Hello,
I’m using a KUKA KR10 R1100 using a KRC4 Compact Controller running firmware v8.3.17 HF3
I am basically using the robot in the same way and with the same constrains as this person: Virtual axe (post is nearly 9 years old)
In a nutshell, I want to control a -not KUKA certified- motor as an external axis of the robot. I cannot use a kuka drive because of space constrains on my tool, and because a stepper is more adequate than a servo for my task.
The post I mentioned above managed to do this by declaring an external axis in the robot machine.dat, declaring it as simulated, and transmitting the simulated position et velocity value to the outside world using an analog output. In my case, I would like to use EtherCat for this task.
Except I’m facing an error when I try to replicate his steps. After editing the machine.dat (the one located in KRC/R1/Mada), to change the value of $EX_AX_NUM from 0 to 1, the robots spits out an error “255: invalid value for $EX_AX_NUM”
Can’t we change that value manually from the robot HMI anymore? Or is there something wrong with my configuration?
Thank you for the time you’ll take to help me.