Good day. I have a KUKA krc2 . There is a program that worked well for a long time, but after stopping the robot for three weeks "Program limit A4 is out of range." Anxiety appears in some places. What could be the reason?
"Software limit A4 out of range."
- Kachinskiy
- Thread is Unresolved
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First of all stop yelling at us and then consider reading READ FIRST... .
Otherwise I can only state that A4 might be behind its limits. And now guesswork starts: turn issue?
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First of all stop yelling at us and then consider reading READ FIRST... .
Otherwise I can only state that A4 might be behind its limits. And now guesswork starts: turn issue?
I apologize the text was not correctly copied from the translator.
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Does the error appear when you attempt to run a program, or immediately when the robot is powered on? If the former, how
Are there any other messages?
Was this robot physically moved while the power was off?
Has anyone tampered with the robot, particularly its Mastering?
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The error appears during program execution when changing tool[2] to tool[1]. Found out that tool[1] .b was 1.5, but then changed tool[1] .b to 0. -
looks like alpha 5 (axis 4 and axis 6 are parallel)
Maybe I was thinking to complicate.
Could you provide the following information:
Robot Type
TOOL_DATA[1]
used BASE_DATA
Position you want to move to when the error occurs
With these informations I can calculate the axes postions
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Code
Display MoreFrom point DECL E6POS XP49 = {X 911.323975, Y -827.099976, Z 1652.68506, A -150.120605, B 0.457693607, C -179.236801, S 2, T 10, E1 0.0, E2 0.0, E3 0.0, E4 0, 0, E5 0.0, E6 0.0} DECL FDAT FP49 = {TOOL_NO 2, BASE_NO 1, IPO_FRAME # BASE, POINT2 [] "", TQ_STATE FALSE} DECL PDAT PPDAT38 = {VEL 80.0, ACC 60.0, APO_DIST 50.0} to the point DECL E6POS XP113 = {X 1042.30701, Y -840.928101, Z 580.835693, A -153.024307, B -0.659404516, C -179.055099, S 2, T 10, E1 0.0, E2 0.0, E3 0.0, E4 0 , 0, E5 0.0, E6 0.0} DECL FDAT FP113 = {TOOL_NO 1, BASE_NO 9, IPO_FRAME # BASE, POINT2 [] "", TQ_STATE FALSE} DECL PDAT PPDAT94 = {VEL 80.0, ACC 60.0, APO_DIST 50.0}
If
TOOL_DATA [1] = {X 0.0, Y 0.0, Z 0.0, A 0.0, B 1.5, C 0.0}
TOOL_DATA [2] = {X 0.0, Y 0.0, Z 0.0, A 0.0, B 1.5, C 0.0}
then it works,
if
TOOL_DATA [1] = {X 0.0, Y 0.0, Z 0.0, A 0.0, B 0.0, C 0.0}
TOOL_DATA [2] = {X 0.0, Y 0.0, Z 0.0, A 0.0, B 0.0, C 0.0}
error -
still no base data... points depend on both tool and base.
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robot type is also missing
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yup
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still missing:
robot type (model) can be found in $robcor.dat (e.g.$MODEL_NAME[]="#KR2100P_2 S C2 FLR ZH150/180")
Position you want to move to when the error occurs (you gave me two)
BASE
_DATA and TOOL_DATA for this point
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With my guess (after a few trials) Status and Turn are OK (S 2, T 10).
(That is why also the last position before the error occureds is also important)
After not responding and giving the asked information I would suggest that you are reading the systemintergrater manual and call the inverse function foer more information.
roger and out
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