I'm getting the above warning output on the teaching pendant. Trying to jog the joints after this only produces a "Active commands inhibited" error. I'm thinking the workspace might be ill-defined somewhere? I'd appreciate any suggestions. Thanks!
kr5 sixx error - "cylindrical work envelope no.1 violated"
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octavian -
April 3, 2014 at 4:57 PM -
Thread is marked as Resolved.
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Update: overriding the workspace envelope seems to remove the violation. However, the problem arises every time the KRC is restarted, requiring an override each time. Furthermore, checking the settings for Workspace 1 after reboot shows that the Mode is set to OFF by default.
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There is 8 Cartesian workspaces and 8 axis workspaces.
Did you check all 16 ?Workspaces can be turned on and off dynamically during program execution
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it says "cylindrical" and "no. 1" so really only need to check the first axis specific space. I bet you looked at Cartesian no. 1 (which is off).
you can also use variable monitor $AXWORKSPACE (and $WORKSPACE for Cartesian) or auoexternal monitor (this is where spaces are assigned to outputs)
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Hi,
for the KR5 sixx there is an additional set of cylindrical workspaces configured using $CYLWORKSPACE[] in R1/$machine.dat. For each KR5 sixx there is the first one of these used with mode #INSIDE_STOP, hence this workspace is always active due to factory settings. This is done by KUKA because the KR5 sixx can collide with its own base.
The message reappearing at startup was a known issue quite some time ago, so I would recommend talking to your local KUKA contact to get the newest KRC V7.1 which according to my list should be V7.1 #16.
Fubini
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Hey everyone sorry for the late reply. It seems that Fubini was spot on; the changing the $CYLWORKSPACE[] mode to #OFF in the machine.dat file resolved the issue on startup.
Thank you for all of your replies!