Error while calling SET_TORQUE_LIMITS()

    Hello everyone,

    I'm preparing program in KUKA.Sim, that will be deployed on a real robot in near future. I need to use SET_TORQUE_LIMITS() to change axis torque. But when I try to call the function, I get error KR 120 R2700 (integrated): The function 'SET_TORQUE_LIMITS' could not be found. I went through the manual to see if I'm doing something wrong and missing something, that have to be done before calling the function, but with no luck.

    I have two questions:

    1) Is it because I'm using simulator and KUKA.Sim doesn't support torque functions?

    2) In $OPERATE_R1.dat I have found function declaration EXTP SET_TORQUE_LIMITS (INT AXIS_NR :IN,TORQLIMITPARAM VALUES :IN ). What is EXTP?


    I'm using KUKA.Sim 4.1, KRC5 8.7.8, KR 120 R2700

    Thank you for your help

  • 95devils May 28, 2025 at 10:56 AM

    Approved the thread.
    • New
    • There have been a lot of bug fixes in KUKA.Sim 4.3 and latest 4.10 - Update if you can, it is covered by the same license!
    • To reproduce we would need a lot more info, at least:
      • KSS Version
      • How are you execting motion?

    In general the interpreter in KUKA.Sim doesn't allow for all the KRL Variables and commands available on the controller.
    The SET_TORQUE_LIMITS() belongs to the "expert KRL commands" which are usually not considered in simulation.

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