I have KRC 1 robot, do not know manufacturing year. There is no nameplate on it.
When I am using him on 100% velocity, I have problem on axis A1. Robot stops and give me warning
"Gear torque exceeded axis A1". This going on only on 100% velocity. Could be problem of mechanical nature?
On this axis it is not possible to change oil in it.
Gear tourque KRC1
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branislav1991 -
April 13, 2018 at 8:42 AM -
Thread is marked as Resolved.
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HI. I think it might not be mechanical nature.
I think it is because the calculated gear torque is larger than the maximum permissible gear torque which will stop your motion. May be reteaching the points might help.
Here is link which might help you. https://www.robot-forum.com/robotforum/kuk…nline-form-and-'touchup'/ -
Since you said this is problem on 100% velocity. So for temporary solution make your velocity always lower than 100.
Go to sps.spu
$OV_PRO=90 ; or your desired value lower than 100
IF $OV_PRO == 100
$OV_PRO= 90 ; Or what u want lower than 100ENDIF
This makes your velocity fixed to that value so that u dontt have to decrease it from the pendant always.
But this is not the right solution to your problem
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Can you explain me how to do that? What is sps.spu?
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SPS.SUB is the background process in the robot, located under the SYSTEM directory. This program runs whenever the robot is powered up, with an infinite loop. Any code you add inside the loop will be executed several hundred times per second. SPS is a normal KRL program, except that it is not allowed to use motion commands (PTP, LIN, etc).
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Can you explain me how to do that? What is sps.spu?As SkyeFire already explain what is sps.spu.
In simple language imagine it as a simple system file or program that run itself by the system KRL paraller to other files.
step 1 Log in as Expert. Then you will see R1. Go to folder R1>System>SPS.
Then just put the above code like as it is(or change value below 100 ) between LOOP and ENDLOOP in SPS.