Hello,
I neglected to give an outcome for the replacement power pack....
I found a workshop here in Brisbane that were able to test the power pack and replace the damaged components on the circuitboards.
Total cost about AUD1100, definitely cheaper that a AUD25000 replacement power pack.
Hi,
I am looking to purchase a secondhand Kuka power pack, Artikel Nr 00198263
This pack has provision for two external drives up to 40amps.
If you have one that you are willing to sell please contact me or leave a post here.
Regards,
Rod
Latest update .......
still no solution from the Kuka agent, so I have made copies of the most frequently used motion control programs and re-taught all the positions.
Also it now looks as though there is a faulty connection where the cable enters the pendant. 
....... and now the KPP has a fault!
G'day,
I'm using an old tip which I have drilled and pressed in a 3mm steel rod. Rod is shaped to a point... overall length about 53mm.
The fixed datum is a magnetic base with a piece of 8mm Booker rod screwed into it, which is also shaped to a point..... I'll post a photo later.
The tech says its a KR16 L6 HW ARC..... I guess the HW stands for Hollow Wrist
G'day panic mode,
regarding A1: the tech said that he didn't check the angular error on A1 because that wont affect the tool calibration (?!!)
I did not think this sounded right but he insisted that he knew what he was doing.
I'll keep you posted on any progress.
Regards,
Rod
Thanks for the reply.
We checked the error on A2 to A6.
This robot is different from the kukas that I have previously worked on: this one has the A5 and A6 drives mounted next to the A5 knuckle (see attached) instead of up near the A3 knuckle, so A5 and A6 do not have to compensate when A4 is actuated.
Even though we checked each axis for angular error I think you are right in respect that we should remaster the whole robot.
Thanks for your reply animisiewaz,
The local agent turned up today. We checked the Fronius crashbox, the belt drives to A6 and A5 (all good) , and we put the dial indicator in and checked zero position on A2, A3, A4, A5 and A6. A4 was 1.4 degrees out. He remastered the A4 axis and then we tried to recalibrate the TCP using the 4 point method. Came up with 13mm error.
He has no ideas and has gone back to check his notes, and I have just sent him a copy of the latest archive.
Any ideas?
Regards,
Rod
G'day,
Seems like tool calibration issues are the order of the day, so I thought I would tag onto the end of this thread.. I hope that is OK .....
I have just crashed the welding torch on our Kuka Robot into the welding jig. The torch is fitted with a Fronius 'crashbox'. There is no obvious damage to the robot.
When I stepped through the next weld the torch was at least 5mm out of position. I did a tool calibration and came up with an error of 4.2mm(!!!). Sure enough when I tried to use the mouse to rotate the tool around the TCP the tip 'corkscrewed' away from the datum point by about 10mm during a 180 degree rotation.
When the crash occurred I did not get any axis remastering error messages.
I have called our local Kuka agent but he cant get here until later this week.
Can anyone suggest what I should look at next?
