-Park 3000, D-86368 Gersthofen, Tel.: +49 (0) 8 21/45 33-1906, Fax: +49 (0) 8 21/45 33-2340,© Copyright by KUKA Roboter GmbH CollegeI 20.10.2009 I College I NoLi I 31故障: 返回信號,輔助接觸器 K2(選項 / 跳線 KPS 600)KUKA Roboter GmbH, Hery-Park 3000, D-86368 Gersthofen, Tel.: +49 (0) 8 21/

26、45 33-1906, Fax: +49 (0) 8 21/45 33-2340,© Copyright by KUKA Roboter GmbH CollegeI 20.10.2009 I College I NoLi I 32顯示故障故障信號傳遞測試TA5V (A)BALNAKUKA Roboter GmbH, Hery-Park3000, D-86368 Gersthofen, Tel.: +49 (0) 8 21/45 33-1906, Fax: +49 (0) 8 21/45 33-2340,© Copyright by KUKA Roboter GmbH Col

27、legeI 20.10.2009 I College I NoLi I 33節(jié)點間相互節(jié)點 n節(jié)點 n+1KUKA Roboter GmbH, Hery-Park3000, D-86368 Gersthofen, Tel.: +49 (0) 8 21/45 33-1906, Fax: +49 (0) 8 21/45 33-2340,© Copyright by KUKA Roboter GmbH CollegeI 20.10.2009 I College I NoLi I 34觀察 PIC 和返回信號故障： PIC 0 (Chip A) 上一模塊PIC 1 (Chip B) 指定模塊Chip B 與上一輸入信號信息進行比 到較下，一設個置輸出，并將節(jié)點.Chip A 與上一 節(jié)點輸入信號信息進行比較,到設下置一輸個出，并將.Chi