[Oria cohen]

Hello, 

I have an external axes that i want to move with online programing.
my external axes and robot belong to YASKAWA Company.
Does anyone know if this is possible?

Thank you!

[Albert]

The RoboDK driver for Yaskawa/Motoman robots supports external axes. You can configure the order of the axes with the corresponding settings INI file of your driver. @Phillip can provide more insights about how this works.

[Phillip]

After synchronizing the robot and the external axis in robodk, you may need to configure the driver's additional parameters

The file default location is:
%appdata%\Roaming\RoboDK-Drivers\MotomanHSE.exe.ini
The relevant variables to change are
ROBOT_CONTROL_GROUP/AXIS_EX_CONTROL_GROUP which is the motion group for the robot and external axis
and the variable
AXIS_EX_CONTROL_IS_BASE which needs to be set to true if one of the axes are a turntable because their motion data is handled separately from other external axes on the controller