We're having an issue with the mastering test using Safe Op on one of our KR60s on a KRC4 (KSS V8.8.13), and while it seems similar to other issues posted on the forum, none of those threads had a solution that worked for us sadly.
Basically we get "Mastering test position not reached" (KSS15051) during a mastering test. However as far as I can tell from going over the SafeOp manual and my old training notes, all the aspects required are there. We have the sensor setupas at cabinet and going into X42 (and can see it "actuate" when triggered on the Diag screen), and we have taught the reference position in the Safe Operation config and checked it is correct (all far enough from mastering to be acceptable, and all correct on axis values and XYZ position).
The fork comes in and the lights go out on the switch. The moves there are quite complex and take a while (it is a robot working in tight confines with a big end effector, so we have to rotate a bit before approaching), but it runs them with no issue from MasRef_User and gets to the reference point. When it sets the $MasteringTest_Group to nGrpNr (1 in our case, as no external axes) in MasRef_Main the error pops up.
Is there something obvious I might have missed in the setup? It says in the manual that the error means referencing process was interrupted, but it ran through without pause until that point fine...it did have BCO on the very first move (as I'm running manually for now, selecting MasRef_main and running it in T1), could that be related? (apologies if I'm waffling or clutching at straws a bit here, been trying to get it to master for 2 days!)