Hi Everyone,
Novice end user here so please excuse my ignorance. We have multiple work cells which utilize the KUKA LBR IIWA (7kg I believe). These were purchase through a third party who does all of their own integration and Sunrise development. So from our perspective, the systems are turn-key / bespoke for our business application. Currently, we have 7 such arms, but are in the process of acquiring more.
We have one arm which has developed an issue which appears to be related to the torque sensing / encoder on joint 1 (aka the waist). Please see dropbox video and attached photos.
https://www.dropbox.com/s/78osunlpc7yh…09_855.asf?dl=0
We're getting a bit of a run around on precisely what the issue is. The arm has already been swapped, but the new arm has the same issue -- though supposedly the replacement arm was not "new".
I honestly don't know whether this is a hardware issue or software (Sunrise / SICK safety related issue). Or something about how the arm is being used in our application by the integrator.
Any diagnostic tips? Has anyone else seen similar issues? Our integrator claims they've seen this same issue on other customer's systems -- which use the same arm (and similar software / safety setup).
Reducing the accel and velocity on Joint 1 seems to reduce the frequency of the error. GSM referencing will usually make the error go away for a little while. So far, out other arms haven't displayed this issue. All were purchased around the same time ~2017. Strangely, the arm displaying the issue hasn't been the most heavily used -- but it does have a lot of ~180 degree pivots around joint 1 and may get up speed more often than other arms / moves.
95% of the time, the error occurs as joint 1 is passing the halfway point (aka opposite the dead zone).
Thank you!