Hello,
I'm using KUKA robot (KR16-2 with KRC4) for about a year for a simple tasks only. Now I have a new problem, which require using of a 7th axe. But I can't use standard KUKA motor with KUKA driver, because selected motor for this new axe is small Maxon EC90 (unfortunately I can't change it now).
So my question is this: It is possible to configure new virtual (simulated) synchronous axe, which can be handled from HMI, its position can be programmed in motion programs as a normal axe and which will not be connected to robot driver? I can send position and velocity of this axe to motor driver by SPS, precision of this axe is not critical for my application.
I tried to find any documentation about this, but I didn't have success. In robot file system I found directory Config/User/Common/Mada, which contains directory SimuAxis and file SimuAxes.XML. It filling me wit the hope, but without some hint or document I cannot use it.
Thanks for any suggestion.