We are having a KUKA KRC4 6 axis with Linear 7th axis robot. Till now I have worked only with KUKA 6axis robots and this is my first time with KUKA linear 7th axis integration. So I am having some doubts.
1. The difference between Synchronus and Asychronous movement?
Syn- All the 7 axis will move to reach the destination point. We must teach it the point with E6POS
Asyn- My Linear 7th move according to E1 in E6POS and then the robot will work with remaining 6axis.
Have I understood it correctly. If not, please correct me.
2. In sync movement. What is the meaning of mathematically coupled and mathematically uncoupled External axis?
3.First I need to do the Mastering of the External axis. Can I also do the mastering of the Linear 7th axis with Electronic dial gauge connected to X32?
4. What are the configrations setting need to be done in machine.dat file for sync move.
5. I must declare all the position datatypes as E6POS and the value for my 7th axis will be stored in E1 for Sync Mathematically coupled? or XYZ will be calculated from the reference of the Linear 7th axis?
I need your Help .
I hope, you can understand my questions. If not, Plz ask.
Thanks in Advance.