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I also don't think it is handshake problem. This error is not from Robot.Unit.OutImm.AplErrNo. It's an error from _robotState.StopMess and showing as 'Robot fault : robot has collective fault'. It's happening not quite offen. Properly one time in an hour. When it happens, robot program will stop always at the same line. And we need to switch to home mode and call robot's home order to recover it. And then robot can start running. Currently I made a recover function in automode. When plc detects this situation, it will clear error automatically so robot's ExecState can be ready. And then call robot's home order to recover it. Lastly plc go back to call robot's last command again. It's quite diffcult to find the root case from plc side. Or you have any other suggestions? ... View more

Hello Thorsten: Thank you for replying. I checked robot and there is no safe-operation package in it. There are two different error messages in kuka history log. Both of them will cause robot stopped. You can find from the following pictures. I also contact kuka support. They told me the first error 'Dynamic brake active' is just general warning and can't represent anything. But the second one, they said plc set diSpsExt_Stop signal during normal running. This is wrong handshake sequence at that time. But I confirmed with customer that no one switch the mode or pressed hold button during automode. It's quite strange. Did you also faced this situation before when testing KUKA robot object? ... View more