Default Parameters Invalid KSS01518

Hi All,

KR120 R2500 PRO C4 FLR,Robot
KSS 8.3.9

I am facing the error mentioned in the subject line on one of the robots on our line when the Robot is executing the line highlighted (in Red) in code shown below:

But it doesn't face any problem while executing the line highlighted (in BLUE) in the code shown below:

LIMIT_R_X=ABS(250-TOOL_DATA[10].X)
      LIMIT_R_Y=ABS(Y_PICK-(VISION_SIDE*TOOL_DATA[10].Y))
      LIMIT_R_ACT=SQRT((LIMIT_R_X*LIMIT_R_X)+(LIMIT_R_Y*LIMIT_R_Y))
      ;
      IF (LIMIT_R_ACT<=LIMIT_R_MAX) AND (LIMIT_R_ACT>=LIMIT_R_MID) THEN
         OK_POS=TRUE
         IF (DEBUG==TRUE) THEN
            [color=blue]MsgNotifyTextPar("Max.Robot Limits within range by:=%1", "ROB:", LIMIT_R_MAX-LIMIT_R_ACT,,,1)[/color]
            [color=blue]MsgNotifyTextPar("Min.Robot Limits within range by:=%1", "ROB:", LIMIT_R_ACT-LIMIT_R_MID,,,1)[/color]
         ENDIF
      ELSE
         IF (LIMIT_R_ACT>LIMIT_R_MAX) THEN
            CONTINUE
            PULSE (SO_ROB_ERR3,TRUE,3)
            CONTINUE
            [color=red]MsgNotifyTextPar("Max.Robot Limits exceeded by:=%1", "ROB:", LIMIT_R_ACT-LIMIT_R_MAX,,,1)[/color]
         ENDIF
         IF (LIMIT_R_ACT<LIMIT_R_MID) THEN
            CONTINUE
            PULSE (SO_ROB_ERR4,TRUE,3)
            CONTINUE
            [color=red]MsgNotifyTextPar("Min.Robot Limits exceeded by:=%1", "ROB:", LIMIT_R_MID-LIMIT_R_ACT,,,1)[/color]
         ENDIF
      ENDIF

I am using the default syntax to display the messages provided in msglib.src and all the other messages are getting displayed without any problem including parameter messages.

I also tried to tweak a little bit the syntax written to see the error goes away but no success.

Please suggest what I am missing here.

Thanks

Anybody...

I found the problem. The reason behind the error was the parameter calculated. My logic calculates the value to be a REAL but the KUKA global function (to display parameter message) has input parameter as INT.

However, KSS threw error only when the calculated value was in between 0 to 1. In all the other cases, the calculated parameter get rounded up to nearest integer. Any thoughts?

For now, I have changed the input parameter data type to be Real in MsgLib.src file to resolve my issue.

Thanks