Hi all,
I am trying to integrate the KUKA KRC4 controller with an external (not KUKA) linear track system, actuated with Beckhoff technology. The idea is to exploit the KUKA inverse kinematic (trajectory generatotion module) to derive a fully synchronized motion for all axes, and then to transfer the position setpoint to the external (i.e. 7th) axis via EtherCAT.
As a first attempt, I have defined a virtual (i.e. simulated) external axis in WorkVisual. However, once the new project is uploaded on the controller, the robot stops to work due to a safety error. After a call with the KUKA service, it seems like the E1 axis cannot be simulated in synchro mode.
Any idea/solution/suggestion?
Thanks