"Software limit A4 out of range."



  • 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?

  • AD
  • 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?



  • 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


  • 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 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

  • 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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