Hello,
I have a KRC2 ed05 cabinet, used for 7 axis control with a robot before.
The robot is gone. Can I use this cabinet to control only the external axis? Is it possible?
KRC2 ed05 Use only the external axis
- Max Pegankin
- Thread is Unresolved
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Yes it is possible.
Controller would want to have at least three axes. So make iit three but simulate two missing ones and everything will be fine.
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But, without a robot, wouldn't a separate RDW be necessary?
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yes it would
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you will need to create mada for your kinematic. KUKA will do it too for a "small fee"
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Any manuals or instructions how to create mada?
3 days of KUKA support cost arm and leg. They also said that robot is too old, and suggested to purchase KRC4
I need to copy files from robot to PC, change it and move back to robot? Correct?
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What you want is to use your KRC (KUKA Robot Controller) as a KMC (KUKA Motion Controller).
Unfortunately, I can't speak to converting a KRC to KMC, since I've never done it. What I've seen suggests that the hardware is identical, it's just software changes that need to be made.
I've attached the only KMC manual I have, although I'm afraid it's only user instructions, nothing about configuration. However, if you contact KUKA and ask for KMC manuals for a KRC2-series cabinet, they may have some "open" manuals for KMC configuration that they'd be willing to provide -- KUKA is usually pretty generous with their "open" manuals, the ones that come default when you buy KUKA machines.
A word of warning: even after you create your MADA, you'll need to tune your axis kinematic properties. And those manuals KUKA does not give away. There's a couple people here who can describe how to go about it in general terms (use the Trace tool and iteratively tune your $G_VEL_xxx and $I_VEL_xxx variables), but it'll take some careful, painstaking work, once you get to the point that the motor can move.
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i have done this a while ago and as i recall it was no different that setting up external axis. it means select correct size KSD, axis type rotary or linear etc. unused axes are simulated with something like
$AX_SIM_ON='B1110'
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