after I configured the 7th axis for krc1 and got no configuration errors , when I'm trying to move the 7th axis manually I got "Ack. regulator limit exceeded E1" , can anyone help me?
krc1 7th axis configuration
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abdelrahman -
December 4, 2014 at 1:37 PM -
Thread is marked as Resolved.
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What, exactly, did you do to configure the E1 axis? What values did you change in $MACHINE.DAT?
Are the brakes opening?
What's the value for $RAT_MOT_AX[7]?
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I copied the machine data file located in kl1500 folder and replace it with the robot machine data,what I have done works with krc2 and its external axis works fine .
and I didn't change any machine data values just copying and replacing
yes the brake is open
I'll check the $RAT_MOT_AX[7] and inform you -
If I recall correctly, "Regulator Limit Exceeded" occurs when the difference between the commanded motion and actual motion becomes too large. If you watch the Axis Position monitor while you try to jog E1, do you see the value for E1 begin to move, and then "snap back" to the original value once the error message occurs? This would indicate that something is preventing the motor from moving, but most likely a software issue rather than an electrical or mechanical one. The last time I had something like that happen, the $RAT_MOT_AX value was 0.
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yes, "Regulator Limit Exceeded" means "Position Controller Limit Exceeded" or following error. check if motor is wired to cabinet. you can easily confirm if this is due mechanical problem or not by removing motor from linear slide so there is no load on the motor. Warning - If this is not an external axis but one of robot axes you need to be careful and know what you are doing (need training - you don't want robot to collapse due gravity or counterbalance force). note removal of motor or gearbox etc will require mastering.
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skyfire
in the machine data I have the $RAT_MOT_AX [7] is not equal zero and it has the proper value , all the external axis parameters I have changed in krc1 machine data gives me that error unlike krc2 it works very great,panic mode
I did that I removed the motor and checked if it is a mechanical problem or not but the same error occurred which means its a software or electrical problem
to check if it is an electrical problem or not
I have tried another two krc1 cabinet within an external axis driver and the same error occurredI'm done , any recommended way to figure out that problem ?
thank you
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Process of elimination. Try each component -- motor, power cable, resolver cable -- one at a time, swapping in and out of a system that works. If the issue is hardware, this should determine which component is the issue. If all of the hardware checks out, then the issue has to be in the controller cabinet -- possibly the PM1 module, or software.
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the problem was in the power cable