Hi all,
Many hours saved reading through this forum, first time posting.. many thanks in advance to any who assist.
Have a KR8 R1440-2 arc HW E & positioner KP3-V2H500-2. KUKA8.7 / KRC5
Have some questions around async/synchronous switching;
Prelim information I've read (poster was kind of asking the same thing):
Change asynchronous axis to synchronous axis
I have robot with KRC2 and I use asynchronous axis but for one application.. I need change from asynchronous axis to synchronous axis.. But only for one application! Not for all! After I want change back... I´m not sure how and where in system I can overwrite status of external axis.. If just only change status "$ASYNC_AXIS before process or?
Please can you write me some exam how I can change type of external axis exactly?
Really thanks and I wisch only luck!!!
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E1 is set as a permanently asynchronous axis. What I was hoping was possible was to have E2/E3 asynchronous by default and switch the motor that is in front of the welding robot to synchronous so interpolated welding can be done..
From what I've gathered - as my E1 is in perm ASYNC can't do the same for E2/E3 as it can't be turned off through code.
$EX_AX_ASYNC='B0001'
Why? :- I'm trying to set it up in a way that when a novice programmer is in T1/T2 teaching welding on the inside of the cell that the E2 or E3 on the outside doesn't move with the programmed LIN or PTP commands.
When in program I can set $ASYNC_AXIS to turn E2 ASYNC and E3 SYNC, I have changed $ASYNC_MODE to 2 so that block selection doesn't reset the ASYNC state - however, when you cancel a program it resets back to E2/E3 in SYNC mode.
I did look into axis decoupling/recoupling as a potential solution.. if that could be performed via an SPS would be ideal, however WV suggests that you have to disable the safe operation brake testing to make an axis decouplable ( don't think that's an option, brake tests are a legal requirement to my understanding )
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At the moment the only option I can see is just giving them a E2_SYNC_ONLY() or E3_SYNC_ONLY() function which they have to run at the start of the program, I'd prefer it was something the programmer/operator couldn't just skip over ( I did see a post somewhere with the solution of the PLC monitoring the ASYNC_AXIS variable and forcing the override speed to 0 until it's in a mode it should be relative to E1's position).
Any thoughts/suggestions appreciated, 
Gareth.
