Hello everyone,
I'm preparing program in KUKA.Sim, that will be deployed on a real robot in near future. I need to use SET_TORQUE_LIMITS() to change axis torque. But when I try to call the function, I get error KR 120 R2700 (integrated): The function 'SET_TORQUE_LIMITS' could not be found. I went through the manual to see if I'm doing something wrong and missing something, that have to be done before calling the function, but with no luck.
I have two questions:
1) Is it because I'm using simulator and KUKA.Sim doesn't support torque functions?
2) In $OPERATE_R1.dat I have found function declaration EXTP SET_TORQUE_LIMITS (INT AXIS_NR :IN,TORQLIMITPARAM VALUES :IN ). What is EXTP?
I'm using KUKA.Sim 4.1, KRC5 8.7.8, KR 120 R2700
Thank you for your help