Hey,
Thank you for your comments. The response from Spiral did the trick, I didn't thought about looking in the config.dat for an external axis configuration.
panic mode, regarding the details of the 7th axis, I just I didn't thought it would be of any help displaying them in regard of my question - but I will keep it in mind for the next time. I did use $VEL_AXIS_MA[7] to limit the maximum speed
SkyeFire thank you for the details !
A more general question regarding 7th axis configuration: For the first project with a custom external linear axis, we let Kuka do the configuration, and they just added a standard 7th axis from kuka to the base project of the robot (KL 1000 2 KPP40), and tune the parameters.
Since then, for projects with custom linear axis we are just doing the same (adding a KL 1000 2 KPP40) , but the only parameters we are changing are the one available in workvisual - mainly general parameters, machine transformation ,speed and acceleration.
Should I be concerned that we are not looking more in details ?
Thanks