KR16 C2 KSS 5.5
The 7th-axis (conyevor) worked synchronously with A1-A6 before I changed the system settings. Now I fail to change it back to the synchronous mode.
Now the settings:
$ASYNC_OPT=FALSE in option.dat
$EX_KIN E1 #ERSYS in $machine.dat
Then a PTP (XYZABC) command produces a ‘work envelope exceeded’ error.
I observed that:
1. The desired position goes beyond the reach of the robot (without the 7th-axis);
2. The position can be reached by moving the 7th-axis.
If the external axis works in synchronous mode, such position must be automatically reached.
Any suggestions? Thanks!