Issues Activating A20 Technology Package on KSS 4.1.7 SP05 - E/S Configuration Error and INTERRUPT 6

Hello everyone,

I am facing some issues when trying to activate the A20 technology package on KSS 4.1.7 SP05 for a KR6 robot with a (V)KRC2 controller manufactured in 2004.

System Details:

KSS Version: 4.1.7 SP05
Controller Type: (V)KRC2
Robot Type: KR6
Technology Package: A20

Problem Description:
I followed the instructions in the A20 package manual for this older version. However, when starting the program, the robot displays the following errors:

"E/S configuration error of the program number output"
"INTERRUPT 6 not defined"

I have already tried modifying the inputs and outputs of the A20 package in the $config.dat file, but the errors persist. I am unable to make changes in the A20 package folder and believe the solution might involve additional changes in the $config.dat file.

Steps Already Taken:
Modified the inputs and outputs of the A20 package in the $config.dat file.
Restarted the system after each change.
Checked all relevant connections and cables.

Thank you for your response!

I understand that the error "INTERRUPT 6 not defined" occurs because the interrupt hasn't been properly defined in the code. However, I'm working with a fairly old KSS version (4.1.7 SP05) on a KR6 robot with a (V)KRC2 controller, and I'm encountering some limitations.

Specifically, there are certain folders, like the A20 technology package folder, where I'm unable to make changes. Given these constraints, could you please guide me on how I might define INTERRUPT 6 in this context?

Is there a specific place within the $config.dat file or another accessible location where I should define this interrupt, considering the restrictions with the A20 folder? Additionally, if there are any particular considerations for defining interrupts in this older KSS version, I would appreciate any advice you can provide.