I am using a KR 6 R900 sixx Agilus robot with KR C V8.3.15, running RSI version 3.2.0. I'm using RSI to communicate via UDP to send position commands. I've setup RSI on a previous R700 robot, but am running up against a tricky bug this time around. I'm able to create an instance of RSI and successfully use RSI_ON, so my RSI configuration is setup properly, but I get the following error whenever I run RSI_MOVECORR():
KSS01145
STOP because value out of range +X
Originator: /R1/CELL
When hitting ? on the error, the following description is shown:
STOP because value out of range {Motion direction}{Axis number}
When using RSI_MOVECORR() I am able to receive and send UDP commands, and my UDP stream stays open even after the KSS01145 error occurs, but no motion occurs because the error has halted motion on the robot. I suspect that something funny is going on causing RSI to send a bad value through to the robot and throw the error, but I can't track down where this could be coming from. The error occurs before I have replied with any UDP responses, so It couldn't be my commands causing the issue.
If anyone has any advice or diagnostic ideas I would appreciate it. I have looked into the RSI_MOVECORR() function and traced the issue down to the MOVE_EMI function, but I have not been able to find where that function exists.
I'm using the exact same RSI version and Ethernet template from the R700 robot that I used RSI with, so the only difference is that the R900 has a newer version of KRC. I am not sure which version of KRC the R700 was running, but it was purchased 10 months ago.
Thanks for any help.