内容说明培训

1、ESC 诊断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 节点号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节点号由总线顺序确定，0代表master主节点ESC node 0 = KCP ESC node 1 = KPSESC node 2 = ESC-CI (选项):MFC无节点号ESC 诊断界面 (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 输入状态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伺服上电 ”信号显示所选节点输入状态当前选择节点KCP 输入状态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 诊断界面 (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前后节点切换当前选择节点对应窗口内容ESC 诊断界面 (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 输入状态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对应窗口内容显示所选节点输入状态当前选择节点ESC报错1. 分

7、析KCP故障信息2. 启动 ESC 诊断工具3. 选择相应 ESC 节点4. 分析当前节点输入状态及相应信息5. 分析当前节点故障状态及相应信息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 报错时诊断步骤: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显示当前节点输入状态

10、前后节点切换当前节点故障节点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双通道安全回路故障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显示相应窗口故障故障显示ESC 某一回路故障 / ESC 电源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 电源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诊断：故障信息分析 KCP故障信息ESC 安全输入短路70µs70

13、81;sTA24V(A)Chip ANA (A)70µs70µsTA24V(B)Chip BNA (B)A、B两通道信号具有时间差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 安全输入短路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相应窗口给出故障信息TA 24 V 变成 0 V： 当测试输出 TA 发出后. Chip输入端应得到 0V 信号. 信号不对时, 输出置为安全状态.ESC 安全输入短路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 安全输入短路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显示故障检查连线显示故障 chip（）状况ESC 安全输入短路短路故障: 内部急停 (KCP)短路故障: 外部急停短路故障: 操作模式短路故障: 检测输入 (QE)短路故障: 使能开关短路故障: 安全门短路故障: 其它开关 (E2)短路故障: AF (伺服就绪) and AA (伺服激活)硬件故障 KCP (即： 电路板故障等.)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安全输出70µs70µs内部急停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比较比较各回自路编码并与返回信号比较.信号不一致时, 输出为安全状态.RLNA(B)Chip BLNA(B)70µs70µsLNA(A)Chip ARLNA(A)ESC 安全回路可反映出下列短路情况:返回信号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: 返回信号, 线圈 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比较比较窗口显示故障描述节点1 : KPS 600各回路比较输出及返回信号的状态. 信号不一致时, 输出为安全状态.RAE(B)Chip BAE(B)接触器输出故障 (辅助继电器)输出故障： AE 线圈故障: 返回信号, 线圈 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: 返回信号, 线圈 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显示故障故障位置故障: 返回信号,辅助接触器 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: 返回信号,辅助接触器 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故障窗口显示故障描述节点 1 : KPS 600故障: 返回信号,辅助接触器 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: 返回信号,辅助接触器 K2(选项 / 跳线 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窗口显示一般故障描述节点 1 : KPS 600显示故障故障: 返回信号,辅助接触器 K2(选项 / 跳线 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: 返回信号,辅助接触器 K2(选项 / 跳线 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显示故障故障信号传递测试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节点间相互节点 n节点 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观察 PIC 和返回信号故障： PIC 0 (Chip A) 上一模块PIC 1 (Chip B) 指定模块Chip B 与上一输入信号信息进行比 到较下，一设个置输出，并将节点.Chip A 与上一 节点输入信号信息进行比较,到设下置一输个出，并将.Chi