[Albert]

The main issue you brought up (COM_E6POS not defined) happens because you did not declare the COM_E6POS as a global variable.

This line should be in the global definitions KRC:\R1\SYSTEM\$CONFIG.DAT:

Code:

DECL E6POS COM_E6POS

We improved the drivers recently so if you followed the configuration steps previously you need to add this line.

More information here:
//m.sinclairbody.com/doc/en/Robots-KUKA.ht...iverConfig