KRC5 switch sync and async E1

    • New

    Hi, i am still fairly new til Kuka and now i am working with a cell that have an external axis in the tool.

    I have the axis running, and the program works fine with the axis, now we want to be able to trigger the axis in T1 for open and close tool with the status keys to make it easier for the operators to open and close tool instead of jogging the axis.

    i have the feedback from the status keys working also.
    I can jog the external axis if i set $EX_AX_ASYNC = 'B0001' but then i cant run the axis sync'ed in the program.

    $EX_AX_ASYNC is write protected from SPS thus i cant change the state of the sync async mode.
    any ideas of how to get this axis to move async from the SPS in T1, and sync when starting the normal program in EXT ?

    The Controller is KRC5
    Robot: KR70
    WorkVisual: 6.0.29

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