motor blocked A1

[tyhu]

In kuka log, there are two messages in a roll  "motor blocked A1" "Common drives error1"? What does this mean?





Thanks.

[the leg]

KRC1 or KRc2

[tyhu]

KRC version: 5.5.10.

Robot type: KR16 L6-2


I guess I found the answers.  "motor blocked A1" means "the command torque value supplied by the speed controller exceeds the max. command torque value by more than 30%".

After this message, there is another one "Internal Error (file: meldloes.c, line: 2234, value: 'H2A7')". What does this mean? Thanks.

[SkyeFire]

The "Internal Error" messages usually indicate that a process in the robot's operating system has failed.  If this only happens on rare occasions, it can be ignored.  However, if it begins happening regularly, a re-install of KSS may be required.  Or, sometimes, this can be an indication of a "soft fault" in certain hardware components.

[Fubini]

Internal Error (file: meldloes.c, line: 2234, value: 'H2A7')". What does this mean?

This indicates something went wrong deleting a message (meld(ung) = german for message, loes(chen) = german for delete). E.g. some state messages (like motor blocked) may have a follow up quit message appearing if the error state vanishes. Sometimes it happens that the follow up message does not exist or is of wrong type, ... . So basically this message tells KUKA that some internal system message is not configured correct. The value H2A7 simply describes in hex the index of the internal message table where the error appeared. Since this error condition only generates a notification message it is harmless, so I agree with Skyefire that this can be ignored for your "real" problem.

Fubini

[the leg]

It could be you are hitting something with A1 or you have a servo drive error
does it happen all the time ?

or a1 motor is no good

you could try swapping a1 and a2 servo drives over as a quick test

[tyhu]

Thanks a lot. This "motor blocked A1" is a message after a crash, which is after operator rotating A1 in T2 mode from kuka log.