Hello,
is there any one , who has done Mastering for LBR iiwa, when its one of the axis exceed working-range ?
Hello,
is there any one , who has done Mastering for LBR iiwa, when its one of the axis exceed working-range ?
EMT is used to master KRC1 and KRC only.
EMD is used to master KRC4 and latest version can use special cable set to master KRC1 and KRC2 as well.
LBR IIWA does not need mastering tool, it has one built in.
Yes you are right I have just noticed that LBR use higher Tech., so İt does not need manual Mastering.
I have a kind of problem with LBR, I unmastered the robots A1 axis and somehow it got past its joint limits (as you could see in Foto). The problem is that I can't move it back to work-space again because the robot blocks itself(at -190) since it passed already the joint-range.
I can move the axis with CRR mode, but I can t get it back into its work-range (-170 +170). So thats why I can not also master the axis.
Do you have any idea for that Problem ??
thanks
Hi there!
You need to start by fully disabling your safety configuration after you write down or screenshot how you currently have it configured (see attachment 1). Once you synchronize the robot, you need to activate the safety configuration with the password argus (all lowercase, unless you changed the password). Then press the robot icon at the bottom right of the smartPAD, navigate to Robot>Mastering, then in T1, you should be able to manually master the axes that are exceeded. If the robot is damaged in some way, this mastering procedure will fail. You did pass a hardware limit by a significant amount, so it is possible that the robot was damaged. If mastering fails, contact KUKA for more details. Once the robot has been mastered and returned to safety, remember to reconfigure the safety configuration and reboot before running any other programs!
Hope this helps!