Axis 6 pellet broken on kuka robot

not sure what is meant by "pellet" in this case, mastering cartridge or pin perhaps?

and what is the robot mode?

Quote from moncef

Can we change it or we must change completely the arm ?

It is possible to perform "Dial Mastering" instead of EMD Mastering. However, it will be difficult to achieve equivalent levels of accuracy. Without a vernier mark, it will be hard to visually align A6 correctly.

It may become necessary to Dial Master A6 as accurately as possible, then re-teach path points where that was not accurate enough. Once you have established your new Mastering location, add a vernier mark (paint, scribe line, something) to make it possible to re-master in the future.

It would not be necessary to replace the entire arm, just the wrist.

Quote from moncef

In attached image the 'pellet' component broken.

That image is not displayable, for some reason.

Quote from moncef

we didn't know if we can replace it without risk and what's the changing procedure ?

The Mastering cartridge requires some careful handling, but changing it is not very risky mechanically -- it just requires care. There are precision machined surfaces you need to take care not to damage.

The main issue is that each cartridge is fine-tuned on the robot at the factory before the robot is shipped. So your new A6 Mastering position may not precisely match the original. Worst case, you may need to touch up some points.

This is the code for that link if it will help to figure out what the problem is.

<img src="https://www.robot-forum.com/attachment/395…pg/?thumbnail=1" width="352" height="198" alt="?thumbnail=1" class="">