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.
0. With no ext axes, I can jog the robot, no errors.
1. Expert logon
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.