KRC 8.2.16
KR90R3100 EXTRA C4 FLR with a KL 1500-3 External axis.
Hi!
So, another approximation error thread (sorry for this but cant get my head around this).
We have been asked to reprogram a robot and now when we are starting to test our program we get alot of Approximation error.
"Approximate Position not possible".
I´ve checked everything that I can come up with ($APO, $Advance, STOPNOAPROX and step but cant see it).
We thought it must be our code so we have been checking it for hours.
Then I just made a small test program.
Four points made with inline forms with good distance between the points including movement with the external axis.
And with the same result...
$APO.CDIS = 100
$Advance = 3
$APO_DIS_PTP[1]=90.0
$APO_DIS_PTP[2]=90.0
$APO_DIS_PTP[3]=90.0
$APO_DIS_PTP[4]=90.0
$APO_DIS_PTP[5]=90.0
$APO_DIS_PTP[6]=90.0
$APO_DIS_PTP[7]=500.0
I've seen this robot in operation before and the movements was terrible before as well.
We have been running it in T1/T2, In Auto the alarms goes away but there is no approximation.
Please help