Kuka KRC2 Ackn regulator limit exceeded A6

Hi Everyone,

I've been troubleshooting this robot for a while. Initially it was giving me an emergency stop error when running in auto mode, This issue kept getting worse over time. In the beginning the error would only pop up every couple of days, in about a month it was happening every 5 min. To fix this in the past we would just reboot the robot and the problem was gone.

I did some reading on here and suspected that it was the esc board. I had checked all the cables going into the controller and there doesn't seem to be any floating pins or loose connections. Before I decided to purchase a new esc board I installed a X11 Jumper plug. After trying to run the robot in auto mode with the jumper the emergency stop error was gone so I'm assuming the esc board wasn't the problem and it is some wiring issue outside of the controller.

Unfortunately that didn't fix my problem, I'm now getting an error saying: Ackn regulator limit exceeded A6. If I try to jog the robot on axis's 1-5 there is no issue but as soon as I try to move A6 the robot stops and I get that error. I don't think its a mechanical issue, when A6 did move before this issue it was not rough or made any abnormal noise. there is also no load on the end of the arm, and it is not hitting and end stop.

Any help is appreciated.

Thanks for the response Panic mode, I found a burnt connection on the robot end of the X20 connector. I'm going to replace that and see if that fixes my problem.

It ended up being the ksd for axis 6, that error is clear now. I seem to be getting a new error now. Xbase invalid value. I cant find much on this error and was wondering if anyone else has had this issue.