I am using the KUKA KR6 R700 sixx. I deployed a project to the controller. Then, the robot could not be moved by the smartpad. The could can not be enabled. As shown by figure.1
And there was an error shown by figure.2.
In the window of safety configuration, it showed that "the checksum stored on the RDC for the safety-relevant communication parameters does not match the parameters found on the hard drive", as shown by figure.3
I have tried to solve it but can't solve it yet. Would anybody please tell me how I can solve the problem? Now I can't do anything with this problem. Thank you.
Posts by Swift Tao
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Can the position and torque of KUKA robot joint be saved as a document such as .txt by using KRL? Thank you!
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Hello, I am working with KUKA R700, I want to get the torque of the robot joint. Would somebody tell me that if the torque returned by $TORQUE_AXIS_ACT can be negative? Or $TORQUE_AXIS_ACT will only return the absolute value of the joint torque? Thank you very much!
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Well, it turns out that the robot differentiates between positive and negative torque values. Maybe a rookie mistake on my part, but since A6 was making a negative-angle rotation I should have had the interrupt looking for negative torque, not positive torque. Once I swapped the sign, the interrupt started working like I wanted it to. I also incorporated fluke's idea about using $CYCFLAG. Thanks for the help!Hello, SirCumference, would you mind tell me that if the torque returned by $TORQUE_AXIS_ACT can be negative? Or $TORQUE_AXIS_ACT will only return absolute value of the torque? Thank you very much!