KRC4 robot type change

    I have a welding robot KRC4 KR16L6-2 with 4 external axis
    KSS V8.3.29

    I will change the robot to Hollow Wrist type :KR16LHW C4 FLR ZH01

    What are the steps that I need to update in the controller? ( machine data,mada, kinematic etc??)

    [size=2]maybe.... but that is not complete instruction set. following it blindly can cause other problems.[/size]

    [font=verdana, arial, helvetica, sans-serif][size=2]make sure to setup WoV before doing anything - integrate KOPs and update DTMs for anything that project uses.
    [/size][/font]

    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

    downloaded the project, changed the robot type

    robot is working, external axis are working,

    But the external axis are not synchronous!!!

    robot and extrnal axis are mastered with EMD
    tool calibration OK
    base calibration are all OK

    this is a welding robot which I need the 2 axis positioner (similar to DKP-400) must be moving syncronous with torch.

    normally when I move the external axis the torch is following the external axis and keeping the welding point fixed.
    T1B1 is choosen
    world coordinate sytem
    When I move E1;E2 axis torch is not following the positioner. ( all the other robots I have follow the positioner)

    $async_mode 2
    $async_axis 0
    $ex-ax-async 0

    after we changed the robot type to HW, everything is OK ( safety, remote connections, welding machine control etc ) except syncronous movement of positioners.

    what do you mena by "integration"; I could not find any integration part in the manual.

    According to manual
    Synchronous motions; Mathematically coupled: I just need to calibrate kinematic system. And I calibrated.
    I set the machine transformation data for kinematic machines at WoV

    Do I need to configure the cell as my Robot follows the external kinematic?

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