How to reprogram collision alarms on KUKA robots to identify the specific axis involved

    Firmware Version: 8.5.4
    Robot Model: KRC4 KR 340 R3330

    Hello everyone,

    As part of our continuous improvement efforts, I would like to make a modification to our KUKA robot. Currently, when there is a collision, a message appears indicating that there is a collision or that the torque of one of the axes is very high. The robot functions correctly and these collisions are real.

    To improve our system, I have been asked to reprogram this alarm so that we can precisely identify which axis is in collision without needing to use KUKA LogViewer to find the information. Since I don't have enough experience with KUKA robots and after conducting several searches, I am turning to this forum in hopes of finding a solution.

    Thank you in advance for your help.

    well... in my world any time robot collides with something is an extraordinary event and - a bad news. so having regular collisions is abnormal and should never happen. and if collision does occur, the problem is already there.

    so for me the goal is to never reach that threshold... because when collision is sensed, recovery requires manual intervention and tat means downtime.

    so... if i was doing something about this, i would:
    a) modify programs to be collision free. if needed one can also limit the current to specific axis.
    b) monitor torque of all axes and capture peak, then display message.

    all of this is in the programming manual for system integrators and system variables manual.

    1) read pinned topic: READ FIRST...

    2) if you have an issue with robot, post question in the correct forum section... do NOT contact me directly

    3) read 1 and 2

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