Collision Recovery

    I was jogging my KR10 down and accidentally hit the 100mm increment instread of the 10mm and crashed the robot down onto the part i'm gripping. It is firmy stuck, and I cannot jog up and away, the error it throws is Axis A3 Max torque. Is there a way to override this like you can SHIFT-MOVE a FANUC?

  • massula October 15, 2024 at 9:20 PM

    Approved the thread.

    well that sucks...

    i would recommend reducing speed when moving close to solid obstacles. if you cannot jog it away, i'm afraid there is no easy way out....

    KUKA does make brake release as a separate device or service tool. and since this is an Agilus robot, motors are internal so there is no way to drive the axis back using release tool (12mm socket wrench).

    you could try force release brakes by connecting 24VDC to correct pins of X30. releasing wrist brakes should be sufficient as you do not wish arm to collapse. and you WILL have to master the robot after this. well, after collision like this you will be better off doing it anyway in acy case....

    the other option is to unbolt either the robot tool or ... loosen the mounting bolts of the robot itself (it is only 4 screws and Agilus is small enough). do not remove bolts completely, just turn them 1-2 turns - that should be enough to release tension so you can jog away.

    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

    There is something odd with agilus, larger robots can just jog away with a couple of tries but for some reason agilus is especially sensitive. If you monitor $pos_act_mes you can see if it even moves alittle bit. What i found out is using the joystick just drives the robot more stuck, it goes the wrong way even if you actually pull the joystick the correct way. But using the keys you usually get a small movement per try.

    I have been wondering if there is somekind of a software workaround to temporarily get around issues like this. Could there be a programatical way to get away from this, eg. Make torque monitoring more insensitive for a slightly longer time? Has only happened once to me but still unscrewing the robot is not a good solution when you have a crap load of calibrated stuff. Neither is crashing but it will happen to someone at some point.

    Attention to the security !!!!!!!!!!

    Some axes can be moved manually.

    ================================================================================

    KUKA Commissioning Manual

    Chapter 5.6.6 Options for moving the robot without a robot controler

    Move the joystick with the brake opener

    1. Stop the robot control to protect it from being reactivated (e.g. with a padlock).

    2. Connect the brake opener to the robot base:Remove the existing X30 connector from the A1 interface. Connect the X20 connector of the brake opener to the A1.

    3 interface. Select the brakes to be opened (major axles, wrist axles) with the selection switch at the brake opener.

    4. Press the push button on the handheld controller. The brakes on the major axes or wrist axes open and the robot can be moved manually.

    Post

    RE: KRC5 Micro with Agilus KR6

    […]

    that's the way to do it

    bigger robots have most of the motors accessible so brake release could be done in different ways, even on a single motor. there is a brake release for Agilus too but in this case one cannot release brake to single motor. brakes are internally parallels into two groups - Axis 1..3 and Axis 4..6.

    the real brake release from KUKA has batteries and it can be used even if no AC outlet is nearby. But that means one must maintain battery and to me that is a drag specially…
    panic mode
    June 29, 2022 at 1:59 AM

    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

    I do not mind the brake release device, but it is bulky, expensive and honestly quite crap. As the robot would always be connected to the ultimate brake release device (the controller) why cant we have the function there? ABB for example has "disable motion supervision". Even as one could macguyver style make a much better version as discussed in the linked thread. I would like the option to do something similar on the controller present and connected. I have not tried anything like it but i think torque monitoring is disabled for a short initial time to not trigger falsely from high starting torques. You cannot run a programmed "get free" program in teach mode as as soon as drives are energized you would get an over torque alarm. But would it be possible to do a small movement 0,5mm from pos_act in aut? (Bco would be problematic) Or if you have vectormove option, could you enabled a servohold move to get the brakes released? Or something similar?

    i was considering pretty much the same a while ago...

    i was considering making this a "mode" for brake release device. the idea was simply release brakes for a specific short time (0.5-1.0 sec) when button is pressed. motors are disconnected and therefore not fighting. and since pulse is short, robot cannot free fall and end up on the floor. well it could but that would require a whole lot of arcade style triggering of the button...

    After this connect the robot back to controller, jog away and master all axes.

    and the same could be done in KRC/KSS without need for any additional hardware or reconnecting of the motor cable. and it could be logged, and with password and warning that mastering will be needed... pretty sure users would love it. But would KUKA ever do it?

    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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