Hi,
I trying to restart an old VKRC1 KR150 robot. This robot has not worked for two years. I met a problem with axis 4, 5 and 6. When I try to move these axis (in manual mode) The robot try to move but I have torque exceeded error immediately (surrintensity on A4 and torque exceeded on A5 and A6). I have inspected mechanics and I have not seen problem. Too, I have try to move these axis manualy with a key directly on motors and they move normally.
This robot moved correctly two years ago. So I have few questions :
- Is it possible that is a problem with the brakes which remain stuck (because connections problems for example ?) How to verify that ?
- Is it possible that is a soft problem (load parameters problem for example ?)
- Is it possible that is a PM6-600 problem (I hope no !)
- Can I try to swap connections axis directly on PM6-600 with other axis 1, 2 and 3 to see if it's a mechanical problem ?
At this moment, I have put axis 4,5,6 in simulation mode in $Machine file and I work with only axis 1, 2 and 3 but it's not very comfortable !
If somebody has suggestion...
Thanks.
Kukart