I am trying to setup and run a simple program.
For the program I have jogged the robot to a random position, and I am trying to run a program that will move it to the default ‘HOME’ position. Robot can easily be jogged on all axis
Environment:
• Kuka KR3 Agilus with KRC4 controller.
• KSS 8.3 user manual
Process:
• Power on controller. I get power warnings 26014 and 26150, but they can be cleared.
• Switch to ‘expert’ user. Robot is already in T1 mode
• I have already run the start-up wizard, and set up and calibrated a test tool, and a test base. All the items on the setup wizard page have green ticks next to them
• Enable start-up mode. I can hear a relay click on. ‘IBN’ is now displayed above T1 on the pendant
• Return home, and in the R1 directory, create a new 'test' module file from the template. The creates both the .dat file and .src file
• Select the test .src file. ‘R’ is now yellow, and the active program is displayed below the robot name. Line 4 of this template file is “ PTP HOME Vel= 100 % DEFAULT” From what I have read so far “HOME” is a pre-programed position similar to the shipping state.
• Select test tool and test base from the previous setup (not sure this is essential)
• Hold down enable switch on pendant. Drives are enabled (1) and safety switches are green.
• Press start. You can hear the drives switch on, and Program ‘R’ momentarily turns green. The Blue arrow stops on line 4 and program ‘R’ turns red. The robot does not move
Any idea what I am doing wrong?