Hello, I have a question.
So the situation is, I have a kuku KRC2 robot, which I am successfully controlling using Beckhoff PLC and cell program in automatic-external mode. To write robot positioning program I am using RoboDK software. For PTP movement RoboDK is useful and programs written with it works great. But now I need to position robot using relative movement. As I've read from manual "KR C2 / KR C3 Expert Programming KUKA System Software (KSS) Release 5.2" it is possible to move robot using relative movement by using PTP_REL or LIN_REL commands. But I can't programm it with RoboDK and I can't change already existing programs via "Kuka HMI 2.0" GUI. I understand that I have to create custom program to move robot with relative movement (that's not a problem), but cant I call this program from cell program (in automatic external mode)? Also is it possible to change robot movement PTP to PTP_REL in existing program?