Hello:
I am pretty stumped here and I hope someone can provide insights.
Control type: KRC2
Robot type: KR150
Software Version: V4.1.6 SP3
I've incorporated an external kinematic into my controller and have configured it correctly (i think) under Setup > Service > Configure External Axis (images config_1 and config_2) attached
I've also entered in the Root Point of the turntable numerically and did not calibrate a base (going through all of this in case someone sees I am missing a necessary step)
When trying to run a program, I am hit with the error 1447: software limit -A3 out of range
I referenced this: (https://www.robot-forum.com/ro…a-robot-forum/error-1447/) thread and began to try and set my turn bits as the status bits were already programmed into the PTP motion block from the original .src file that I programmed in KUKA|prc, the plugin for grasshopper.
(attached image STRUCT_E6POS shows the first few motion blocks of my program, before I added in the Turn bits)
I've tried multiple iterations of the turn bit binary and i just get a different axis that is out of range with every iteration
I am able to run programs that dont incorporate the E1 axis without issue
My questions are:
1. Why do i have to add in "Turn" all of the sudden since adding in the external kinematic? It's my understanding that turn only effects the robot axes, so why would an external kinematic cause the need for a turn integer?
2. The external kinematic also has the axis type set to 5 (endless) where axes 1-6 are set to 3 (rotatory) in machine.dat. With an endless axis type, shouldn't status and turn not have any effect?
3. I also tried editing the $softn_end[n] and $softp_end[n] variables in machine.dat to -350 and +350, and then -180 and +180 for all axes besides E1, and both just caused the program to move the end effector to the bottom left (when viewing robot from the front) of the work cell, and then i had to stop the program so that the end effector wouldnt collide with the base of the robot. So I am also wondering if anyone knows how the machine software limits might play a roll in the issue
Any ideas would be greatly appreciated! At this point I'm not confident that the external kinematic is even configured correctly, if not calibrating the base is causing an issue, or if programming the turn bits is even necessary