some KRL common instructions

[instituto_idf]

Hi everybody

When programing in KRL, and i'm new in this task, i have some gaps in mind that the Expert Manual does not explain and i want to know before someone else ask me. Those lines are repeated program by program:

&ACCESS RVP
&REL 195
&PARAM TEMPLATE = C:\KRC\Roboter\Template\ExpertVorgabe
&PARAM EDITMASK = *

EXT BAS (BAS_COMMAND: IN, REAL: IN)
BAS (#INITMOV,0)                     
I found BAS(#PTP_PARAMS,50); BAS(#CP_DAT); BAS(#FRAMES); BAS(#VEL_CP,0.50) in some other programs
$BWDSTART=FALSE


And the last question. To choose a tool and data usually i see, i.e:
$Base = base_data[1]
$Tool = tool_data[1]
… but reading the rps_move (for CAMROB aplication) i see in addition these lines:
$ACT_BASE = 1
$ACT_TOOL = 1

what is the difference? is it not redundant?

many thanks

[mookie]

&PARAM TEMPLATE = C:\KRC\Roboter\Template\ExpertVorgabe
[/quote]
This is the program template that was used to create the program. Depending on your process, this may or may not be very important.

For instance,

We have different templates for Carried weldguns vs Pedestal guns and the recovery for them are different. This wasnt realized until a fault occured, when the robot with the carried gun was told to recover, it would return to home and go directly back into the program without any maintenance actions being taken. This was because of the different template that was used to create the program.

EXT BAS (BAS_COMMAND: IN, REAL: IN)
BAS (#INITMOV,0)                     
I found BAS(#PTP_PARAMS,50); BAS(#CP_DAT); BAS(#FRAMES); BAS(#VEL_CP,0.50) in some other programs
$BWDSTART=FALSE

EXT BAS (BAS_COMMAND: IN, REAL: IN)
This is defining to the system that there is an external program call by the name of BAS
Bas  has a couple of parameters being passed from one program to the next, one is called BAS_Command and will be read as an input , the other is going to be called REAL and will be read as an input. If you search your TP directory, you will find a BAS.SRC file

BAS (#INITMOV,0) 
This is the actual program call to the BAS Subroutine that I addressed in the previous paragraph. here, you are passing #INITMOV (which will be read once the BAS program is executed, this gets read in as a command) and 0 will also be passed.

And the last question. To choose a tool and data usually i see, i.e:
$Base = base_data[1]
$Tool = tool_data[1]
… but reading the rps_move (for CAMROB aplication) i see in addition these lines:
$ACT_BASE = 1
$ACT_TOOL = 1

what is the difference? is it not redundant?

$Base = Base_data[1] is the actual values that you are reading in to be active

example is if i start off with

BASE_DATA[1] = { X 0.0, Y 0.0, Z 0.0, A 0.0, B 0.0, C 0.0}
BASE_DATA[2] = { X 100.0, Y 50.0, Z 0.0, A 0.0, B 0.0, C 0.0}
and i do

$BASE = BASE_DATA[1]

now

$BASE = { X 0.0, Y 0.0, Z 0.0, A 0.0, B 0.0, C 0.0}

ok so if you now do this,

$BASE = BASE_DATA[2]

now lookiing at $BASE will give you

$BASE = { X 100.0, Y 50.0, Z 0.0, A 0.0, B 0.0, C 0.0}

but heres the real answer to your question that i got distracted in answering,

$ACT_BASE is your currently active BASE number
long winded i know...