Kuka KR C2 - CI3 Standard board

User Manual
26 of 86
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4.2 KCP messages for drives diagnosis
The following KSD error messages are displayed in the message window of the KCP.
Display in
message window
Meaning/
cause of error
Troubleshooting/
possible fault elimination
DRIVES ERROR
Ax No.: TRIP
KSD is in a fault state; robot carries
out Emergency Stop.
See detailed error message which is
also displayed.
OVERCURRENT
Ax
1. Overloading of the axis
2. I
2
t overload
3. KSD defective
Reduce load on axis
(reduce OVR, $ACC_AXIS),
exchange KSD.
SYNCHRONISA-
TION ERROR
DRIVE MODULE
Ax
Max. permissible number of commu-
nication errors with the servo bus
exceeded.
Too many consecutive toggle bit er-
rors; cause short--circuit braking.
Check Interbus cable between DSE,
KPS and KSDs.
HEAT SINK
TEMPERAT URE Ax
Overtemperature, heat sink Check cabinet cooling circuit/fans;
reduce load on axis
(reduce OVR, $VEL_AXIS or
$ACC_AXIS).
Parameter error
Ax PR1
Checksum error in parameter set 1 Check KSD/restart/exchange
MOTOR CABLE Ax Power unit overcurrent
(short--circuit or ground fault),
hardware monitoring
Ground fault, software monitoring
Check motor cable/motor
FAILURE OF
MOTOR PHASE Ax
Motor phase failure Check motor cable/motor
Drives error Ax
no.: 105
Checksum error in the control unit
device set
Check KSD/restart/exchange
Drives error Ax
no.: 71
Microcontroller crash Check KSD/restart/exchange
Drives error Ax
no.: 79
Communication error with the
EEPROM in the control unit
Check KSD/restart/exchange
Drives error Ax
no.: 80
Communication error with the
EEPROM in the power unit
Check KSD/restart/exchange
Drives error Ax
no.: 106
Checksum error in the power unit
device set
Check KSD/restart/exchange