Hello, comrades!
Currently we have a linear robot with 6 main axes and 2 external based on KRC2. It uses Sew euro drive motors instead of kuka's motors. Such motors need additional libraries to be integrated. As I understood, krc2 used machine.dat file for that purpose - to describe all necessary kinematics of motor.
Questions:
1. Our aim is to fully replace krc2 by krc4. Is that possible to transfer multiprog project and kuka-plc project (.src and .dat files of programs) into WoV? I know that krc2 syntax has some differences in contrast to krc4.
2. Moreover, we need to upgrade some motors and use a little bit stronger. For adding other brands motors Catalog Editor is used in WoV, but it only helps to create your own axes, working with .afc files of motor kinematics data. Is that possible to create your own .afc files with motor description? Is there any software for that purpose? Because ordering one motor description from KHS costs approximately about 15000 euro 
Either, at least, is that possible to EDIT any .afc file?
3. What would you prefer using in the same project: WinCC either zenon for HMI panel? Why?
