June 18, 2019, 03:45:47 PM
Robotforum | Industrial Robots Community

  EXT BAS

normal_post Author Topic:   EXT BAS  (Read 7595 times)

0 Members and 1 Guest are viewing this topic.

January 13, 2012, 03:09:09 PM
Read 7595 times
Offline

rupy


Hi,
can some body help me in explaining the what is the "EXT BAS" in Declaration  section of the following program example. :wallbash:



;------- Declaration section -------
EXT BAS (BAS_COMMAND :IN,REAL :IN )
DECL AXIS HOME ;Variable HOME of type AXIS
DECL FRAME BASE1 ;Variable BASE1 of type FRAME
;----------- Initialization ----------
BAS (#INITMOV,0 ) ;Initialization of velocities,
;accelerations, $BASE, $TOOL, etc.
HOME={AXIS: A1 0,A2 -90,A3 90,A4 0,A5 0,A6 0}
BASE1={FRAME: X 300,Y -100,Z 0,A 90,B 0,C 0}
;----------- Main section ----------
PTP HOME ;BCO run
; Motion relative to the $BASE coordinate system
PTP {POS: X 540,Y 630,Z 1500,A 0,B 90,C 0,S 2,T 35}
; Motion relative to the $BASE-CS offset by BASE1
PTP BASE1:{POS: X 540,Y 630,Z 1500,A 0,B 90,C 0,S 2,T 35}
PTP HOME
END

Today at 03:45:47 PM
Reply #1

Advertisement

Guest

January 13, 2012, 03:30:53 PM
Reply #1
Offline

MeanRobot


Depending on your software version it is either a necessary or legacy declaration of the external BAS program (see BAS.SRC for more details).

It is so the KSS knows what to do with the following and similar code:
Code: [Select]
BAS (#INITMOV,0 )

January 13, 2012, 11:58:43 PM
Reply #2
Offline

SkyeFire

Global Moderator
The EXT statement in KRL allows program code in one module (a module consisting of an SRC file and usually a DAT file) to access subroutines and/or functions residing within another module.  The module BAS.SRC is a standard part of every KUKAbot and includes a large amount of standardized KUKA KRL code which supports, among other things, menu-driven programming using inline forms.


January 14, 2012, 05:23:50 AM
Reply #3
Offline

rupy


Thanks for nice explanation

 :toothy9:

May 19, 2013, 11:07:13 AM
Reply #4
Offline

yasrock18


Hi
Can you tell me what does
(BAS_COMMAND :IN,REAL :IN )
mean

May 20, 2013, 10:10:35 AM
Reply #5
Offline

Fubini


Quote
Can you tell me what does ...

No cross posting please. Taake a look at

http://www.robot-forum.com/robotforum/kuka-robot-forum/kuka-programming/

Fubini


Share via facebook Share via linkedin Share via pinterest Share via reddit Share via twitter