KUKA KRC4 with 7th linear axis KL4000?
I have configured the external axis through workvisual. Now I can able to do the jogging in axis mode.
I am have having few doubts. I have also attached a pic of rob. and work visual config.
1. My robot is not directly on the 7th linear axis. There is block between robot and linear axis for increasing the height. Can you please tell me how to add this block or it’s not needed to add this. is the transformation is ok?(attached pics).
Or If i do the calibration of the 7th axis will it automatically get the height of the block
OR currently $ET1_TA1KR(distance between the 7th axis flange and rob root) Z 690mm This value came automatically from workvisual after doing the configuration. But there is block inbetween. Should also give the block height in $ET1_TA1KR i.e. 690+blockheight.
2. Where is the reference pos for the linear 7th axis? Can I select it freely?
3. I need to change the + and minus direction of the 7 th axis?
5. should I need to do the calibration of the 7th axis calibration?
6. I am having a additional carriage on the linear axis with no motor but mechanical attached with rob(using screws). Should I also add it in workvisual config or not needed?
I have also attached a pic of rob.
Thanks in advance.