Yeah was able to re-create the issue, seems like the second LIN movement causes it to go into lala land when running through the code in manual mode, why would this be, tried using PTP instead which at least casues and error and stops it from moving, is the base reference being reset after the first LIN move
Posts by MrSysInt
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Hi All, thanks for the replies,
I probably should have mentioned the Version of software is KRC 5.2.14, HMI 1.2, Kernel KS V6.74_38, from 2006
Could not find POSLOG or KRCDIag, not sure if these might be a modern luxury
So given that the robot crashed physically before stopping on this error suggests that the move was a LIN.
looking back over the logs i can see a similar situation to SkyeFire,
14:34:36 Operating mode changed from T1 to EX. Program selected. Current line: 10,
14:36:47 Operating mode changed from EX to T1. Program selected. Current line: 311,
looks as though at this point it was manually run through sequence (Multiple Start plus pressed occurrences while in T1 Mode)
14:39:21 Operating mode changed from T1 to EX. Program selected. Current line: 352 followed by
14:39:28 STOP due to software limit switch + A3
if the code i suspect was running at the time is right then line 352 is just before a LIN motion
Code
Display MorerXAdjust = rXAdjust * iMinusOne rYAdjust = rYAdjust * iMinusOne pLayerPosition.X = pLayerPosition.X + rXAdjust pLayerPosition.Y = pLayerPosition.Y + rYAdjust $Vel.cp=1 $ACC.CP=1 LIN pLayerPosition WAIT SEC 0.1 gripper_fingers_retract( ) pLayerPosition.z = pLayerPosition.z - rZLower LIN pLayerPosition
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Hi KUKA experts, Had a major crash on a robot that has resulted in a smashed arm, breaking off the palletizing head and Last Axis has now fallen off, was wondering if there is a more detailed log then the Logbuch.txt file as it only shows me
Entry 3056 (System, Warning)
2020-10-20 14:39:28'780
STOP due to software limit switch + A3
Module: System MsgNo: 1211
around the time of the crash
I suspect it something to do with the submit interpreter failing as I have seen the robot travel at full speed/power into pallets, trying to get to a random position (like it losses its base or current position) - S Icon goes from green to Grey