[Albert]

There are many ways to set up external axes with KUKA controllers and 2 completely different solutions could be valid. The right method could also depend on the robot controller version and who integrated the cell.

I would try manually setting the $BASE variable or using the BAS functions. If you have a sample program provided by the integrator or whoever installed the axis I would start with that. Otherwise, you can try with the different options that could be output by using the post processor I shared:

Code:

# option 1: Build the kinematics based on the MACHINE_DEF array and the provided offset
$BASE = EK (MACHINE_DEF[2].ROOT, MACHINE_DEF[2].MECH_TYPE, {X 0,Y 0,Z 0,A 0,B 0,C 0})

# option 2: Build the kinematics based on the EX_AX_DATA array and the provided offset
$BASE=EK(EX_AX_DATA[1].ROOT,EX_AX_DATA[1].EX_KIN, {X 0,Y 0,Z 0,A 0,B 0,C 0})

# Option 3: Build the kinematics based on the EX_AX_DATA array and the pre-defined offset
; Using external axes
; $BASE=EK(EX_AX_DATA[1].ROOT,EX_AX_DATA[1].EX_KIN,EX_AX_DATA[1].OFFSET)
; $ACT_EX_AX= 1 ; number of external axes

# Option 4: Use the BAS(#ex_BASE) init function from the BAS.src file
; BASE_DATA[2] = {X 0,Y 0,Z 0,A 0,B 0,C 0}
BAS(#ex_BASE,2)

# Option 5: Use the BAS(#BASE) init function from the BAS.src file
BAS (#BASE,2)

# Option 6: Directly take the base from the BASE_DATA array (usually what the BAS(#BASE) does)
$BASE=BASE_DATA[2]