Hello everyone,
I'm new to the forum and this is my first post, so apologies for any mistakes made.
I'm working on a KUKA KR C4, KSS version 8.5.4, with a KR 210 2700 Prime Mechanical Unit. The application I'm setting up will have 2 external axes, 1 of which will be decoupled while the other is coupled. I've configured the external axes and both are functional. Both axes are configured with coupling enabled via WoV. After decoupling one of the axes using instruction
$async_ex_ax_decouple='b00**', a message appears stating that E(1 or 2) has been decoupled. The robot acts as I would expect moving with the axes decoupled both in EXT and T1. If I change the operating mode on the pendant after the decoupling has occurred Ex.(switching from T1, to EXT back to T1) the robot will no longer move, the S submit light is green, the I drives light will illuminate as will the jog buttons, the motors will make the clicking sound they regularly do when power is applied to them but the robot will not move when given a jog instruction. The only message displayed at this point is the message that was displayed before changing operation modes about E(1 or 2) being decoupled. This problem can be resolved by rebooting the controller and the robot can then be moved again. Since one of the axes will always be decoupled anytime the operation mode is changed (for teaching) the robot will lock up.