I have another interesting problem:
I'd like to have an additional, 7th(8th, 9th, nth) synchronous axis available to me in the HMI and programs, and I'd like to have the ability to jog it/manipulate it in the program, but neither the robot nor the controller support adding external axes.
I've tried setting these values in my MADA:
QuoteINT $AX_SIM_ON='B01000000' ;ACHSSIMULATION
INT $SIMULATED_AXIS='B0000' ;Simulation von Roboterachsen
INT $ACTIVE_AXIS_MASK='B01111111' ;Aktive Verfahrtasten, achsspez.
INT $ACTIVE_KAR_MASK='B00111111' ;Aktive Verfahrtasten, kartesisch
However, that doesn't do anything as far as I can tell. I don't see the axis, I can't monitor or jog it.
If I set $EX_AX_NUM to 1, it spits a bunch of DSE errors out at me(regardless of whether $AX_SIM_ON is set), since I haven't specified a DSE channel, and I can't specify a $PMCHANNEL since that may cause actual hardware damage.
AxisConfigurator is available on the robot but it does not run, saying that it's the wrong controller type "(V)KRC3A"(It is a KRC3).
Is there a way to get a completely nonexistent axis that is still linked to the kinematics system and is able to be "moved" synchronously by the program?
The goal is to create a custom axis(light fixtures, indexers, camera FIZ control, etc) fed by kukavarproxy either via ethernet, or serial, that is fully integrated into the HMI as a native axis. Reliability and timing delays are not an issue.