Hi,
I have 3 compilation errors :
------------------------------------- .ERR --------------------------------------------------------
&ACCESS RVO
&PARAM EDITMASK = *
SRC 4
***GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
2309( 11)
SRC 43
$BWDSTART=FALSE
2247( 10)
SRC 62
$BWDSTART=FALSE
2247( 10)
------------------------------------------ .DAT -----------------------------------------------
&ACCESS RVO
&PARAM EDITMASK = *
DEFDAT KUKA_API
;FOLD EXTERNAL DECLARATIONS;%{PE}%V3.2.0,%MKUKATPBASIS,%CEXT,%VCOMMON,%P
;FOLD BAS EXT;%{PE}%V3.2.0,%MKUKATPBASIS,%CEXT,%VEXT,%P
EXT BAS (BAS_COMMAND :IN,REAL :IN )
DECL INT SUCCESS
;ENDFOLD
;FOLD A10 EXT;%{E}%V3.2.0,%MKUKATPARC,%CEXT,%VEXT,%P
EXT A10 (A_CMD_T :IN,A_STRT_T :IN,A_WELD_T :IN,A_END_T :IN,INT :IN )
;ENDFOLD
;FOLD A20 EXT;%{E}%V3.2.0,%MKUKATPA20,%CEXT,%VEXT,%P
EXT A20 (INT :IN,WELD_ST :IN,WELD_FI :IN,INT :IN )
;ENDFOLD
;FOLD GRIPPER EXT;%{E}%V3.2.0,%MKUKATPGRIPPER,%CEXT,%VEXT,%P
EXT H50 (INT :IN,INT :IN,INT :IN,GRP_TYP :IN )
;ENDFOLD
;FOLD SPOT EXT;%{E}%V3.2.0,%MKUKATPSPOT,%CEXT,%VEXT,%P
EXT USERSPOT (S_COMMAND :IN,SPOT_TYPE :IN )
;ENDFOLD
;FOLD TOUCHSENSE EXT;%{E}%V3.2.0,%MKUKATPTS,%CEXT,%VEXT,%P
EXT H70 (INT :IN,SRCH_TYP_2 :OUT,E6POS :IN,SRCH_TYP_3 :IN,SRCH_TYP_2 :IN,SRCH_TYP_2 :IN,SRCH_TYP_2 :IN,SRCH_TYP_2 :IN,SRCH_TYP_2 :IN,INT :IN )
;ENDFOLD
;FOLD USER EXT;%{E}%V3.2.0,%MKUKATPUSER,%CEXT,%VEXT,%P
;Make here your modifications
;ENDFOLD
;ENDFOLD
;FOLD Section a copier dans $config.dat et à dé-commenter ;
;DECL BOOL PINCE_FLAG=FALSE
;DECL BOOL PINCE=FALSE
;DECL BOOL CIBLE_FLAG=FALSE
;DECL FRAME CIBLE
;DECL BOOL BASE_FLAG=FALSE
;DECL FRAME BASE
;DECL BOOL VITESSE_FLAG=FALSE
;DECL INT VITESSE=5
;ENUM TYPE_E PTP_E,LIN_E,CIRC_E
;ENUM LISSAGE_E SANS_E,C_PTP_E,C_DIS_E,C_ORI_E,C_VEL_E
;DECL BOOL DEPLACE_FLAG=FALSE
;DECL INT DEPLACE=0
;DECL POS POINTS[512]
;DECL POS APPUIS[512]
;DECL REAL ANGLES[512]
;DECL TYPE_E TYPES[512]
;DECL LISSAGE_E LISSAGES[512]
;ENDFOLD
DECL INT COMPTEUR
DECL POS POINT
DECL POS APPUI
DECL REAL ANGLE
DECL TYPE_E TYPE
DECL LISSAGE_E LISSAGE
DECL FRAME CIBLE_BUFF
ENDDAT
-------------------------------------------------------------- .SRC -----------------------------------------------
&ACCESS RVO
&PARAM EDITMASK = *
DEF kuka_api( )
;FOLD INI;%{PE}%V3.2.0,%MKUKATPBASIS,%CINIT,%VCOMMON,%P
;FOLD BAS INI;%{E}%V3.2.0,%MKUKATPBASIS,%CINIT,%VINIT,%P
GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
INTERRUPT ON 3
BAS (#INITMOV,0 )
;ENDFOLD (BAS INI)
;FOLD A20 INI;%{E}%V3.2.0,%MKUKATPA20,%CINIT,%VINIT,%P
IF ARC20==TRUE THEN
A20 (ARC_INI)
INTERRUPT DECL 6 WHEN $CYCFLAG[3]==FALSE DO A20(TECH_STOP2)
ENDIF
;ENDFOLD (A20 INI)
;FOLD A10 INI;%{E}%V3.2.0,%MKUKATPARC,%CINIT,%VINIT,%P
IF A10_OPTION==#ACTIVE THEN
INTERRUPT DECL 4 WHEN $CYCFLAG[2]==FALSE DO A10 (#APPL_ERROR)
INTERRUPT DECL 7 WHEN A_ARC_SWI==#ACTIVE DO A10 (#ARC_SEAM)
INTERRUPT DECL 5 WHEN A_FLY_ARC==TRUE DO A10 (#HPU_ARC)
INTERRUPT ON 5
A10_INI ( )
ENDIF
;ENDFOLD (A10 INI)
;FOLD GRIPPER INI;%{E}%V3.2.0,%MKUKATPGRIPPER,%CINIT,%VINIT,%P
USER_GRP(0,DUMMY,DUMMY,GDEFAULT)
;ENDFOLD (GRIPPER INI)
;FOLD SPOT INI;%{E}%V3.2.0,%MKUKATPSPOT,%CINIT,%VINIT,%P
USERSPOT(#INIT)
;ENDFOLD (SPOT INI)
;FOLD TOUCHSENSE INI;%{E}%V3.2.0,%MKUKATPTS,%CINIT,%VINIT,%P
IF H70_OPTION THEN
INTERRUPT DECL 15 WHEN $MEAS_PULSE[TOUCH_I[TOUCH_ACTIVE].IN_NR] DO H70 (6,CD0 )
INTERRUPT DECL 16 WHEN $ZERO_MOVE DO H70 (7,CD0 )
INTERRUPT DECL 17 WHEN $TECHPAR_C[FG_TOUCH,8]>0.5 DO H70 (8,CD0)
H70 (1,CD0 )
ENDIF
;ENDFOLD (TOUCHSENSE INI)
;FOLD USER INI;%{E}%V3.2.0,%MKUKATPUSER,%CINIT,%VINIT,%P
;Make your modifications here
;ENDFOLD (USER INI)
;ENDFOLD (INI)
;FOLD PTP HOME Vel= 100 % DEFAULT;%{PE}%V3.2.0,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:HOME, 3:, 5:100, 7:DEFAULT
$BWDSTART = FALSE
$H_POS=XHOME
PDAT_ACT=PDEFAULT
BAS (#PTP_DAT )
FDAT_ACT=FHOME
BAS (#FRAMES )
BAS (#VEL_PTP,100 )
PTP XHOME
;ENDFOLD
DEPLACE_FLAG=FALSE
PINCE_FLAG=FALSE
VITESSE_FLAG=FALSE
BASE_FLAG=FALSE
CIBLE_FLAG=FALSE
SUBPROC ()
;FOLD PTP HOME Vel= 100 % DEFAULT;%{PE}%V3.2.0,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:HOME, 3:, 5:100, 7:DEFAULT
$BWDSTART = FALSE
$H_POS=XHOME
PDAT_ACT=PDEFAULT
BAS (#PTP_DAT )
FDAT_ACT=FHOME
BAS (#FRAMES )
BAS (#VEL_PTP,100 )
PTP XHOME
;ENDFOLD
END
DEF SUBPROC ()
LOOP
; FOLD GESTION DES DEPLACEMENTS
IF (DEPLACE_FLAG) THEN
IF (DEPLACE<=512) THEN
FOR COMPTEUR=1 TO DEPLACE
POINT=$POS_ACT
APPUI=$POS_ACT
ANGLE=0
TYPE=#PTP_E
LISSAGE=#SANS_E
POINT=POINTS[COMPTEUR]
APPUI=APPUIS[COMPTEUR]
ANGLE=ANGLES[COMPTEUR]
TYPE =TYPES[COMPTEUR]
LISSAGE=LISSAGES[COMPTEUR]
SWITCH TYPE
CASE #PTP_E
SWITCH LISSAGE
CASE #C_PTP_E
PTP POINT C_PTP
DEFAULT
PTP POINT
ENDSWITCH ;(LISSAGE)
CASE #LIN_E
SWITCH LISSAGE
CASE #C_DIS_E
LIN POINT C_DIS
CASE #C_ORI_E
LIN POINT C_ORI
CASE #C_VEL_E
LIN POINT C_VEL
DEFAULT
LIN POINT
ENDSWITCH ;(LISSAGE)
CASE #CIRC_E
SWITCH LISSAGE
CASE #C_DIS_E
IF NOT (ANGLE==0) THEN
CIRC APPUI, POINT, CA ANGLE C_DIS
ELSE
CIRC APPUI, POINT C_DIS
ENDIF
CASE #C_ORI_E
IF NOT (ANGLE==0) THEN
CIRC APPUI, POINT, CA ANGLE C_ORI
ELSE
CIRC APPUI, POINT C_ORI
ENDIF
CASE #C_VEL_E
IF NOT (ANGLE==0) THEN
CIRC APPUI, POINT, CA ANGLE C_VEL
ELSE
CIRC APPUI, POINT C_VEL
ENDIF
DEFAULT
IF NOT (ANGLE==0) THEN
CIRC APPUI, POINT, CA ANGLE
ELSE
CIRC APPUI, POINT
ENDIF
ENDSWITCH ;(LISSAGE)
ENDSWITCH ;(TYPE)
ENDFOR ;(COMPTEUR)
ENDIF ;(DEPLACE<512)
WAIT SEC 0 ; sert à arreter l'avance pour que le flag soit mis à zero seulement si on a fini le déplacement
DEPLACE_FLAG=FALSE
ENDIF ;(DEPLACE_FLAG)
; ENDFOLD (DEPLACEMENTS)
; FOLD GESTION DE LA PINCE
IF PINCE_FLAG THEN
$out[1]=PINCE
;WAIT SEC 0
PINCE_FLAG=FALSE
ENDIF
; ENDFOLD (PINCE)
; FOLD GESTION DE LA BASE;
IF BASE_FLAG THEN
$base=BASE
;WAIT SEC 0
BASE_FLAG=FALSE
ENDIF
; ENDFOLD (BASE)
; FOLD GESTION DE LA VITESSE;
IF VITESSE_FLAG THEN
$ov_pro=VITESSE
;WAIT SEC 0
VITESSE_FLAG=FALSE
ENDIF
; ENDFOLD (VITESSE)
; FOLD GESTION DE LA POSITION (compatibilite pour version<=0.0.4)
IF CIBLE_FLAG THEN
CIBLE_BUFF=CIBLE
PTP CIBLE_BUFF
WAIT SEC 0
CIBLE_FLAG=FALSE
ENDIF
ENDLOOP
END
------------------------------------------------------------------------------------------------
I tried to change GLOBAL_KEY=FALSE to GLOBAL_KEY=TRUE in progress.ini but no change
This program was written for KRC2 and i work in KRC1 2.34
Thank you for your help.