Hello to all:
My group has a Kuka KR30-2 with a KRC-1 conttroller. We are able to successfully program it with the pendant to move around to nearly it's physical dimensional limits. However, we are running into this constant error when we try and run the program listed below where the tip of the robot traces a short spline path.
We have the robot in its mastered position, and then after starting the program, it moves less than 5 degrees before freezing up and saying "Software limit A2 out of range." Axis 2 is at that point still almost straight up and down, and this is driving me absolutely nuts. I can drag the robot back and forth across the toolpath in the programmed simulation with no problem , so what the heck could be going on here? This is the first "toolpath" program we've tried to run, so I'm thinking we've overlooked some obscure setting somewhere. Thanks in advance for any helpful advice!
&ACCESS RVP
&REL 1
&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
&PARAM EDITMASK = *
DEF kukaprc_MMS_project_1 ( )
;FOLD INI
;FOLD BASISTECH INI
GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
INTERRUPT ON 3
BAS (#INITMOV,0 )
;ENDFOLD (BASISTECH INI)
;ENDFOLD (INI)
;FOLD STARTPOSITION PTP, VEL 50%, A1 5,A2 -90,A3 100,A4 5,A5 10,A6 -5
$BWDSTART = FALSE
PDAT_ACT = {VEL 50,ACC 100,APO_DIST 100}
BAS(#PTP_DAT)
FDAT_ACT = {TOOL_NO 0,BASE_NO 0,IPO_FRAME #BASE}
BAS (#FRAMES)
BAS (#VEL_PTP,50)
$H_POS = {A1 5,A2 -90,A3 100,A4 5,A5 10,A6 -5,E1 0,E2 0,E3 0,E4 0,E5 0,E6 0}
PTP {A1 5,A2 -90,A3 100,A4 5,A5 10,A6 -5,E1 0,E2 0,E3 0,E4 0,E5 0,E6 0}
;ENDFOLD
;FOLD SET SPEED TO 50% PTP AND 1 m/sec. LIN
$VEL.CP=1
BAS(#VEL_PTP,50)
BAS(#TOOL,6)
BAS(#BASE,1)
;ENDFOLD
;FOLD PTP FIRST POSITION, VEL= 50 %, TOOL[6], BASE[1]
$BWDSTART = FALSE
PDAT_ACT = {VEL 50,ACC 100,APO_DIST 100}
FDAT_ACT = {TOOL_NO 6,BASE_NO 1,IPO_FRAME #BASE}
BAS(#FRAMES)
BAS(#VEL_PTP,50)
;ENDFOLD
PTP {X 734.727, Y 430.388, Z 0.000, A 0.000, B 90.000, C -176.000}
LIN {X 734.727, Y 430.388, Z 0.000, A 0.000, B 90.000, C -176.000} C_DIS
LIN {X 711.095, Y 412.959, Z 0.000, A 0.000, B 90.000, C -176.000} C_DIS
LIN {X 687.922, Y 394.925, Z 0.000, A 0.000, B 90.000, C -176.000} C_DIS
LIN {X 665.330, Y 376.168, Z 0.000, A 0.000, B 90.000, C -176.000} C_DIS
LIN {X 643.500, Y 356.532, Z 0.000, A 0.000, B 90.000, C -176.000} C_DIS
LIN {X 622.703, Y 335.807, Z 0.000, A 0.000, B 90.000, C -176.000} C_DIS
LIN {X 603.387, Y 313.700, Z 0.000, A 0.000, B 90.000, C -176.000} C_DIS
LIN {X 586.329, Y 289.819, Z 0.000, A 0.000, B 90.000, C -176.000} C_DIS
LIN {X 572.972, Y 263.714, Z 0.000, A 0.000, B 90.000, C -176.000} C_DIS
LIN {X 565.963, Y 235.300, Z 0.000, A 0.000, B 90.000, C -176.000} C_DIS
LIN {X 568.740, Y 206.243, Z 0.000, A 0.000, B 90.000, C -176.000} C_DIS
LIN {X 581.793, Y 180.094, Z 0.000, A 0.000, B 90.000, C -176.000} C_DIS
LIN {X 601.561, Y 158.460, Z 0.000, A 0.000, B 90.000, C -176.000} C_DIS
LIN {X 624.781, Y 140.519, Z 0.000, A 0.000, B 90.000, C -176.000} C_DIS
LIN {X 649.751, Y 125.081, Z 0.000, A 0.000, B 90.000, C -176.000} C_DIS
LIN {X 675.640, Y 111.229, Z 0.000, A 0.000, B 90.000, C -176.000} C_DIS
LIN {X 701.996, Y 98.282, Z 0.000, A 0.000, B 90.000, C -176.000} C_DIS
LIN {X 728.515, Y 85.673, Z 0.000, A 0.000, B 90.000, C -176.000} C_DIS
LIN {X 754.926, Y 72.838, Z 0.000, A 0.000, B 90.000, C -176.000} C_DIS
LIN {X 780.869, Y 59.089, Z 0.000, A 0.000, B 90.000, C -176.000} C_DIS
LIN {X 805.659, Y 43.376, Z 0.000, A 0.000, B 90.000, C -176.000} C_DIS
LIN {X 827.772, Y 24.124, Z 0.000, A 0.000, B 90.000, C -176.000} C_DIS
LIN {X 844.601, Y 0.192, Z 0.000, A 0.000, B 90.000, C -176.000} C_DIS
LIN {X 852.141, Y -27.987, Z 0.000, A 0.000, B 90.000, C -176.000} C_DIS
LIN {X 848.166, Y -56.908, Z 0.000, A 0.000, B 90.000, C -176.000} C_DIS
LIN {X 835.268, Y -83.194, Z 0.000, A 0.000, B 90.000, C -176.000} C_DIS
LIN {X 817.054, Y -106.182, Z 0.000, A 0.000, B 90.000, C -176.000} C_DIS
LIN {X 795.738, Y -126.354, Z 0.000, A 0.000, B 90.000, C -176.000} C_DIS
LIN {X 772.488, Y -144.276, Z 0.000, A 0.000, B 90.000, C -176.000} C_DIS
LIN {X 747.944, Y -160.387, Z 0.000, A 0.000, B 90.000, C -176.000} C_DIS
LIN {X 722.481, Y -175.006, Z 0.000, A 0.000, B 90.000, C -176.000} C_DIS
LIN {X 696.336, Y -188.368, Z 0.000, A 0.000, B 90.000, C -176.000} C_DIS
LIN {X 669.664, Y -200.649, Z 0.000, A 0.000, B 90.000, C -176.000} C_DIS
LIN {X 642.577, Y -211.983, Z 0.000, A 0.000, B 90.000, C -176.000} C_DIS
LIN {X 615.152, Y -222.477, Z 0.000, A 0.000, B 90.000, C -176.000} C_DIS
LIN {X 587.449, Y -232.213, Z 0.000, A 0.000, B 90.000, C -176.000} C_DIS
LIN {X 559.514, Y -241.260, Z 0.000, A 0.000, B 90.000, C -176.000} C_DIS
;FOLD ENDPOSITION PTP, VEL 50%, A1 5,A2 -90,A3 100,A4 5,A5 10,A6 -5
$BWDSTART = FALSE
PDAT_ACT = {VEL 50,ACC 100,APO_DIST 100}
BAS(#PTP_DAT)
FDAT_ACT = {TOOL_NO 0,BASE_NO 0,IPO_FRAME #BASE}
BAS (#FRAMES)
BAS (#VEL_PTP,50)
$H_POS= {A1 5,A2 -90,A3 100,A4 5,A5 10,A6 -5,E1 0,E2 0,E3 0,E4 0,E5 0,E6 0}
PTP {A1 5,A2 -90,A3 100,A4 5,A5 10,A6 -5,E1 0,E2 0,E3 0,E4 0,E5 0,E6 0}
;ENDFOLD
END
***UPDATE*** I read a few other threads and tried modifying the program so that the PTP command became a LIN command, and sure enough, the robot went right up to the "software
stop, so it is running in the right direction and path, so that's good...must be something amiss with my program.