looks fine 
Good work Werner 
Posts by robotuser
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I can read thank you, thanks for not giving any help, but without knowing the KSP is the fault i am exploring all options especially when it runs intermittment.
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Hi guys still need any help or info on the error messages i have above and another (Wrong drive parameters A1 - A6 followed by C6). Thanks
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Hi thanks for the info, we have changed those comms cables for new ones from kuka but there was no change, also swapped servo 1 and 2 to see if there was any changes. will look into KSP and ballast.
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Hi,
I have lots of errors on our Kuka KRC2 first errors are (Ackn. Common KSD-Error A1 through to A6), then after this list a list of (1239 Ackn. Synchronisation error drive A1 through to A6) sometimes the Axis numbers are in different order, Also had (1237 Ackn. wrong drive parameter A1 to A6). The robot will play and then stop at various positions in the program and sometimes trip out as soon as you play. Other times it will run for a couple of hours and then stop, other days it will run all morning and then trip out 10 times in the afternoon. Really cannot pin point the fault Any help please. Thanks 
Update I am not sure if this has solved it but I have changed the cycle time optimiser to 2.6 from 4.2 and still running 100% speed and its running ok for now. would still like any info you guys have.
