7th external axis krc2

    I know this has been covered extensively and I wouldn't be asking if I wasn't truly stuck. I've read through the past posts and have all the manuals that I've been going through for the past 3 days with no progress.

    I'm running a gm KRC2 with kss 4.1.6 on a kr200 robot arm. I built a turntable with a 3rd axis gear from another kuka robot and a 32amp kuka servo motor. I used the configure external axis program to enter in all my data. System accepts the changes and I am able to job both the robot and the external axis.

    However, that is all I am able to do. When I go to measure the kinematic root system I am unable to select a tool or the external kinematic system to measure. I get a windows error (in the pictures) para_actstatkey_incparam: error -2147417848 automation error. Additionally when I try to set a current tool for jogging I get the same error. All of my programs will not compile as config.dat and bas.src are errored out. When I try to open config.dat it give me an error no. 10: ststemdispl errorlist empty or not available.

    I have attached my machine.dat and config.dat. I'm really stuck on this one. The external axis configuration software I have is not great as I have to enter in all day manually anyway. Before I configure the external axis everything is running smoothly with no errors and I'm able to execute programs. After, all I can do is jog the robot...I cannot even teach a new tool or base.

    Thanks.

    i suggest comparing original files with ones you modified. when manually editing mada you have to be careful not to ruin file structure. you are not allowed to add new lines (even empty ones), rearrange them etc. all you are permitted to do is replace old value with new one and - new value better be valid.

    if this axis is supposed to be turntable, you need to create offset for flange transform. without offset you will never be able to teach root point.

    to do this, make sure you know center of rotation (mark it). then mark another "X" on the same table but this should be as far from center of axis rotation as possible (don't do 50mm, try 500mm). measure that distance as accurately as possible (caliper, measure tape,..) and enter it as X coordinate of your flange transform ($ET1_TPINFL).

    1) read pinned topic: READ FIRST...

    2) if you have an issue with robot, post question in the correct forum section... do NOT contact me directly

    3) read 1 and 2

    Thanks for the advice on flange offset...I had everything laser cut so have exact dimensions.

    I was extremely careful with modifying the machine data and have gone back and compared my changes to the original. Are changes to be made to config.dat as well? Because nothing changed in mine from the configure external axis application. I'm still confused as to what's throwing all these system errors but will see where this gets me. I guess what's throwing me off is that I'm able to jog the ext axis and robot but not do anything else.

    you can swap in original mada (without external axis) and see if everything is back to normal.
    another thing would be to compare MADAs for same (any) robot but with and without external axis (KL for example), that will show pretty clearly what things need to be changed...

    1) read pinned topic: READ FIRST...

    2) if you have an issue with robot, post question in the correct forum section... do NOT contact me directly

    3) read 1 and 2

    I think it was my flange offset was not set...so thank you.

    With these GM bots, they need to be running a specific application (studwelding, dispensing, handling, pressroom, etc.). I reloaded the application to default and reconfigured with the flange offset and all is well in the world again.

    Next beer is on me. :beerchug:

    I also keep about five working harddrives around at all times in case of problems like this. Makes working on the software a little les high stakes.

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