Hello every one.
I just started studying SPRUTCAM robot and generated some code to run a test.
and I got several problems.
that is kind of grammar..
I got following src codes.
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DEF CAMTE6TH()
;FOLD INI;%{PE}%V2.2.2,%MKUKATPBASIS,%CINIT,%VCOMMON,%P
;FOLD BAS INI;%{PE}%V2.2.2,%MKUKATPBASIS,%CINIT,%VINIT,%P
INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
INTERRUPT ON 3
BAS (#INITMOV,0 )
;ENDFOLD
;FOLD A20 INI;%{E}%V2.2.2,%MKUKATPA20,%CINIT,%VINIT,%P
IF ARC20==TRUE THEN
A20 (ARC_INI )
INTERRUPT DECL 6 WHEN $CYCFLAG[3]==FALSE DO A20 (TECH_STOP2 )
ENDIF
;ENDFOLD
;FOLD A10 INI;%{E}%V2.2.2,%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
;FOLD GRIPPER INI;%{E}%V2.2.2,%MKUKATPGRIPPER,%CINIT,%VINIT,%P
USER_GRP (0,DUMMY,DUMMY,GDEFAULT )
;ENDFOLD
;FOLD SPOT INI;%{E}%V.2.2,%MKUKATPSPOT,%CINIT,%VINIT,%P
USERSPOT (#INIT )
;ENDFOLD
;FOLD TOUCHSENSE INI;%{E}%V2.2.2,%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
;FOLD USER INI;%{P}%V2.2.2,%MKUKATPUSER,%CINIT,%VINIT,%P
;Make your modifications here
;ENDFOLD
;ENDFOLD
;FOLD PTP HOME Vel= 100 % DEFAULT;%{PE}%V2.2.2,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:HOME, 3:, 5:100, 7:DEFAULT
$H_POS=XHOME
PDAT_ACT=PDEFAULT
BAS (#PTP_DAT )
FDAT_ACT=FHOME
BAS (#FRAMES )
BAS (#VEL_PTP,100 )
;ENDFOLD
BAS (#INITMOV,0)
$BASE = $WORLD
$TOOL=TOOL_DATA[1]
$VEL.CP=0.167
$VEL.ORI1=15
$VEL.ORI2=15
$VEL.AXIS[1]=10
$VEL.AXIS[2]=10
$VEL.AXIS[3]=10
$VEL.AXIS[4]=10
$VEL.AXIS[5]=10
$VEL.AXIS[6]=10
PTP {A1 -3.056, A2 -73.302, A3 146.464, A4 -179.761, A5 73.162, A6 179.931, E1 0, E2 0, E3 0, E4 0, E5 0, E6 0}
LIN {X 1716.714, Y 91.662, Z 272, A -176.715, B 0, C 180} C_DIS
LIN {X 1716.714, Y 91.662, Z 204.667, A -176.715, B 0, C 180} C_DIS
$VEL.CP=0.008
LIN {X 1707.976, Y 82.776, Z 204.667, A -176.996, B 0, C -180} C_DIS
LIN {X 1708.039, Y 75.575, Z 204.667, A -177.238, B 0, C -180} C_DIS
LIN {X 1724.02, Y 91.677, Z 204.667, A -176.727, B 0, C 180} C_DIS
LIN {X 1732.006, Y 91.693, Z 204.667, A -176.741, B 0, C -180} C_DIS
LIN {X 1708.074, Y 67.722, Z 204.667, A -177.501, B 0, C -180} C_DIS
LIN {X 1708.113, Y 58.785, Z 204.667, A -177.8, B 0, C -180} C_DIS
.....
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when I entered the codes into robot controller, it showed me grammar errors, total 6 grammar errors
(they are regarding velocity of each axis)
so I deleted upper red lines then I managed to input the codes into KRC1.
but when I tried to run it. it just executed the first PTP and it turned 4th axis rapidly and it gave me "commend velocity 4th axis".
In fact, I don't know why 4th axis start to move ( because in the SPRUTCAM, robot moves cutting lines without changing position of 4th axis)
anyway, beside the problem of changing 4th axis, I want to know why the codes caused "grammar error"
Could you guys please tell me, "what should I do to keep the velocity commends (6 lines) and get no error???"
If any body is here that is good at KRC1 controller, Please help me out!!
thanks in advance.
Phil