Posts by Kachinskiy

From point 

DECL E6POS XP49 = {X 911.323975, Y -827.099976, Z 1652.68506, A -150.120605, B 0.457693607, C -179.236801, S 2, T 10, E1 0.0, E2 0.0, E3 0.0, E4 0, 0, E5 0.0, E6 0.0}

DECL FDAT FP49 = {TOOL_NO 2, BASE_NO 1, IPO_FRAME # BASE, POINT2 [] "", TQ_STATE FALSE}

DECL PDAT PPDAT38 = {VEL 80.0, ACC 60.0, APO_DIST 50.0}
to the point

DECL E6POS XP113 = {X 1042.30701, Y -840.928101, Z 580.835693, A -153.024307, B -0.659404516, C -179.055099, S 2, T 10, E1 0.0, E2 0.0, E3 0.0, E4 0 , 0, E5 0.0, E6 0.0}

DECL FDAT FP113 = {TOOL_NO 1, BASE_NO 9, IPO_FRAME # BASE, POINT2 [] "", TQ_STATE FALSE}

DECL PDAT PPDAT94 = {VEL 80.0, ACC 60.0, APO_DIST 50.0}

If
TOOL_DATA [1] = {X 0.0, Y 0.0, Z 0.0, A 0.0, B 1.5, C 0.0}
TOOL_DATA [2] = {X 0.0, Y 0.0, Z 0.0, A 0.0, B 1.5, C 0.0}
then it works,
if
TOOL_DATA [1] = {X 0.0, Y 0.0, Z 0.0, A 0.0, B 0.0, C 0.0}
TOOL_DATA [2] = {X 0.0, Y 0.0, Z 0.0, A 0.0, B 0.0, C 0.0}
error

The error appears during program execution when changing tool[2] to tool[1]. Found out that tool[1] .b was 1.5, but then changed tool[1] .b to 0.

Quote from Fubini

First of all stop yelling at us and then consider reading READ FIRST... .

Otherwise I can only state that A4 might be behind its limits. And now guesswork starts: turn issue?

I apologize the text was not correctly copied from the translator.

Good day. I have a KUKA krc2 . There is a program that worked well for a long time, but after stopping the robot for three weeks "Program limit A4 is out of range." Anxiety appears in some places. What could be the reason?