Hello,
I have problems with KRC2, where we have asynchronous external axis for gripping to tire. After gripping E1 is positioned fine, but when we move up +Z (= A3 in this case), we get error with the E1:
1044 brake defective
2962 common KSD-error E1
These errors are coming with the two different robots and only with the heavy products.
I think that the problem is the impulse for the E1, which is caused when mass of the product that we are lifting up, is moving suddenly from the conveyor to gripper. I am not sure if brake is on or off when this happens.
I would like to increase the window, which is used to trigger these errors, but I am not sure what would be best way or variable to do it. Positioning itself goes fine, but problem comes when external force (weight) is coming to gripper.
$IN_POS_MA (axis positioning window), but when we get error we are not positioning E1, but A3.
$FOL_ERR_MA (factor for following error monitoring)
$COM_VAL_MI (axis command speed limitation), but again when we get error we are not positioning E1, but A3.
$TL_COM_VAL (tolerance time for command speed limitation) but again when we get error we are not positioning E1, but A3.
If there is some way to drop down the positioning of the E1 and hold the axis with brake (separately with that axis), please let me know.