I am currently trying to control a KUKA robot using the RSI interface with the KRC4. I can successfully connect to the robot, but the robot is almost immediately stopped because of overspeed / velocity errors. Specifically:
KSS01102 - Command velocity A4
KSS00421 - Overspeed A6 XX%, reset or block selection required.
What is odd is that motion seems to occur (or is attempted) even when I'm not sending any non-zero corrections.
For example:
-I run the KRL program, with PTP $pos_act (no motion in the robot - stays put.)
-I connect a remote PC to the KRC4 and run the ethernet control, and see the following packets:
<Rob Type="KUKA">
<AIPos A1="-0.0012" A2="-90.0003" A3="90.0010" A4="0.0000" A5="0.0131" A6="-0.0062" />
<ASPos A1="-0.0012" A2="-90.0003" A3="90.0010" A4="0.0000" A5="0.0130" A6="-0.0059" />
<EIPos E1="14.3005" E2="0.0000" E3="0.0000" E4="0.0000" E5="0.0000" E6="0.0000" />
<ESPos E1="14.3005" E2="0.0000" E3="0.0000" E4="0.0000" E5="0.0000" E6="0.0000" />
<Delay D="0" />
<IPOC>4669938</IPOC>
</Rob>
<Rob Type="KUKA">
<AIPos A1="-0.0012" A2="-90.0003" A3="90.0010" A4="0.0000" A5="0.0131" A6="-0.0062" />
<ASPos A1="-0.0024" A2="-90.0007" A3="90.0019" A4="-17.6458" A5="0.0232" A6="17.6346" />
<EIPos E1="14.3005" E2="0.0000" E3="0.0000" E4="0.0000" E5="0.0000" E6="0.0000" />
<ESPos E1="14.3005" E2="0.0000" E3="0.0000" E4="0.0000" E5="0.0000" E6="0.0000" />
<Delay D="0" />
<IPOC>4669950</IPOC>
</Rob>
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-Note the difference in the ASPos for A4 and A6 in the last packet - from ~0 to +-17. This last for ~6 packets, then goes back to ~0. Note also that I am sending "0.0" as correction for all joints during this time.
-The robot stops, complaining about A4 and A6.
-I rerun the program, and suddenly there is motion in A4 and A6 when it does PTP $pos_act.
I know I must be doing something wrong, but I can't see what it is. Any help would be greatly appreciated. Thanks!