Programming for KRC1

    Hi, I need some help to run this program in KRC1, when I load this program I got an error, please open image. I was told to add the following lines:
    BAS(#PTP_DAT)
    FDAT_ACT = {TOOL_NO 0,BASE_NO 0,IPO_FRAME #BASE}
    BAS (#FRAMES)
    BAS (#VEL_PTP, 50)

    but not sure where to put them, which line should I replace them to?


    [noae]

    [/noae]


    thanks,

    Looks like the problem is the first two moves before you milling data.

    Is this from a different version of KSS? The easy way would be to teach those moves again. But you could replace the data in those folds if you want.

    Sent using Tapatalk 4.

    Edited once, last by eusty (July 13, 2013 at 2:23 PM).

    Hello all,
    Here is a clearer picture: open attachment.
    The error was: 3 compilation error, line 13, 21 & 1206.
    I was told:
    "The problem is the BAS PTP_PARAMS which does not exist for older robots."
    To solve the problem add these lines
    BAS(#PTP_DAT)
    FDAT_ACT = {TOOL_NO 0,BASE_NO 0,IPO_FRAME #BASE}
    BAS (#FRAMES)
    BAS (#VEL_PTP, 50

    to replce

    FDAT_ACT = {TOOL_NO 0,BASE_NO 0,IPO_FRAME #BASE}
    BAS (#PTP_PARAMS, 50)

    result:
    1 DEF Kukaprc_project ()
    2 INI
    3 PTP P2 Vel= 50 % PDATP2
    4 $BWDSTART = FALSE
    5 PDAT_ACT = {VEL 50 ,ACC 100 ,APO DIST 100}
    6 BAS(#PTP_DAT)
    7 FDAT_ACT = {TOOL_NO 0,BASE_NO 0,IPO_FRAME #BASE}
    8 BAS (#FRAMES)
    9 BAS (#VEL_PTP, 50)
    10 $H_POS = {A1 5,A2 -90,A3 100,A4 5,A5 10,A6 -5,E1 0,E2 0,E3 0,E4 0,E5 0,E6 0}
    11 PTP {A1 5,A2 -90,A3 100,A4 5,A5 10,A6 -5,E1 0,E2 0,E3 0,E4 0,E5 0,E6 0}
    12 PTP P4 Vel= 50 % PDATP4 TOOL[6] BASE[6];%{PE}%R
    13 $BWDSTART = FALSE
    14 PDAT_ACT = {VEL 50,ACC 100,APO_DIST 100}
    15 BAS(#PTP_DAT)
    16 FDAT_ACT = {TOOL_NO 0,BASE_NO 0,IPO_FRAME #BASE}
    17 BAS (#FRAMES)
    18 BAS (#VEL_PTP, 50)
    19 PTP {X -253.090, Y 61.397, Z 320.000, A -13.636, B 33.963, C 45.728}
    20 LIN {X -253.090, Y 61.397, Z 320.000, A -13.636, B 33.963, C 45.728} C_DIS
    21 LIN {X -253.090, Y 61.397, Z 320.000, A -13.636, B 33.963, C 45.728} C_DIS
    22 $VEL.CP=0.00166666666666667
    .
    .
    .
    .
    .
    .
    1194 PTP P3 Vel= 50 % PDATP3;%{PE}%R
    1195 $BWDSTART = FALSE
    1196 PDAT_ACT = {VEL 50,ACC 100,APO_DIST 100}
    1197 BAS(#PTP_DAT)
    1198 FDAT_ACT = {TOOL_NO 0,BASE_NO 0,IPO_FRAME #BASE}
    1199 BAS (#FRAMES)
    1200 BAS (#VEL_PTP, 50)
    1201 $H_POS= {A1 5,A2 -90,A3 100,A4 5,A5 10,A6 -5,E1 0,E2 0,E3 0,E4 0,E5 0,E6 0}
    1202 PTP {A1 5,A2 -90,A3 100,A4 5,A5 10,A6 -5,E1 0,E2 0,E3 0,E4 0,E5 0,E6 0}
    1203 END

    Okay, that makes more sense. At first, I was unsure if you were trying to modify inline forms. Instead, this looks like an offline program generated from something like MasterCAM.

    Yes, the system module BAS has evolved over time, so it looks like your software for generating the OLP is set for a newer version of KSS than what your robot has. Your BAS module does not have the #PTP_PARAMS switch, so instead you need to replace that call with a set of other BAS calls which do the same work, but require four lines instead of two.

    These lines should go near the top of your program, before the robot's first motion command. If you have a BAS(#PTP_PARAMS) call in any other locations in your program, you will need to replace those as well.

Advertising from our partners