Torque exceeded error with axis 4, 5 and 6 on KR150 VKRC1 Kuka Robot

[kukart]

Hi,

I trying to restart an old VKRC1 KR150 robot. This robot has not worked for two years. I met a problem with axis 4, 5 and 6. When I try to move these axis (in manual mode) The robot try to move but I have torque exceeded error immediately (surrintensity on A4 and torque exceeded on A5 and A6). I have inspected mechanics and I have not seen problem. Too, I have try to move these axis manualy with a key directly on motors and they move normally.

This robot moved correctly two years ago. So I have few questions :
- Is it possible that is a problem with the brakes which remain stuck (because connections problems for example ?) How to verify that ?
- Is it possible that is a soft problem (load parameters problem for example ?)
- Is it possible that is a PM6-600 problem (I hope no !)
- Can I try to swap connections axis directly on PM6-600 with other axis 1, 2 and 3 to see if it's a mechanical problem ?

At this moment, I have put axis 4,5,6 in simulation mode in $Machine file and I work with only axis 1, 2 and 3 but it's not very comfortable !

If somebody has suggestion...

Thanks.

Kukart

[bipinpaul]

Hi
1.Check the RDW card on the base of the A1.( by swapping with an other One)
2.Check for the Brake supply iam not sure for VKRC1 but for VKRC2 it is inside cabinet F19 ( Right Hand side bottom ) there are 2 -24V supply
as i can remember ...one is for Axis 123 the other One is for Axis 456 and 2 black cable  running down from F19.. I had the same problem for Vkrc2...one of the brake supply cable was loose.

Try that !!

Good Luck
paul