KUKA KR-16

    Good morning,


    I have a KUKA KR-16. We have a problema with the error 1133 (PROBLEM TORQUE EXCEEDED DEFAULT ON AXIS 4), so we tested dissasembled from the robot. The engine doesn't turn fluently, it goes like step by step.
    Another problem, is that the Axis 5 receive an override message 1241, even if the Axis 5 doesn't work.


    We have changed servos between Axis 4 and 5, and the same problem arrives now to the Axis 5. And when we move Axis 4, axis 5 moves also!!!


    We think:
    1. The servo of the Axis 4 is damaged, we think is the bobbins. But I need to be sure to ask the money. How can I test it?
    2. We think that the override in Axis 5 is because of the malfunction of Axis 4.


    Can you help us to know if what think is correct and to make more tests?


    Best regards,

    When the servo is tested while dismounted from the robot, and "moves step by step," does it still generate the Torque error?


    If you swap servos between A4 and A5, and the Torque error moves to A5, then the problem is 99% certain to be the motor.

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