Hello,
I've had some experience with Fanuc and Staubli but almost none with Kuka. The training is planned in 2016 but I still need to get some work done before that.
I'd like to know if there is a way to test if a variable is empty or not. I'm filling an array with multiple values and I want to know the length of the array by checking which are the variable that are empty.
The coordinates are generated by Rhino/GrassHopper.
I'm using a KRC4-extd with robot KR210 R3100 ULTRA
"DECL E6POS P[200]
...
index=1
FOR C=1 TO 85
P[index] = {X 0.000, Y 28.639, Z 1010.404, A 90.000, B 66.070, C 69.895}
index = index + 1
P[index]= {X 0.000, Y 34.720, Z 1013.030, A 90.000, B 66.047, C 51.512}
index = index + 1
...
ENDFOR
index=1
FOR a=1 TO 200
IF P[index] == [glow=red,2,300]"Empty"[/glow] THEN ;that is where i'm currently stuck
Nbr_pts = (index - 1)
ENDIF
index = index + 1
ENDFOR"
I've tried with VARSTATE but #UNKNOWN, #DECLARED and #INITIALIZED don't fit my needs.
Any idea would be great.