Hi,
I have problem with kuka KRC4 robots.
Sometimes during welding occurs error KSS26176 (Confirm no force rise in force regulation system), then robot stops in infinite loop with message "Line select required" and mostly its out of path also.
This is the code where robot stops.
Code
GLOBAL DEF EQ_REPOS ()
INTERRUPT OFF 1
BRAKE
SUPPRESS_REPOSITIONING()
;halt //Nur zu debug Zwecken
$OUT[EG_START_OUT[EG_EXTAX_ACTIVE]]=FALSE
ERROR = VECTORMOVEOFF(#MOVE_BACK_PARTIAL)
IF ((EQ_ParamSet==#EQ_PAR_OFF) OR (EG_EQ_TEACHMODE==TRUE) OR ($MODE_OP==#T1) OR ($OV_PRO<=49) OR (EQ_VMERROR==TRUE)) THEN
ELSE
; ERROR = VECTORMOVEOFF(#MOVE_BACK_PARTIAL)
VMV_PRINT_ERROR(ERROR)
ENDIF
$VEL_EXTAX[EG_EXTAX_ACTIVE]=100
$SOFTP_END[(6+EG_EXTAX_ACTIVE)]= EG_SOFTEND_P[EG_EXTAX_ACTIVE]
EG_ERRCYC[29]=TRUE
LOOP
MsgQuit("LineSelectRequired", "EGSPOT")
HALT
ENDLOOP
RESUME
END ; end of eq_reposIs moving outside the path coused by brake instruction? What is the point of use infinite loop? Is this standard code delivered by kuka with equalizing tech pack or it has been changed by integrator?
The version of KSS: 8.3.35
EqualizingTech: 1.2.7
ServoGun FC: 2.1.5
