Any chance to have more than 16 tools

    yes, it is possible. there are several changes that need to be done in $CONFIG.DAT (there are several arrays that need to be resized and new initializations added).

    on KRC4 this is more convenient, since WoV allows simply choosing number of tools in WoV.

    but this can still be useful to compare the differences before and after change to see what exactly need to be modified. then you can manually do those on your system...

    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

    Nice, so could you confirm if the parts of my $CONFIG.DAT to edit are the ones inside the ; TOOL and BASE data section of the file?

    Something like:

    Code
    INT MAX_TOOL=32
DECL FRAME TOOL_DATA[32]
TOOL_DATA[17]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
 ... up to ...
TOOL_DATA[32]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}

    and the same for:

    Code
    DECL CHAR TOOL_NAME[32,24]
TOOL_NAME[1,]="Tool_1 "
 ... up to ...
TOOL_NAME[32,]="Tool_32 "
    Code
    DECL LOAD LOAD_DATA[16]
LOAD_DATA[1]={M 50.7466469,CM {X 11.2309999,Y 53.7840004,Z 358.993988,A 0.0,B 0.0,C 0.0},J {X 5.0,Y 5.0,Z 5.0}}
... up to ...
LOAD_DATA[32]={M 50.7466469,CM {X 11.2309999,Y 53.7840004,Z 358.993988,A 0.0,B 0.0,C 0.0},J {X 5.0,Y 5.0,Z 5.0}}

    Are there other arrays I should edit? Attached is my current $CONFIG.DAT .

    Thanks for your support

    I think if you changes those 2 arrays that should probably work if you manually want to enter the tool and load data. If you want to use the 3 point tool calibration tool i thin you also need to expand the char array for the tool names. Not exactly sure on that point.

    The best advise i can give you is make a back-up and try it out. worst case scenario you might learn something.

    Every problem has a solution, that isn't the problem. The problem is the solution.

    Ok, I edited all things said and tried to measure one tool using the numeric input. At saving I've got this error:

    The command (module: MEASUREMENT, no: 4 (Index was outside the bounds of the array.)) failed!

    There must be another array somewhere to edit. Any idea where should I look?

    Kuka KR150-2 KRC2 ed05 V5.6.11<br />VFD TDE Macno<br />Spindle HSD ES915 with Automatic tool changer<br />Sprutcam 11

    If You have a KRC4: DON'T do this manually! Use WorkVisual to change the amount of tools or bases. If You don't do it with WorkVisual, You will be surprised if You change anyhing else later with WorkVisual! Then You will loose all your additional tools, and the first 16 tools may be overwritten with old values.:astonished_face:

    I have a KRC2 ed 2005. I actually could set the new tools over the 16th, but I had to edit the $CONFIG.DAT and they work fine. The only problem is that I still cannot set the tools with the numeric input from the KCP as I get the error I mentioned before.

    I cannot see where is the problem. Attached is the $CONFIG.DAT, can someone have a look? What am I leaving behind?

    Thanks for your help!

    don't have access to KRC2, in fact did not see one in long time....

    did you do a cold start?

    do other HMI functions work? is it ONLY numeric entry that you have problem with? how about measuring tool using 4-point method, selecting tool etc.?

    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

    If someone else needs this, I've got the answer from kuka. The were missing arrays to be edited :

    DECL FRAME REF_PT[32]

    DECL MACHINE_TOOL_T MACHINE_TOOL_DAT[32]

    However, the error is still there as it seems that for my sw release it is not possible to have numeric input after tool 16, you have to set tools over 16 manually via $config.dat (This is what kuka customer service told me)

    Cheers.

    Kuka KR150-2 KRC2 ed05 V5.6.11<br />VFD TDE Macno<br />Spindle HSD ES915 with Automatic tool changer<br />Sprutcam 11

    Edited 2 times, last by Marco (November 18, 2019 at 5:06 PM).

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