Hello everyone.
I’ve run into some small bug recently (or maybe it’s been like this all along).Im running a vc 4.8 kuka_olp at win10. In my previous projects, whenever I tried to start the simulation with RCS, I would always get an error like below:
KR16R2010_2 C: RRS OP 118 (GetNextStep) error -49: Internal software error.
KR16R2010_2 C: RRS OP 118 (GetNextStep) message: Work envelope exceeded
So I switched the MOTION EXECUTION to integrated mode, and the simulation could start normally at this point, but its behavior was often erratic.
Based on my observations, this is because the integrated mode run at this point does not update the changes I made to the TCP, base origin, and other settings.
so everytime I change TCP or base origin, I first launch the simulation in RCS mode, it will generate new robot parameters before throw an error. so if I switch to integrated mode and then start the simulation, then can be simulated correctly.
In my previous projects, I had been using this little tirck all the time and get alone with the simulation wouldn’t work in RCS mode. However, it wasn’t until my latest project, which involves a workpiecepositioner, that I had to bind Base1 to the positioner’s node to ensure that the VC matches the real-world scenario.
in this time,when i run sim in rsc mode,its get a error likebelow
Unhandled exception on starting the simulation. Base “BASE_DATA[1]” of robot “KR16R2010_2 C” is attached to “E3E4”. No entry found for “E3E4” in the current $config.dat.
I have been compare the $config.dat between my robot and VC, copied the line that might be declaring the positioner from robot into VC, and got the exact same error.
After making a backup, I copied the entire contents of the robot’s config file into the VC, but still encountered the exact same error.
At this point, switching to integrated mode also failed to launch the simulation, and the error message is as follows:
KR16R2010_2 C (integrated) Simulation was paused due to an interpreter stop.
KR16R2010_2 C (integrated): External kinematic #ROBOT is not defined.
If you have encountered a similar situation before, or know why I am unable to start the RSI simulation properly, or have experience with KUKA robots equipped with a dual-axis positioner, I would greatly appreciate your advice. Thank you very much.