I am trying to provide conical motion to KUKA, in which the tool is in contact with the workpiece and the wrist is moving in conical motion.
Please see the attached screenshot for more info.
In this case the tilt angle (theta) is constant and I am increasing angle phi. Later on by applying mathematical expressions I am calculating current B and C angle values. Following is the snippet of the code-
Code
FOR phi = 0 TO 360
; Calculate newB and newC for new orientation
newB =
newC =
; Provide these values to KUKA
PTP_REL {B newB, C newC}
ENDFOR
This shows me following error-
[list type=decimal]
- Constant expected
[/list]
Later on in my code. there are lost of module in which I am trying to provide PTP_REL with a variable name How to deal with this kind of situation?