addin 7th axis

Hi all,
I'm about to add an 7th axis rotary external axis to a KR60HA KRC2, this external axis does not need to be synchronus. I have changed the follwoing lines in Machine.dat:

102 $RAT_Mot_AX[7]={N 529, D1}

1329 INT $EX_AX_NUM=1 ;ANZAHL EXTERNER ACHSEN (0-6)

1335 DECL ET_AX $ET1_AX={TR_A1 #E1,TR_A2 #NONE,TR_A3 #NONE} ;EXTERNE ACHSEN #NONE, #E1, #E2, #E3, #E4, #E5, #E6

Something else is not quite right: the Traversing Mode shows only the robot, no external axis, is it because the external axis is not activated??

Info: KRC V5.4.11
KR60HA 3 C2 FLR ZH02
windows version: 5.1.26

THX,

In option.dat(STEU/option.dat), changed

$ASYNC_OPT = false ---> $ASYNC_OPT = TRUE

Check the RDW BOX, the 7th axis connector is not plugged:

The Robot can not move....
Machine data error 1541

To make sure that the external axis AC servo motor is not faulty, I disconnect A2 AC servo's power and resolver cable off a C1 Robot and use an extension cable to connect these 2 cable to the top of the External axis AC servo motor's power and resolver connector, both motor has the same spec:

In theory if I jog A2 in KCP1 the external axis would turn, when I tried it non of the axes can be jogged. The cable were connected back as it was, and powered on C1 , jog A2, worked fine. Does this mean the External axis' AC servo Motor is faulty?

Hi Panic Mode,
Got this error: 310- Safety Circuit for drives not ready
If I change this line from 0 to 1, INT $EX_AX_NUM=1 ;ANZAHL EXTERNER ACHSEN (0-6), the robot cannot be jogged, I f I change it back to 0 the robot can be jogged.

Also configured this:

the seller told me the following cable should be connected like this:

Controller Robot
X21 X41
X21.1 X31

the above can not be done, so has to be:

X21 X31

X21.1 X41

Ok, found out the E1 encoder cable caused problem, got an error message on encoder cable, sort that out.

Now, this:
https://www.robot-forum.com/robotforum/kuk…66657/#msg66657

"Ack. regulator limit exceeded E1"

problem solved.