It usually happens when the torque exerted on the axis has gone beyond its permissible limit.
A6 has +/- 40Nm limit on its torque.
You might want to evaluate your tool attached to the robot and probably change robot pose to relocate/disperse external loads on A6/A7 to other Axes which have bigger figures of torque limits.
Hi all,
We have one iiwa 14kg robot ran for more than two years for part assembly, and recently one alarm occurred to us. The alarm is " Encoder error torque sensor K1:A6". Sometimes it can be reset, but the robot can't keep working for more than several parts.
Do anyone know how to reset it, or how to repair? Do we have to return it to KUKA factory? Thanks for any suggestion.
Hi,
We have one iiwa 7R800 with the same error. Do you repair it? Do you return it to KUKA factory?
Thanks!
unlike with non-collaborative robots, there are no field serviceable parts on IIWA. any repairs on IIWA arm is done at KUKA Germany.
