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Error while calling SET_TORQUE_LIMITS()

  • drapi
  • May 28, 2025 at 10:06 AM
  • Thread is Unresolved
  • drapi
    Posts
    1
    • May 28, 2025 at 10:06 AM
    • New
    • #1

    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.
  • RobRit
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    • June 11, 2025 at 1:58 PM
    • New
    • #2
    • 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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Thread Tag Cloud

  • abb
  • Backup
  • calibration
  • Communication
  • CRX
  • DCS
  • dx100
  • dx200
  • error
  • Ethernet
  • Ethernet IP
  • external axis
  • Fanuc
  • help
  • hmi
  • I/O
  • irc5
  • IRVIsion
  • karel
  • kawasaki
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  • Offset
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  • robot
  • robotstudio
  • RSI
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  • Siemens
  • simulation
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  • staubli
  • tcp
  • TCP/IP
  • teach pendant
  • vision
  • Welding
  • workvisual
  • yaskawa
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  • torque
  • kukaSim 4.1

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