My current task is to plan out some upgrades (mostly adding SafeOp) for a pair of KRC2s that are currently in production, and can't afford to be stopped for long. So I need to work out the various geometries involved, in advance, to the greatest detail possible, but (due to the Current Unpleasantness) I'm stuck working with just the MADA files and some photos. 
And there is some odd stuff going on here. I've never done anything beyond basic External-Axes setups on KRC2s, so I'm a bit at sea here. Not to mention, whomever set these robots up originally seems to have been inconsistent in what they did.
Both robots are mounted on kinematically integrated KL1500s: one robot has $ROBROOT.X alinged along the KL1500, and the other robot has X crosswise to the KL. The TA1KR settings in both robots are identical but the TFLA3 values are different.
(One robot uses the KL as ET1, the other as ET2, just to help confuse things)
FRAME $ET2_TA1KR={X 0.0,Y 0.0,Z 450.0,A 0.0,B 0.0,C 90.0} ;FRAME ZWISCHEN A1 UND FUSSPUNKT DER KIN IN TRAFO ET2
FRAME $ET2_TA2A1={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN A2 UND A1
FRAME $ET2_TA3A2={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN A3 UND A2
FRAME $ET2_TFLA3={X 0.0,Y 0.0,Z 0.0,A 0.0,B 90.0,C -90.0} ;ZWISCHEN FL UND A3
FRAME $ET1_TA1KR={X 0.0,Y 0.0,Z 450.0,A 0.0,B 0.0,C 90.0} ;FRAME ZWISCHEN A1 UND FUSSPUNKT DER KIN IN TRAFO ET1
FRAME $ET1_TA2A1={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN A2 UND A1
FRAME $ET1_TA3A2={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN A3 UND A2
FRAME $ET1_TFLA3={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C -90.0} ;ZWISCHEN FL UND A3If I'm reading this right, both robots end up with $WORLD aligned the same way. Both TA1KRs rotate $WORLD so that Z points up, then the first robot simply uses TFLA3 to undo that rotation (making this probably the robot that was mounted with X crosswise to the KL), but the second robot's TFLA3 rotates to point X crosswise to the KL, then rotates around C to make Z point up again.
On the axes front, one robot has a double-stack controller with 12 KSDs, but the MADA shows an EX_AX_NUM of 3. There are only RAT_MOT_AX settings for axes 1-9 (which matches EX_AX_NUM), but there's a $LOOP_RAT_MOT_AX setting for servo 11 (and no others). This is the robot that has the KL as ET2, and an "rotisserie" mounted to the floor off in one corner of the cell as ET1 (an EASYS). I'm frankly stumped trying to figure out where all the other axes are -- just disabled? But then why would the only Master/Slave servos I can identify end up on $LOOP 11?
Frankly, since the robots are working already, and I'm not making any hardware changes beyond adding SafeOp, I'm not too worried about all these extra axes (which do not appear to be in use), unless they have potential effects on SafeOp that I'm not aware of.
For example, the 12-servo robot has SBMs on all of the Ex KSDs, but the 8-servo robot has no SBMs at all. The SafeOp manual doesn't mention it, but I recall hearing somewhere that External Axes need SBMs for SafeOp (for the Brake Test?).
The good news is, the only axes that should matter to SafeOp are the robot axes, and the KLs. These other axes, as far as I've been able to identify, don't move any hardware that would present a potential safety zone violation.
