Hello, everyone,
I am working with some KRC4 robots, such as KR470 and KR180, with 5 axes, for palletizing, and the client has proposed a challenge that I haven't been able to completely solve. These robots have 2 tools with 3 external axes (synchronous) on each tool to palletize different products, and we need to perform the automatic exchange of these tools. So far, I managed to solve the problem for 2 axes (E2 and E3) by transforming the axes into asynchronous and decoupling them so that the robot moves to the correct position in the magazine. The issue arises with axis E1, which is connected to channel 6 of the RDC. Since the robot has only 5 axes i am using the channel 6 of RDC to connect one extaerna axis but this channel does not allow creating a coupling group . Therefore, when disconnecting the tool, the robot will not move because will have an error. One option could be to add another external RDC, but this has already been ruled out by the client. The question is: is it possible to decouple this axis connected to channel 6 of the RDC so that the robot moves to the correct position of the new tool? Is there any other possibility to achieve this that I am not considering? I appreciate your help in advance.