Issue with Changing Individual Variable Values - KR 270 R2700 ultra

    • New

    Hello, I encountered a problem with my KUKA robot and would like some help. It is configured as a palletizing robot, meaning $PAL_MODE = true. However, axes 4, 5, and 6 lost their mastering.

    Robot: KR 270 R2700 ultra
    KSS: 8.5.8 HF1

    I followed the procedure, logged in as an administrator, and attempted to change the value of this variable from true to false to perform the mastering using the KUKA EMD tool. However, the system does not allow changing the PAL_MODE variable. It seems to be locked, even for the administrator. I also tried using all available logins (Expert, Safety Technician, etc.), but none worked.

    Another issue is that I was unable to activate IBN mode—it was also locked, and none of the logins allowed access to it.

    How can I "unlock" these functions?

  • Nation March 18, 2025 at 3:22 PM

    Approved the thread.
    • New
    Quote from Jonas Henchel

    However, the system does not allow changing the PAL_MODE variable. It seems to be locked, even for the administrator. I also tried using all available logins (Expert, Safety Technician, etc.), but none worked.

    "locked" how? What happened when you made the attempt? What messages showed up?

    You could try loading the active project from the robot into WoV, make a temporary copy of the project with $PAL_MODE altered, and download the new project back to the robot.

    Quote from Jonas Henchel

    Another issue is that I was unable to activate IBN mode—it was also locked, and none of the logins allowed access to it.

    You mean Startup Mode?

    Startup Mode is often blocked on robots using network safety if the connection to the Safety PLC is still active. Does your KRC use network safety?

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