Edit: I updated machine.dat with another thread I found on this forum (posted the wrong link earlier), only non-default setting was in_pos_ma - set to 0.2 and it works just fine.
I have a KR20-2 Series 2000 robot with a KRC2 Ed05 running KSS 5.6.8.
Robot Type KR2210_2 S C2 FLOR ZH210
I'm trying to add 2 external axes, one is a rotary turntable and one is a linear track carrying the robot arm. For now I'd be happy with just the rotary, so I'll focus on that, and hopefully I'm skipping something simple.
My process:
0. With no ext axes, I can jog the robot, no errors.
1. Expert logon
2. Setup>Service>Axisconfigurator
3. Change EX_AX_NUM to 1
4. External Axis tab: Change AXIS_TYPE to 5, and MOTORTYPE to 69-225-463, B. (This automatically changed values accordingly, and used the KSD32 servofile)
5. Ext. Kinematics tab: Set transformation type to EASYS
6. Save and Exit
At this point, I get a popup saying "Submit interpreter cannot be started", continue on and I have two error messages: R1 data loader aborted, and Erroneous DSE assignment 1, and if I try to jog the robot I get "machine data error" and active commands prohibited.
The KSD-32 was installed and wired by the seller but not configured. I haven't found a problem with the wiring.
After talking with KUKA support I believe the machine.dat file has issues. Has anyone got a machine.dat with an enabled ext axis that I could reference? Mine are attached as they are after step 6.
Thanks!