Hello:
I'm working with a KRC2 and we just added an external axis to the controller. We built our own turntable and are using that.
I created a code in KUKAprc that (I think) accounts for the external axis in the KUKAprc settings and the simulation is working fine. However, when I run the program on the robot, the program only moves the robot slightly from it's start position before I get the error "software limit -A3 out of range". I changed the start position of A3 around a couple times in KUKAprc as well as made some other positioning adjustments but no luck. There's no reason that A3's position should be out of range, and the simulation and analysis both look fine.
The simulations and analysis from KUKAprc were always accurate to real-life before incorporating the external axis into the controller. Within KUKAprc, the only info I added in about the external axis was under ADVANCED > EXTERNAL KINEMATICS > ROTARY AXIS > DYNAMIC VALUE BY VECTOR > X = -1 and of course using the Turntable component under 02 Virtual Robot.
Wondering if I need to give KUKAprc more information about the external axis so that all 7 axises run smoother together?