Hi,
Having more trouble with the iiwa's 7th axis. This time, while we were doing a test on impedance with low resistance values, the 7th axis limit was exceeded by .46 degrees, which caused an error. We have unmastered the axes and restarted in several different safety configurations without success. Currently our HMI is showing a warning state for safety, and our robot is showing a device state warning, stating that the direction of the 7th axis is locked (?) and that the PPI controller is active. Motion enabling is denied regardless of whether an enabling switch is pressed or not. Despite no axes being mastered, there is no CRR (KRF) mode to retract the robot, and there is no way to enable motion to diagnose the issue or remaster the axes. Our robot is still in the "locked up" state with the axis limit exceeded. If anyone has experience with this, please let me know! (I am on Sunrise V. 1.9.1.7) I have also contacted KUKA about this problem, but wanted to reach out here to see if anyone has had a similar experience.
Thanks!
-Alex