Hello all,
I have a similar problem to the one described in an old thread: kr200 odd movement behavior
its difficult to explain indeed, as uberdoom said. So i will try my best... Also attached a video link:
The robot i use for wood milling and foam wire cutting:
-kr200 L140 comp 2,
-krc2 ed05 Daimler version,
-windows XP embedded 2.0, KSS 5.6.6.
-Manufactured 2007-11
-RDC said 15.400h when bought and i put another 600h
Problem appears in this example when Jogging the robot in T1-global using the A +/- also appears in the beginning of all moves in global or tool specific and at change of direction in LIN and CIRC motions in T2 and AUT. The exception is the Axis specific which works fine although i get a slow rotation of the A5 servo after releasing the green button. Its like comming back to the correct position. The error is repeatable and speed proportional. Also i think it worth to mention that the error was there since commissioning but it seams to have intensified. I would like to give it a shoot in fixing it as much as possible before going for the expensive service with kuka.
I already checked:
-Mechanical wear and nothing obvious,
-DSE-RDW tool for errors and got 00C0 in the error box of the "RDC - Check communications"
-Tool load data but only tested in jog and did not have any effect (not sure if it needs to run in a program to have effect)
-Mastering with dial gauge
-tool calibration
-Mada file as prescribed in the attached thread
Any ideas?