i have a kr150 L150 with Krc1
i move manually the axis6 at 50% ,75% 100% and trig the next message "exceeded the speed limit in the reductor of a6"
also in automatic mode
even with programs that had worked before without problems
tnks
i have a kr150 L150 with Krc1
i move manually the axis6 at 50% ,75% 100% and trig the next message "exceeded the speed limit in the reductor of a6"
also in automatic mode
even with programs that had worked before without problems
tnks
What KSS Version? I have never heard of this message. Possibly post the Number of the message. These numbers are globally unique over all controller versions.
number of message 1133
- KUKA KRC 2 V4.1.4 SPO2
- Version GUI: V3.3.59 1320
(v) KR CI V3.3/V4.1
(c) 2013 KUKA Robter GM
- Basic System
KS v4-59
What are the source module and error code for this message?
1133 Momento sobre el reductor de eje <6> excedido
KUKA KRC 2 V4.1.4 SPO2
Ah the correct English version of the message text for no. 1133 is "Gear torque exceeded axis %1".
So you are only driving axis 6 using the buttons on the right hand side of the KCP? Did you check if somebody tampered with your machine data? Is the robot newly calibrated?
Taking a look at your currently programmed loads might be helpfull too.
Fubini
The torque limit reductions in $MACHINE.DAT might also bear examination.
My first suggestion would be to run an Oscilloscope trace of the A6 current, position, and velocity while this motion is underway. If there is a mechanical issue, that should illustrate it well.
this is the file $machine.dat
can analyze this? please
Hi,
this is the wrong $machine.dat. There are two files called $machine.dat on the controller.
The first one located in C:\KRC\ROBOTER\KRC\R1\Mada describing in part the machine.
The second one located in C:\KRC\ROBOTER\KRC\STEU\Mada describing mainly IO related stuff.
You sent the second one but the first one would be needed.
Still better you could create an archive of your controller and send it here.
Fubini
tnks
here the archive
Hi,
I have checked your machine data and as long as the machine fits to your real robot they seem ok (at least to in comparision to the newest machine data for your robot type).
Hence I suspect a mechanical problem.
Fubini
Have you checked the X20 is plugged in correctly
am i right in saying it happens at any speed ?
is rarely, if it's a mechanical problem, how correct this?
what tests I can do?
KRC1 = Possible PM6 problem have you a spare to try
Hi,
this seems to be a mechanical (reduction gear) or electrical (motor or driver) problem.
A test you can do is switch the connectors (power and resolver) of A5 and A6; in this way when you press A5+ on the KCP you move A6 with A5 servodrive, when you press A6+ you move A5 with A6 servodrive.
In this way you can understand if the problem is on motor/reduction gear or on the servodrive.
NB!!!!!!!!!! If you do this test you'll loose robot calibration, so you should have the EMT calibrator to recalibrate it.
regards
well , first i will try with the suggestion of "fgiannerini"
if the problem it's the PM6 , what tests can i do?
because i don't have a spare
how test the PM6?
I can't really!
If the test with swapping the axis proves the PM6 is faulty then the only real option is to replace it.
when you'll make the test i suggested, you'll have this situation:
- PM5 is driving A6
- PM6 is driving A5
Try to move A5 (you have to press A6 on the KCP); if there is an error , you have the PM6 in fault.