Gear Torque Exceeded Axis 6 (VKRC)

[bipinpaul]

Good morning Gents

Hi  iam having a general or common Error that everyone as a robot programmer came across.
 "
Gear Torque Exceeded Axis 6 (VKRC)
"
 iam actually running a sealer program robot got some KLin and ptp points...when it moves from a kLin to a ptp with velocity 100 and acceleration 100  it trips axis 6 and gives
me gear torque exceeded Axis6.

Questions
1. is it purely a mechanical issue? like lubrication, physical maintenance on axis6?
2. Is there any variable that u can set, for the sensitivity of the torque ( increase the window of monitoring the torque)

currently the robot is running if i reduce the acceleration to 50 % , but this is only a temp solution. any suggestion is welcome.


Regards
Paul

[optimus_prime]

It looks like you are getting fault because of the movement of wrist arm.
Does the problem occur only at that point or repeatative in nature?

If its a programming issue = Try to teach an Helping point in between n check.

Also check motor/encoder cable connections for Axis 6 motor n X20 Motor cable is tightly plugged in the KRC.

[mechrob]

Hi,

Maybe this is a problem with the servo drives.
You can test this by exchanging the servo drive (KSD) of axis 6 with the KSD of axis 5 (or 4). When the fault moves to the other axis, then you know it's a KSD-problem.

But I also guess this is a programming issue.

If you have a belt driven wrist... check the toothed belts for cracks ans check the tension of the belts.

Good luck...

[markopo]

I have got the same problem.
Few times :
- when issue was broken gripper ( exactly mouting plate to robo wasn't good tightned to gripper), before this diagnose we have made exchange wrist > no change, then there was suspicious cardan in long arm to motor > no change, at the end we try to demount and check gripper > bingo) , at the 100% speed there was a problem with one screw (inbus), this screw just because long work (vibrations of robot, vibrations of welding station etc.). Just very obvious problem but  so many diagnosis ;)
- other time there was a programm problem ( I think that was problem when operator put new line into program but this new point was so CLOSE to previous) > and we have got a problem with torque), try to find out a point which has full speed and full accurancy and in a path is so close to neighbor point,

Marek.

[the leg]

You can get this error if the robot doent like the path or the wrist unit is close to singularity
have you tried changing the patalso have done the load datas for tool

[mechrob]

I've also seen once that the bolts to connect the gripper to the robot were too long. So the bolts scraped against the fixed part of the wrist.

[bipinpaul]

Thank you guys for ur reply and suggestion

Like marek told..
I got a bit funny gripper holding 2 glue  heads...and it is VKRC1 so u can imagine, i will check the vibration...of the tool itself and try to make intermediate points.

After reducing the acceleration to 50% the problem did not come again. hope fully we are also planning to change all the old robots to new VKRC2.

Regards
Bipinpaul