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 $ADVANCE pointer and its behaviour?

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November 12, 2015, 02:18:08 PM
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diglo


Hello people!

Today I've set up a small program to demonstrate the behaviour of the $advance value but it looks like it behaves differently from what I thought it should be! EDIT: I did the teste on a KRC4 8.3.15.109

My simple program is: (i've added line numbers here for better explanation)

Code: [Select]
10 : INT C ;it's a global variable
15 : $ADVANCE=0
20 : C=0
30 : PTP $POS_ACT
40 : LIN_REL {X 50} c_dis
50 : C=1
60 : LIN_REL {X 50} c_dis
70 : C=2
80 : LIN_REL {X 50} c_dis
90 : C=3
100: LIN_REL {X 50} c_dis
110: C=4
120: LIN_REL {X 50} c_dis
130: C=5

When I run the program (in T1), the robots executes the BCO move at line 30, and C is 0.
When I press the PLAY button again for half a second, the robot moves for maybe 20mm and C equals 3, this means that the robot has evaluated the instructions up to line 90!
How is that possible, given that I have set $ADVANCE to 0 in line 15? :hmmm:
This happens even if i remove the C_DIS instruction...  :icon_eek:

WHY???
diglo





« Last Edit: November 13, 2015, 02:47:14 PM by diglo »

Today at 03:17:38 PM
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November 12, 2015, 08:42:55 PM
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SkyeFire

Global Moderator
That is odd...

When you have $ADVANCE=0, but keep the C_DISs, does the robot approximate smoothly through the points, or does it stop briefly at each point?


November 13, 2015, 07:53:48 AM
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diglo


With $ADVANCE=0, robot stops briefly beteween points ad it should to, but the variable is incremented as if $ADVANCE was 3.

diglo

November 13, 2015, 01:03:14 PM
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panic mode

Global Moderator
1) http://www.robot-forum.com/robotforum/kuka-robot-forum/read-first/
2) if you want reply about robot, post it in forum
3) read 1 and 2

November 13, 2015, 02:41:09 PM
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diglo



November 16, 2015, 02:51:34 PM
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broncab68


How are you checking "C" with variables display on teach pendant or an output?  Does the KSS version affect this? I have noticed the same behavior and was about to see with outputs if in fact the advance run timer skips ahead.

November 17, 2015, 11:38:58 PM
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diglo


I'm just using the the variable viewer of the SmartPad since my "C" variable is just a global integer variable.
I know that you can't directly set an $OUT variable without stopping the Advance pointer (unless you use $OUT_C).

Inviato dal mio XT1052 utilizzando Tapatalk


Today at 03:17:38 PM
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November 18, 2015, 12:37:30 AM
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panic mode

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that variable is declared right in the source file (line 10) so it is a runtime variable, not a global variable

November 18, 2015, 02:25:34 AM
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JonHopper



You can use TRIGGER as well.

Forgive me I haven't touched a KRC4 since February but I seem to remember that you cannot view non-global variables while running ?

November 18, 2015, 07:58:44 AM
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diglo


panic & jon, i said C was a global variable, I wrote in the same page because of cleanliness, but in fact was declared as GLOBAL INT in a PUBLIC DAT file.

Sent via Tapatalk app from Italy


November 23, 2015, 09:36:28 AM
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basbasan


a line in sps file to change advance value as a default vaue is possible? it look likes advance value switching it self as a default value.
can you check advance value is still 0?
« Last Edit: November 23, 2015, 11:13:05 AM by basbasan »


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