Good day,
I am using Kuka Sim Pro 2.2 to do a simulation. I want to call a remote subroutine from the main program of the simulated robot. However, sim pro, for some reason, does not see the subroutines I create. Can you guys help me?
In order to test the procedure for adding a subroutine, I created a simple layout consisting of two components: a press (using the built in press from the ecat library) and a KR 16-2 robot. The procedure I followed to add a subroutine was as follows:
1. I added the press and robot to the layout.
2. I created two subroutines for the press named ‘pressUp’ and ‘pressDown’ where I ‘taught’ the position of the Stamper using the ‘Jog joints’ button – saving these positions as PTP motions.
3. I added an RSL executor to the press.
a. In the RSL executor, I enabled the ‘ActionMode’ so that the subroutines are only started when called and not when the simulation starts.
b. I specified the ‘Controller’ as the (predefined) ‘Servo Controller’ of the press.
4. I added a one-to-one logical interface to the Press in order to publish the RSL program.
a. I created a new Interface section called ‘NewSection’.
b. I specified the ‘Section Frame’ as ‘Base’ of the press.
c. I added a ‘Publish RSL’ section field of type rSimRslField.
d. I specified the ‘Publisher’ as ‘RSLProgramExecutor’.
e. I enabled ‘Subscribe’.
Unfortunately, Sim Pro does not show the subroutines in the drop-down list in the teach tab when I add a subroutine.
Hope you guys can help me with what I’m doing wrong. I have added the .vcm file to this email for reference.
Best Regards,