KR C V5.5.8.
KS V5.5.6.
Hey guys,
Im having some problems masterig our Kuka arm. The machine was running fine when all of a sudden it decided to slam into the positioner. Im guessing the problem is with the robot losing its mastering data or something along those lines. Something similar happend a few times before where an Axis (axis 5 and 6) needed to be remastered (it threw a error saying (Axis X needs to be mastered). This time it threw no errors, just the TCP was aprox. 10 cm off center. First I tried to recalibrate the TCP using the 4 point method but the offset was in the range of 70 - 100mm, so I went and unmastered all 6 axis ánd the external positioner and then remaster all of them in sequence using the EMT. Then tried setting the TCP again but the offset was the same (100mm or so).
Now Im trying to remaster them again but I cant even move Axis 5 to its position where the mastering hole/nub/whatever is. It just stop about 20 degrees before and starts shaking. There are no errors like usually when you try to move an axis over its max limit.
Any ideas what could be wrong? Its all very strange. Im attaching a video of A5 being unable to move more than 90 degress (also the screen on the TP is turning on and off while booting - something that never happened before).