you copied program module but not its dependencies
look inside your program for reference to APPL_STOPM_RESTART and comment it out
it is simple - program is list of instructions. if there is instruction that is not understood, you get an error.
most of the time program is not just a single list of instructions, that would be cumbersome, wasteful and time consuming to develop and debug. it is much smarter/easier to brake problem or program into smaller meaningful units. this is called modular programming. program can be much shorter if using code that exists in other program modules. this requires linking - that is referring to names of another program modules that will do part of the job rather than doing everything yourself. that other program module is called sub-program.
advantage of modular programming is that one can write each piece of code once, and use many times, rather than duplicating code over and over. also code written in modular fashion need to be tested only once (per module), which dramatically reduces development time. programs that do not contain entire code but refer to external subroutines are shorter, more readable but - now they depend on external code. when you try to run program, compiler tries to reconstruct entire code and when one or more pieces are missing, you get error message.
at the bottom of your program there is five subroutine calls:
DEGROSARE1()
DEGROSARE2()
DEGROSARE3()
DEGROSARE4()
DEGROSARE5()
all of them are called from your program, each of them could be calling the missing module.
to isolate problem, you can try placing semicolon in front some of them until problem goes away.
then you know which program module is your next concern.
example
;DEGROSARE1()
DEGROSARE2()
DEGROSARE3()
DEGROSARE4()
DEGROSARE5()
when i started to program to kuka i encoutred this error.
first off all, you need to understand that kuka language is working little diffrent.
for each module there are two files .SRC and .DAT
the .DAT files containes a variable with variable scope for the .SRC methodes
the .SRC files contains instructions for all for them.
if you have DEGROSARE1 you need to have DEGROSARE1 SRC file or method inside the SRC file that you working on.
if you want, send me message in private with your email, i have 3 pdf files which can help you a lot to understand the KRL (Kuka Robotic Language).
Thank you Zeev.
I sent you a message
Therefore for each src file should I have a dat file.This is the reason why I got these errors?
Hi Signum,
It is not necessary to have a dat file for each src file. The reason of getting these errors is that you do not have the programs named DEGROSARE1(), DEGROSARE2(), etc either in the src file which you are trying to run or in the program folders.
It is like you are calling a function or program and that function or program is missing. You have to give us some more details about what you are trying to do like the backup of the robot if we are allowed.
Thanks
If you use the "Show Errors" button, what is the list of errors, specifically? The window should show the exact lines where these errors are.
Are all your DEGROSARE1 through DEGROSARE5 programs present in the robot? Are they part of this SRC file, or are they separate SRC files?
If all the DEGROSARE programs are separate modules, try copying DEGROSARE1-5 into /R1 first, then copy in DEGROSARE main.
IR_STOPM is a system subroutine, present in all KUKA robots. It is called by a Global Interrupt whenever the robot is halted by a fault (such as an E-stop).
if it is not available on new robot, comment it out and see how it goes
If you highlight the module IR_STOPM in the Navigator, you should have a button in the lower row of the teach pendant marked "Show Errors" or something similar. This will give you a list of each error and the line it occurs on. Those lines are the ones you should comment out.
A line can be commented out by placing a ; in the first column.
any programming language will allow some way of commenting out line or block of code.
usual way is by adding prefix, type of prefix depends on language (REM, //, ', ; etc.)
in case of KRL, it is semicolon (";")
example, APPL_STOPM_RESTART() will be executed:
;FOLD APPL_STOPM_RESTART
APPL_STOPM_RESTART ( )
;ENDFOLD (APPL_STOPM_RESTART)
;ENDFOLD (USER RESTART)
example, APPL_STOPM_RESTART() will not be executed (it becomes comment, see red ";" in front of it):
;FOLD APPL_STOPM_RESTART
;APPL_STOPM_RESTART ( )
;ENDFOLD (APPL_STOPM_RESTART)
;ENDFOLD (USER RESTART)
Hi Signum,
I think you should use an editor to work with KRL like Orange Edit or Work Visual. They have basic structure to help you with the syntax of KRL. Another suggestion is to have some professional training from your near by KUKA training.
Trust, it would be a great help.
Thanks
your link does not work, I am not familiar with google drive but the link does not appear to be public
