Hi robot enthusiasts
We are trying to control our Kuka KR16-2 with RSI Ethernet XML (RSI v2.0.1, RSI.Ethernet.XML v1.0.0) on a KRC2 ed05 (KSS v5.5.10) using CoRob. So far, we have been successful in sending simple trajectories. However, sometimes the robot brakes mid-trajectory. The error displayed is "Work envelope exceeded" (No. 1342).
We tried to to disable the work envelope monitoring in the HMI (Configure-> Miscellaneous-> Monitoring working envelope) and in the KRL program ($WORKSPACE[n].MODE=#OFF). But it does not seem to have an effect.
Does anyone have an idea why this error is occurring?
Thanks