BRAKE HOLDING TORQUE EXCEEDED A6

  • Hi, friends, thanks in advance just for your time. I would like to request your help with an issue.
    I'm working with a
    KRC4 COMPACT
    KS V8.3.450
    PROFINET KRC-NEXXT VERSION 3.3.1


    I finished the Automatic external configuration and modified the cell to work with my programmed steps.
    In order to start the automatic external I do the following:
    1._ go to T1
    2._ SELECT TOOL AND BASE
    3._ SELECT CELL
    3._ DO BCO UNTIL IT SAYS INCORRECT MODE ( BECAUSE ITS TIME FOR EXTERNAL INITIALIZATION)
    4._ CHANGE THE KEY TO EXTERNAL
    5._ DRIVES ON PULSE, CONF_MESS AND EX_START FROM THE PLC
    6. SENDING PROGRAM, PARITY AND VALID PROGRAM
    AFTER FOLLOWING THE SEQUENCE OF THE SIGNALS IT APPEARS THE MESSAGE
    BRAKE HOLDING TORQUE A6 EXCEEDED:


    THINGS TO NOTE:
    1'_ the robot have not made any movement at all
    2._ even though it is or suppose to be on step 1, it says that the origin is on cell.


    Thanks in advance for any help!.
    this is my cell:


    &ACCESS RVP
    &REL 1
    &COMMENT HANDLER on external automatic
    DEF CELL ( )
    ;EXT STEP_0()
    ;EXT STEP_1()
    ;EXT STEP_2()

    ;FOLD INIT
    DECL CHAR DMY[3]
    DMY[]="---"
    ;ENDFOLD (INIT)
    ;FOLD BASISTECH INI
    GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
    INTERRUPT ON 3
    BAS (#INITMOV,0 )
    ;ENDFOLD (BASISTECH INI)
    ;FOLD CHECK HOME
    $H_POS=XHOME
    IF CHECK_HOME==TRUE THEN
    P00 (#CHK_HOME,#PGNO_GET,DMY[],0 ) ;Testing Home-Position
    ENDIF
    ;ENDFOLD (CHECK HOME)
    ;FOLD PTP HOME Vel= 100 % DEFAULT;%{PE}%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:HOME, 3:, 5:100, 7:DEFAULT
    $H_POS=XHOME
    PDAT_ACT=PDEFAULT
    BAS (#PTP_DAT )
    FDAT_ACT=FHOME
    BAS (#FRAMES )
    BAS (#VEL_PTP,100 )
    PTP XHOME
    ;ENDFOLD
    ;FOLD AUTOEXT INI
    P00 (#INIT_EXT,#PGNO_GET,DMY[],0 ) ; Initialize extern mode
    ;ENDFOLD (AUTOEXT INI)
    LOOP
    P00 (#EXT_PGNO,#PGNO_GET,DMY[],0 )
    SWITCH PGNO ; Select with Programnumber


    CASE 1
    ;P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request
    STEP_1(); Call User-Program


    CASE 2
    ; P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request
    STEP_2(); Call User-Program


    CASE 3
    ;P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request
    STEP_2() ; Call User-Program


    DEFAULT
    P00 (#EXT_PGNO,#PGNO_FAULT,DMY[],0 )
    ENDSWITCH
    ENDLOOP
    END


    this is my step 1:

    &ACCESS RVO1
    &REL 22
    &PARAM EDITMASK = *
    &PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
    DEF STEP_1( )
    ;FOLD INI;%{PE}
    ;FOLD BASISTECH INI
    GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
    INTERRUPT ON 3
    BAS (#INITMOV,0 )
    ;ENDFOLD (BASISTECH INI)
    ;FOLD USER INI
    ;Make your modifications here


    ;ENDFOLD (USER INI)
    ;ENDFOLD (INI)


    ;FOLD PTP P1 Vel=85 % PDAT1 Tool[1]:LabelApplicator1 Base[1]:M95_Conveyor;%{PE}%R 8.3.48,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:P1, 3:, 5:85, 7:PDAT1
    $BWDSTART=FALSE
    PDAT_ACT=PPDAT1
    FDAT_ACT=FP1
    BAS(#PTP_PARAMS,85)
    PTP XP1
    ;ENDFOLD
    ;FOLD WAIT Time=0.5 sec;%{PE}%R 8.3.48,%MKUKATPBASIS,%CWAIT,%VWAIT,%P 3:0.5
    WAIT SEC 0.5
    ;ENDFOLD
    END

  • AD

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