KRC0645

Common Causes

• Tool load mass value is missing or set to zero while acceleration adaptation is activated
• Tool center of gravity coordinates (X, Y, Z) are not specified in the tool configuration
• Tool inertia moments (Ixx, Iyy, Izz) are missing from the complete load definition
• Acceleration adaptation enabled globally but tool data not updated after adding new tool to system
• Partial tool definition transferred to controller without all required payload parameters

Troubleshooting Steps

1. 1Open the tool data configuration in WorkVisual and verify all load parameters (mass, CoG, inertia) are populated
2. 2Measure the actual tool mass and center of gravity position if load data is missing or uncertain
3. 3Calculate or measure tool inertia moments and enter complete values in all three axes
4. 4Disable acceleration adaptation temporarily to allow program execution while load data is completed
5. 5Re-enable acceleration adaptation after all tool load parameters have been properly entered and saved
6. 6Perform a test run with full load definition and confirm acceleration adaptation functions correctly