KUKA KRC4 WITH ONE AXIS

    Hello guys I have a KUKA KRC4 Standard, KR 16 L8 arc HW, that is missing some of the servo motors (cause we sold them), and I wonder if it's possible to use only 1 axis to enable the movement. Are there some kind of confuguration on KUKA WorkVisual to make this possible or something like this?

    Thank you!

    Probably not. The KRC is expecting to see all the servos, and throws a fault if any are not detected.

    It might be possible to convert your KRC to a KMC (KUKA Machine Controller). This should be a purely software change, but I can't swear to that b/c I've never done it. You'd probably have to talk to KUKA tech support.

    A KMC can have as many (or few) axes as you like. But you would have to define your own kinematic model in the KMC to get any kind of interpolated motion. OTOH, if you just want to control a single axis, that should be relatively simple. You'll have to tune your $RAT_MOT_AX and the $I_VEL_ and $G_VEL_ variables yourself.

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