03-15-2019, 05:09 PM
Hi Andy,
I am working with a KUKA KR6 myself right now, there are one or two things that might help you.
In the config-file Jeremy posted above, there is a mistake. The variable is called
REAL COM_ROUNDM=0. Your config seams to content REAL COM RONDM=0.
Second thing is, as far as I know, you do not need a MainCom.src file. I have read about that file somewhere, probably the same source you got it from, but I am not using it either.
If you have defined the new variables correctly, the RoboDKsync.src is not crossed out. I also had trouble with that and fixed it by fixing the config file. What the manual does not say is, that you have to run the RoboDKsync.src program in 'automatic' mode on your robot controller.
Since you are using a KRC4 controller, I am having doubts that you chose the right config file. It should be in the hidden 'system' folder inside the R1 directory. The right config file contains a lot more data and has a specific section at the end which is labeled something like 'custom user variables'.
Maybe this leads you to the solution. Sorry for the bad structure, I would be more precise, but I am not at work right now.
Let me know if you are making progress, I get back to it next week.
I am working with a KUKA KR6 myself right now, there are one or two things that might help you.
In the config-file Jeremy posted above, there is a mistake. The variable is called
REAL COM_ROUNDM=0. Your config seams to content REAL COM RONDM=0.
Second thing is, as far as I know, you do not need a MainCom.src file. I have read about that file somewhere, probably the same source you got it from, but I am not using it either.
If you have defined the new variables correctly, the RoboDKsync.src is not crossed out. I also had trouble with that and fixed it by fixing the config file. What the manual does not say is, that you have to run the RoboDKsync.src program in 'automatic' mode on your robot controller.
Since you are using a KRC4 controller, I am having doubts that you chose the right config file. It should be in the hidden 'system' folder inside the R1 directory. The right config file contains a lot more data and has a specific section at the end which is labeled something like 'custom user variables'.
Maybe this leads you to the solution. Sorry for the bad structure, I would be more precise, but I am not at work right now.
Let me know if you are making progress, I get back to it next week.