So here's my problem... I have a KRC2 with Safe Operation installed... The robot was installed by Kuka and all technological packages (BMW Standard) were also their responsibility upon the first commissioning. By the time this first commissioning happened we had no chance to install the RDC switch. Now that we could, it was installed and the robot was taught the reference position. I can see the reference is ok. Movements created to and from this reference position, it was time to run the program "MasRefReq.src". Robot goes to the sensor and returns home. Then i get the message "$MasteringTest_InPro" is still False so the Referencing could not be done... I know this variable is associated to an output which has is state changing when the RDC sensor is made (just can't find where this association is made). I'M SURE that the sensor is going OFF when i get to the reference position, but i can't seem to find any output going down for this. In my case the $out[229] should go to 0 when the RDC sensor is made, but this is not happening. Also strange is the fact if i make the sensor by hand, i can see the signal going to 0 but it looks like (?) every time i start the routine, this situation cannot repeat itself (the signal 229 will not change is state even if made by hand). Searched everywhere for a possible error and i've run out of ideas. Can anyone help me?
KUKA KRC2 - Mastering Reference failed - $MasteringTest_InPro variable
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Fanconster -
December 13, 2012 at 6:39 PM -
Thread is marked as Resolved.
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Have you been on the safe robot training ?
Are you sure all the setup signals are correct have you got the X40 wired corrctly ?Have you followed the the correct install procedure ? Have you spoken to Mini about the problem
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Well to clarify, according to manual which i followed (correct version) we did everything we could. Normally group 1 is set up for axis 1-6 and group 2 for the 7th axe. In this situation we need 2 RDC sensors (one per each group) and all connections that go with it. So I included (following an email from BMW) the 7th axe in group 1 also. This will work with our installation... The robot accepts this situation and gives out no fault on the testing routines. The only problem is that now the working safety zone moves with the 7axe instead of staying fixed. Naturally this is not the way it should be. Probably my fault. Some configuration i'm not doing right. Simply cannot find where or what. Any ideas?
Thank you.
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I am having the same problem - how did you fix this? Fanconster