7th custom linear axis

    Hi,

    I'm using KUKA kr10 1100sixx with compact krc4 running kss 8.3.35
    I'm trying to define a mathematically coupled 7th axis.
    I just got a drive box for an additional axis and it's connected to an external KUKA motor. (which is connected to the linear axis)

    The mechanical system is custom made - it's a vertical linear axis which the kuka robot is mounted on.
    I want to create a mathematically coupled system (the kuka with the 7th axis), however I'm having difficulties.

    KUKA's support suggested to start with the KL100 in the configuration and continue from there.
    However, the KL100 is a horizontal axis and I couldn't find how to change it's kinematics.
    I also tried adding KukaDriverKinematics with the corresponding motor I have, but I also couldn't find any option to define the kinematics.

    Is it possible to define a mathematically coupled kinematic system with a custom vertical liner axis (kuka does not have vertical axes)?
    If so, can you guide me how it can be done?

    by the way, I read the entire Configuration of Kinematic Systems documentation and couldn't find an answer.

    Thanks!

    [size=1em]of course it is in the manual but ... manuals do not provide all answers. [/size][size=small]they do however provide information enabling [/size][size=small]reader [/size][size=small]to draw conclusions and come up with answer(s), after considering what was read. [/size]


    [size=1em]this is why merely reading is not enough, one need to understand what was read and this is much harder... ([/size][size=small]VCRs and floopy drives could read their media but had no idea what they are reading).[/size]

    [size=small]understanding requires mental effort and most people are simply unwilling or unable to process what they read. this is why important things often get skipped. [/size]

    In case of manual "[size=1em]KSS_83_configuration_of_kinematic_systems_en.pdf" this skipped content apparently includes [/size]
    [size=1em] Chapter2: Fundamentals[/size]
    [size=1em] Chapter5: Operation (specifically 5.1.2 Kinematic chain of a ROBROOT kinematic system, and analyse Figure 5-2[/size][size=small])[/size]
    etc.

    [size=small]I am talking about ROOT point of kinematics...[/size]
    it contains location and ORIENTATION of the kinematic in WORLD coordinate system.

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