Hello,
Robot: KR60 HA
KSS: 8.3.42
RSI: 3.3.5.279
I've recently discovered some strange behavior while attempting to correct axis 1 (it also happens on other axes, but I'm trying to narrow down the issue).
The setup is that I'm taking a digital input value and connecting it to CorrA1 of an AXISCORR block. For monitoring, I've connected the same digital input, plus the output 'Stat' and 'A1' from the AXISCORR block into a monitor.
When I run this, occasionally it'll work just fine for a few seconds before I hear an audible clunk and/or an over torque alarm and it shuts down.
Upon investigation, I see that the AXISCORR A1 value is not continuing to apply changes that are sent into CoorA1. It seems to drop out for about 1/10th of a second, then abruptly resumes and trying to apply all of the accumulated correction value at once. I also noticed the output of the 'stat' value goes to zero (no correction) in this same time period, but I can't discern why that is.
Please let me know if you need any additional info! And sorry in advance for the things I'm sure I forgot.