Must be included by know quite some time. Maybe already in 8.5. Unfortunately I can not point in a direction of a documentation but I remember a former colleague implemented it a few years ago. Just give it a try. Testing it should be easy for those of you who still have access to a robot controller.
How to move endless axis past 180 degrees
Endless external axis rotation
Fubini
Yes this is normal behaviour. You could either try adding #As_prog behind the command. Or you could use spline. Or you could use blending with each rel making less than 180 degrees.
Fubini
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I would need a KPC to find that is that correct?
Not necessarly. You can attach a monitor to the vga interface. I do not remember for sure but I think a attached KCP was not necessary to start the controller.
And what is your specific question?
Maybe why wanted axes velocities, but instead you traced the velocity of the motors. The motor is running with approx 475 revolutions per minute. So scale to deg/s, add gear ratio and axis coupling and you will get axis velocities in deg/s. Alternatively use the correct channel. NextGenDrive indicates Drives not axes. Axes are part of group KRC.
Fubini
Just use the forum search. There are many users having previously done the same and got into various different kinds of trouble. Also read ReadFirst of the forum which should get you started on where to find help and documentation.
Fubini
QuoteI didn t know how to put the correct machine data with KCP so I do it in windows.
This is dangerous. You are actually only copying the files locally on your harddisk but not(!) the files into the robot controller. Hence please use as described by panic mode the KUKA HMI to copy. Kuka HMI takes care of copying the files additionally into the ramdisk that contains the robot controller.
Yes it can be done using windows but if and only if you have expert knowledge about the vxWorks kuka controller ramdisk and how it interacts with the windows. The safe way for beginners is using KUKA HMI!
Fubini
Good morning,
if you take the remark on licensing as a personal offense in your direction I apologize. It was not ment this way. More of a general remark.
Also my remarks usually are not intended to criticize in any way only to get better understanding on the underlying problems to be able to give better advice.
Fubini
Seriously you are asking to share copyright protected software. Only KUKA can provide it legally.
Fubini
There you go. Image only as requested.
External cables are a problem. Internal wiring from kuka has no problem with multiple revolutions.
Yes. Set axis 6 to endless in work visual. Also possible for axis 4 in any standard 6 axis robot from Kuka. But be careful with cables attached to axis 4/6.
Fubini
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I do not get the problem people always have with contacting KUKA in the first place.
Well actually I know a reason. I few years back I heard only about 20% of KUKA software packages is used with a valid license. Do not know for sure this figure is correct but I would not be surprised.
Its perfectly clear that the version with $SINGUL_STRATEGY is not working. I have already told you it is blocked by KUKA due to unwanted behavior and henceforth not officially supported out of the box. You need to contact KUKA to get the secret activation method I mentioned earlier.
I do not get the problem people always have with contacting KUKA in the first place. Is it so difficult to pick up the phone and call them or send an E-mail?
Btw. your answer does not answer my question why you want to do all this tests. Every of the strategies has its advantages and disadvantages that might present themselves differently based on a specific program or task.
So once again: what do you try to achieve apart of having fun with the robot controller?
For example a possible answer would be: I am an ABB field engineer and want to benchmark KUKA systems 
What are your requirements concerning singularities: E.g. I need to pass with or without velocity reduction?
Also the best strategy always is to avoid singularities all together by a reasonable hardware setup considering a suitable tool mount.
Finally: Your videos do not work for me. I never use platforms where you have to register first to see content.
Fubini
No. Talk to Kuka. I remember you had to enter a special value like 45367 somewhere. But I do not remember either the value nor the variable you had to use.
Anyway KUKA did not officially release this feature for no reason. What is the goal of your comparison then? What is the underlying problem you need to solve?
Fubini
As mentioned here
Re: Singularity - how to set $singul_pos[3]
Singul_srategy is dangerous and therefore you need to set additional data to be able to activate it. I do not remember what value exactly. Either ask Kuka or use ori_type joint as better similar alternative.
Fubini
The first difference is in the counter balance system. What type of counter balance system (the big ton mounted a top axis 2) have?
CBS = "Counter Balance System"
TJ and ZF are different gearboxes. Teijin or ZF. Who is your gear manufacturer?
Fubini
Usually machine data is stored on D: drive. If not contact your seller. If not contact KUKA. Maybe they are willing to help.
For the interbus error (a bus you probably do not have). Open iosys.ini and comment out the interbus activation line in there.
Fubini
Will not work. You want to identify something with 6 dof with only 5 available dof. This is not possible according to physics laws. KUKA does not sell LDD licenses for palletizer. How can you install the software without a license? So why document something that is no product?
Fubini
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I'm not sure how Spline motions behave with excess points.
This is exactly one of the reasons why spline blocks exist. Everything inside a block does not suffer from this point spacing/slow velocities problems.
Fubini
This will definitely not work. You would also have to adapt the signature accordingly. How the safety signature is generated only KUKA knows. This is on purpose like this to prohibit manual editing and changing of safety configuration. Safety needs to be manipulation safe.
Fubini
