I have been setting up a KRC2 with a KR6-2 (the one that is the smaller model of the KR15-2). We are in the process of setting up RoboDK to simulate our system in our lab, I have created a robot model in RoboDK and defined the kinematics as per the details outlined on the product specification (for example A2 -55 to +115 and the home position I would expect to be 0 deg). I however can not seem to find a config for this robot in the MADA library that matches what I would expect for my hardware.
The only KR6-2 config appears to be for the more common model of this robot where A2 has a range -155 to +35 and a home position of -90.
I am running KSS 4.1.7 SP4.0 so I went looking at the other configs for model such as KR2-15, I noted that for this model $MAMES=-90.0 in the machine.dat so clearly I am missing something here as I would have expected this to be 0 if I am reading the specification correctly?
Maybe I have an odd model of robot or some out of date MADA data on my distribution media? Do I need to source the robots MADA config from somewhere specific or am I making poor assumptions based on the specification data in the KUKA pdf while I'm configuring my RoboDK simulation.
Any advice to point would be most welcome, regards Ivan