Hello All,
I have a KRC4, KSS 8.3.28, KR360R2830. I am running a tool changing operation. There are two grippers, one on each side of a turntable, RH and LH parts. The tool changer is a Staubli in which the air is supplied from the tool stand, or in this case the fixture that the gripper sits in, rather than getting its supply from the robot itself. The way it works is the robot will drive into docking position, the clamps holding down the gripper will open and that will engage the tool changer. When running the docking program for the LH gripper, as soon as the tool changer engages I get the error "robot stopped by submit", which drops automatic every time. I can't make sense of it because I do not have this issue when picking the other tool. Any suggestions would be appreciated. If any details are lacking, please let me know.