Posts by joRobot
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I read the manual. The load is 5 kg so it is more than 20% of the rated payload (16 kg). I even tried with a heavier tool. Nothing worked.
The load data determination with loads lower than a third the nominal load often fails.
Did You enter the load manually? If not, try that.
Thank you for sharing your experience hermann.
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Hi,
I have a problem with Kuka Load Data Determination. I run the procedure with an approx. 5 kg tool (standard dimensions, center of mass clearly in the positive Z direction of the flange). After the load determination procedure has finished with no errors, the following information messages are displayed:
1)-"Identified center of gravity in Z axis is negative"
2)-"No identification of load data"
And no load data is calculated to be saved (all the data fields are empty)
The robot is KR16R2010 C4
LoadDataDetermination 6.2.8
KSS 8.3.38
The smartPad screenshot of messages is in the attachment.
I tried the procedure more than 20 times with no success. I tried to reinstall LDD from Workvisual, restarting the controller and nothing works. I also tried choosing different versions of KR16R2010 robot, but failed again.
Does anyone know what could be the problem?
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I had similar problem when motors power connectors were not properly connected.Yes, one of the two connectors on the sixth motor (J6) was not properly connected.
Thank you for the heads up! -
Hello,
I am having two errors after initial commissioning of a Kuka KR30HA robot. After just a short jog of any of the axes, the motion immediately stops and I get the two following messages.
Errors : Collective break error (servo) (A6) + general servo error (A6)
Robot: KR30HA + KRC 4 cabinet controller
Screen shot of the errors in the attachment.
Is there something I can do?
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Thank you, not using RESUME did the trick. I somehow thought that RESUME must be used but I was wrong obviously.
Thank you again. -
Thank you Danny for the quick reply. Yes, I know that I could use HALT inside my interrupt subroutine but the interrupt jumps out of subroutines after resume and does not continue where it left. I am wondering if maybe there is a hardware or software option to get the red square behaviour.
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Hello everyone,
I am looking for a way to pause a running program without the teach pendant on the KRC4 controller. I want to basically achieve the same behaviour as when the red square button on the TP is pressed during program execution (the program stops at the current line and when play is pressed, the program just continuous the execution where it left). Is it possible to achieve that using some variable or digital input?
The problem with interrupts is that they jump out of subroutines when they are called and I don't want that.