I was wondering if anyone has experienced the following issue,
We bought KRC4 KR120 R2500 with PROFINET (profisafe), SAFE SINGLE BRAKE as an optional package. Along with a KP3H2H750 external axis.
Interestingly enough we got a mastering reference switch as the one in Kuka. SafeOperation manual but no where on the whole machine to physically plug it into. 😐
So my questions are,
How do I programmatically disable/bypass the mastering reference switch completely?
($MASTERING_REF_EXT is currently assigned to always true by default)
Is there a system variable to adjust the external axis acceleration and deceleration? It works fine but I think it's ramp up and ramp down are too aggressive so I want to make it smooth.
(already tried $ASYNC_AX_FLT to make it smooth )
Any help appreciated.