Hi all , I have a problem when the robot do the trajectory of the TCP ( tool center point ) , it happen 2 to 3 times by day ,
when the robot begin the trajectory of the tcp , it is stopped and I have this message : kss01429 : "string too long " ( KRC4 , KR 16 )
so what I do now to resolve the problem is to return the robot to the home position and begin a new cycle .
I want to resolve this problem ,I don't want that this message appear again ,
because it causes a waste of time for the client .
Thank you
problem with KRC4 : kss01429 : "string too long "
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nc56 -
March 20, 2015 at 8:48 PM -
Thread is marked as Resolved.
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next time it happens record program name in which this happens... alternatively create archive, extract it on a computer, use Agent Ransack to search for string declarations or uses. KRL does not have real strings but uses arrays of CHAR type.
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well , it happened today , but in the program where the robot stopped there is no declaration of a char ,
this is the TCP program :Quote&ACCESS RVP1
&REL 4
&PARAM DISKPATH = KRC:\R1\Program\service
&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
&PARAM EDITMASK = *
DEF tcp_01( )GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
INTERRUPT ON 3
BAS (#INITMOV,0 )$async_axis='b000001'
butee_a6()
;FOLD PTP HOME Vel=50 % PDAT2;%{PE}%R 8.2.20,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:HOME, 3:, 5:50, 7:PDAT2
$BWDSTART=FALSE
PDAT_ACT=PPDAT2
FDAT_ACT=FHOME
BAS(#PTP_PARAMS,50)
$H_POS=XHOME
PTP XHOME;FOLD PTP P1 Vel=50 % PDAT1 Tool[1]:torche Base[0];%{PE}%R 8.2.20,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:P1, 3:, 5:50, 7:PDAT1
$BWDSTART=FALSE
PDAT_ACT=PPDAT1
FDAT_ACT=FP1
BAS(#PTP_PARAMS,50)
PTP XP1
;ENDFOLD
;FOLD PTP p3 CONT Vel=100 % PDAT4 Tool[1]:torche Base[5]:chym_b_d;%{PE}%R 8.2.20,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:p3, 3:C_DIS, 5:100, 7:PDAT4
$BWDSTART=FALSE
PDAT_ACT=PPDAT4
FDAT_ACT=Fp3
BAS(#PTP_PARAMS,100)
PTP Xp3 C_DIS
;ENDFOLD
;FOLD PULSE 10 'Amen� fil' State=TRUE CONT Time=1.4 sec;%{PE}%R 8.2.20,%MKUKATPBASIS,%COUT,%VPULSE,%P 2:10, 3:Amen� fil, 5:TRUE, 6:CONTINUE, 8:1.4
CONTINUE
PULSE($OUT[10], TRUE,1.4)
;ENDFOLD
;FOLD WAIT Time=0.8 sec;%{PE}%R 8.2.20,%MKUKATPBASIS,%CWAIT,%VWAIT,%P 3:0.8
WAIT SEC 0.8
;ENDFOLD
;FOLD Tcp.Adjustment Tool: 1;%{PE}%MKUKATPUSER
aRI_WaitForValuateTcp(1)
;ENDFOLD
;FOLD PULSE 11 'Retour fil' State=TRUE CONT Time=1.4 sec;%{PE}%R 8.2.20,%MKUKATPBASIS,%COUT,%VPULSE,%P 2:11, 3:Retour fil, 5:TRUE, 6:CONTINUE, 8:1.4
CONTINUE
PULSE($OUT[11], TRUE,1.4)
;ENDFOLD
;FOLD PTP HOME Vel=100 % PDAT3;%{PE}%R 8.2.20,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:HOME, 3:, 5:100, 7:PDAT3
$BWDSTART=FALSE
PDAT_ACT=PPDAT3
FDAT_ACT=FHOME
BAS(#PTP_PARAMS,100)
$H_POS=XHOME
PTP XHOME
;ENDFOLD$async_axis='b000000'
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Problem is probably somewhere inside butee_a6().
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butee_a6 is used to return axis 6 to the 0 position , and there is no declaration of a char , besides it's used many times in my program and the problem happen only when robot do the tcp ! it's really a strange problem !
I will change the endless of axis 6 to become software to see if the problem will be solved or not .
Thank you . -
If there's no use of CHAR variables in the motion program, or in BUTEE_A6, then things definitely are odd. What about the SPS?
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or
aRI_WaitForValuateTcp()
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Did you check your submit programm setting $INTERPRETER = 0 for submit and $INTERPRETER = 1 for robot interpreter? Maybe the char is hidden there.
Fubini
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this is going to be long and slow journey without complete archive
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I think I know what's causing it. Ran into this again recently: "String Too Long" usually results from an SWRITE function call that has an Offset value higher than the length of the string. So the first thing to do is search all the sub-programs for any instances of SWRITE.