external axis configuration

open work visual, integrate all KOP files that are on your robot (D:\TECH_OPT), get current project from controller, save it, save it as new file (keep revisions so you can go back, not smart to overwrite existing project), activate controller and include catalog KukaExternalKinematics, open drives configuration and check if your KPP and KSPs match what is inside cabinet (well they should, you just collected project from controller), add your positioner from catalog into your project, WoV should suggest to add second RDC right away (do it), there may be some shuffle of connections depending on if KPP3x20 is used to power external axes or your robot wrist axes. if the existing drives are not large enough to handle motor currents for existing configuration, some of the motor may not be connected. if you force connection, you will see yellow exclamation icon on such connections. you must also make sure that new RDC physical connections match configuration in WoV (check topology) because this could be done different ways (parallel, series, reverse series). for Kuka positioners Kinematic should already be defined by catalog, for custom positioner, you need to create new kinematic. if everything compiles ok, deploy project and try it out.