Hello
I am currently involved in a project where we use two KR16-3 S (the fast ones!). The robots are running KSS 8.3.12.
On both robots we have mounted a tool that weighs around 5-6 kg. The mass, the center of mass and the inertia of the tools have been determined using KUKA Load Data Determination. However, the robot still complains about overload. How can this be? Did any of you have a similar problem? As far as I can see, the robots should have plenty of reserves, when it comes to payload. Center of mass of the tool is about 160 mm away from the flange, to the robot should be able to handle 16 kg without complaining (according to the documentation of the KR16). We have tried to enter a mass of 15 kg, but the robot still complains about overload. As far as I know, the problem is seen on both robots. What can we do about it?
We sometimes see torque limits on A4 during PTP movements where we only turn the 4th axis, so we have had to lower the accelerations a lot (down to 7% for axis 4). It annoys me very much! Can this be related to the other problem?
Thanks in advance!
/RoboticsMan