Errors Adding External Axis to 5.5.12

How exactly did you transfer the machine data?

If I remember correctly 114 refers to absolute accuracy. The pid file is stored on rdc and contains the machine data it was created with. When the system starts up machine data in the pid file is compared to the standard machine data. If both sets do not match this message is generated. To verify you could temporarily deactivate absolute accuracy and see if the message vanishes. My theory would be you accidentally have overwritten the rdc on the 5.5 with the data of the rdc of the 5.2 robot.

Furthermore there is also a shadow copy of $robcor.dat in rdc that could cause 1008 for similar reasons. This also indicates rdc data is somehow different to other data. You could compare $robtrafo (robot type of machine data stored on rdc) and $trafoname ( robot type in conventional machine data) to see if they match.

These type of data mismatch usually needed to be resolved by either pushing the correct data to the rdc or pulling the correct from rdc. Which action is the correct one depends on which data is the correct one. The push or pull can be done inside the robot data hmi menue.

Fubini

comparing MADA of two different robots and from different KSS versions will produce too much "noise".

the simple way to tell what parameters need to be changed is to compare MADA.

the best way is to compare two MADA that are for the same KSS and the same robot type - even if that is not the robot type you are planning on using (because MADA collection for your KSS may not have both versions for your robot). so just choose one with robot alone and the other for same robot but with linear rail for example. all of this should be on D:\

this will give you a very clean list of things that need to be manipulated when adding external axis.

$robcor.dat does not need any modifications when adding an external axis. Especially not the dyndats.

With how exactly I meant not thprocedure but the data you changed. You should change them back to their original values.

You say according to [7]. What's [7]?

Fubini

in first post you shared MADA from two different robots on two different KSS versions. This is bound to produce a lot of differences which is not what you want.

This is why i suggested comparing MADA on same KSS and for same robot, so that the ONLY difference is the external axis... That compare will produce only a handful of differences and that would make it very clear WHICH values need to be modified when adding external axis.

no

Quote from jesusvaricap

i still tryng to add the external axis....

i checked Parts and Docs for KRC2. it turns out this motor is used on KL1000, KL1500 etc.

btw. this one is also known as type B motor.

next i did exactly as mentioned before, went through MADA on ImageD.wim from one of KRC2 backups, picked MADA for robot KR2210 standalone as well as MADA for that same robot mounted on the rail, then compared their $MACHINE.DAT files. all things that are different boil down to following:

$AXIS_TYPE[7]=1 ; linear axis  
$RAT_MOT_AX[7]={N -35526926,D 1000000} ; gearing transfer ratio is -35.526926:1
$RAT_MOT_ENC[7]={N 1,D 4} ; resolver and motor are 4-pole
$DSECHANNEL[7]=7 ; DSE channel 
$PMCHANNEL[7]=21 ; brake is on KSP600 X12 (no SBM) 
$SERVOFILE7[]="KSD_48_MK_S7_0" ; name of *.servo file used
$CURR_MAX[7]=32.0 ; maximum motor current
$CURR_MON[7]=17.5 
$KT_MOT[7]=1.35 
$KT0_MOT[7]=1.42
$RAISE_TIME[7]=850.0
$RAISE_T_MOT[7]=6.8
$VEL_AXIS_MA[7]=4000.0 ; motor can go up to 4000RPM
$RED_VEL_AXC[7]=7 
$RED_ACC_AXC[7]=15
$RED_ACC_OV[7]=100
$RED_ACC_EMX[7]=210
$VEL_AX_JUS[7]=0.25
$L_EMT_MAX[7]=9.6 
$LG_PTP[7]=0.75
$LG_CP[7]=0.75
$DECEL_MB[7]=404.0
$G_COE_CUR[7]=15
$G_VEL_PTP[7]=80.0
$G_VEL_CP[7]=75.0
$I_VEL_PTP[7]=900.0
$I_VEL_CP[7]=200.0
$APO_DIS_PTP[7]=500.0
$IN_POS_MA[7]=1.5; use large in-position value (1.5mm) for a linear axis 
$SOFTN_END[7]=-10000.0
$SOFTP_END[7]=10000.0
$INC_EXTAX[1]=0.006
INT $EX_AX_NUM=1 ; total number of all external axes (0-6)
DECL EX_KIN $EX_KIN={ET1 #ERSYS,ET2 #NONE,ET3 #NONE,ET4 #NONE,ET5 #NONE,ET6 #NONE} ;EXTERNE KINEMATIKEN #NONE, #EASYS,#EBSYS,#ECSYS,#EDSYS,#EESYS,#EFSYS,#ERSYS
DECL ET_AX $ET1_AX={TR_A1 #E1,TR_A2 #NONE,TR_A3 #NONE} ;EXTERNE ACHSEN #NONE, #E1, #E2, #E3, #E4, #E5, #E6
$ET1_NAME[]="KL1500_3_2000_32_12" ; name of the kinematic
FRAME $ET1_TA1KR={X 0.0,Y 0.0,Z 450.0,A 0.0,B 90.0,C 0.0} ;frame between A1 and root point of the kinematic in transform ET 1
FRAME $ET1_TFLA3={X 0.0,Y 0.0,Z 0.0,A 0.0,B -90.0,C 0.0} ; frame between Flange and A3
$AXIS_JERK[7]=8.02851472

you have a safety robot. when hardware configuration changes, new safety configuration need to be acknowledged. in this case there was such change - new axis is added.

Quote from panic mode

you have a safety robot. when hardware configuration changes, new safety configuration need to be acknowledged. in this case there was such change - new axis is added.

See above. Did you acknowledge the safety configuration?

Fubini

Quote from jesusvaricap

441 Invalid configuration on SafeRDW

This IS a message about safety configuration.

first you need to understand the architecture and what the message is telling you.

X11 interface is used for basic safety only. But this seem to be what you are focusing on.

SafeRDW is at the base of the robot and has additional safety IO and settings Settings are parametrized in your SafeRDW plugin (accessible through HMI). Those safety IO are on X40 and also will need to be wired. This is the part you are neglecting even though that is exactly what message is telling you to do. You need to read the documentation for your SafeOperation version and configure it according to your setup and needs.

btw, check READ FIRST topic.

you did not state SafeOperation version, what settings are used currently etc.

hope you realize that people trying to help you do not have spare KRC2 with SafeRDW to look things up or try them out.