Hello,
I'm going to create this topic regarding the creation of a possible way of external axis implementation, using some of the existing resources:
6 axis Kuka KR210L150 hardware, KRC2 controller, software 5.6.12.
Knowing that the robot's 6 axis may be suficient for more of the robot milling applications, some of us can find as usefull to reuse the existing 4th axis as an 7th external rotational axis.
The idea is as follows:
1. Providing the same as the 4th axis servo motor and apropriate cyclo reducer;
2. Deataching the power / encoder cables from the existing 4th axis servo motor to the new 7th axis servo motor that is already mechanically conected to the cyclo reducer;
3. Redefining the existing 4th axis servo driver as 7th axis servo driver;
4. Has to be supposed that in software Krl milling code creation, the 7th external rotational axis will be present and the 4th axis will be not used.
Is the idea real and easy to implement?
Thanks in advance for participation in this topic.