BAS (#INITMOV,0 ) and Tool overload error

whitegreen · August 14, 2017 at 8:43 AM

I am using KRC4 KR120, 8.3.26 system. My program reads:

Code

&ACCESS RVP
&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
&PARAM EDITMASK = *
DEF javakuka( )
;FOLD INI;%{PE}
;FOLD BASISTECH INI
GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
INTERRUPT ON 3 
BAS (#INITMOV,0 )
;ENDFOLD (BASISTECH INI)
;FOLD USER INI
;Make your modifications here
;ENDFOLD (USER INI)
;ENDFOLD (INI)


$TOOL=TOOL_DATA[6]
$BASE=BASE_DATA[2]
PTP  XHOME
PTP {A1 -90}
...

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The robot reports "Too 1 overload" error when running PTP {A1 -90}. There must be something wrong: 1) the program using Tool 6 instead Tool 1, why the system tells that Tool 1 causes overload? 2) The actual tool 6 is about 24 kg, not likely causes overload problem.

I suppose the problem is BAS (#INITMOV,0 ) in header, does it make the robot always checking Tool 1 for overloading? I have tried add BAS (#TOOL, 6 ) after PTP XHOME, but the error stays the same. I guess the solution is modifying BAS (#INITMOV,0 ) , or the system settings related to #INITMOV?

**panic mode** · August 14, 2017 at 1:36 PM

[size=2]i would say... take kuka training and until you take Programming2 - stick with inline forms.

you are assigning tool data to both tool and base. at no time LOAD is specified so robot is forced to use factory defaults. for KR120 that is at least 120kg. this is way off considering that your actual tool load is only 25kg. (500% overload) [/size]

**SkyeFire** · August 14, 2017 at 5:28 PM

You need to change $ACT_TOOL and $LOAD as well as $TOOL. They're a package deal. When programming using inline forms, this is all handled for you invisibly.

wes_mcgee · August 17, 2017 at 3:34 PM

I use BAS(#TOOL, 6) since this sets the load. I got lost though where you say that a lighter tool is causing an overload. My guess was the tool load is specified higher than 120, and its just complaining about that?

**SkyeFire** · August 17, 2017 at 5:37 PM

Personally, I've always found the predictive overload warning to be utterly useless, generating far too many false positives -- I always turn it off. As long as I know I'm setting my Tool and Payload correctly, I can ignore the warnings.

hermann · August 18, 2017 at 8:34 AM

Quote from SkyeFire

Personally, I've always found the predictive overload warning to be utterly useless, generating far too many false positives -- I always turn it off. As long as I know I'm setting my Tool and Payload correctly, I can ignore the warnings.

This is for shure the best way to handle it.
The whole thing about loads within the kuka system is a pain in the ass. Sorry for kuka but this is the truth. May be it works with some robots with specific loads, but in many cases it doesn't. Sometimes it works for some hours and then all of a sudden a message for overload or underload happens.

BAS (#INITMOV,0 ) and Tool overload error

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