7th axis set-up for kuka

[patpla]

i have a krc-2 mounted on a 7th axis slide and having trouble getting it to move
can any body help me

[mookie]

push the +/- button?

the second key down on the right side will display a robot upon startup. push that until you see a motor. from there, you should be able to enable your motors and then push the +/- keys to get  motion from it.

if youve allready done that, perhaps it may help to know a little more in detail.

[asimo]

Also,

Make sure you have defined 1 external axis under Setup->Service->Axisconfigurator. The variable $EX_AX_NUM should be "1". After that, look at the "External Axes" tab and look at the values to see if they make sense.

[patpla]

hi all i have tried these tips and i get the aux axis icon to show up on the right but when i try to move E1 +/- it says
key not assigned
has anybody experienced this before

[SkyeFire]

Stupid question, but after setting up your 7th axis in the AxisConfigurator, did you try cold-booting the robot?  Sometimes changes to $MACHINE.DAT won't take until the robot's been rebooted once. 
Another stupid question: have you tried this in Joint, World, Base, and Tool modes?  If you were in one of the linear modes, it's possible that the lack of external kinematic setup might cause this error.

Is this a KUKA 7th axis, or a KUKA servo motor?  If it's a KUKA KL1500, for example, it should have come with an install disk that will do all of this for you.  If it's a KUKA servo motor that you're using to drive non-KUKA hardware, then you should be able to do most of your work in the AxisConfigurator simply by telling the system the KUKA article number of the motor you're using (it'll be on the data plate sticker).  The only other settings you'll have to tweak should be Linear/Rotary/etc, the motor/gear ratio, and settings like the max RPM.

Still, even if those settings are wrong, "Key not assigned" is not an error you should get.  Mmmm.... this is a long shot, but do you have this motor configured for Asynchronous operation?  It's possible to set an external axis so that it is controlled from the SPS rather than from the KCP.

As a test to see if your motor is operating correctly, and that this error is something in software, try making a little program like this:

DECL E6POS NextPos
.
.
.
PTP $POS_ACT
NextPos=$POS_ACT
NextPos.E1=NextPos.E1+100 ; this number will be mm if E1 is set up as a linear axis, deg if E1 is a rotational axis.  Be careful.
NextPos.E1=NextPos.E1-200 ; go back past zero by the same amount.

If your motor behaves properly in response to this program, then your error is probably something in the KSS.