Does anyone who has experience with KI instruction?
If you have related documents could you share it?
KI Instruction
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primz -
January 15, 2017 at 11:58 PM -
Thread is marked as Resolved.
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According to the manual, KI stands for KILL, that is a command that everyone uses sooner or later when programming. I use it to reset the program stack so I can download the same program.
KILL
Function
Initializes the stack of the robot program.Explanation
If the program is stopped by PAUSE instruction, ABORT command, or an error, the program
stack is kept at the current status. The KILL command is used to initialize the stack. Once the
KILL command is used, the CONTINUE command is ineffective, since there is no program on
the stack. -
If is about the KILL command, another way is: on the Teach Pendant you have cancel register and then you can load again the program....
If you want to load a background program you need to abort program and kill it.
PCABORT 1:
PCKILL 1: -
They are not talking about AS Command, they are talking about KI Instruction (this is another format of programming I think).
- Unfortunately I have never found any documentation about it either, except that it is an 'Option' and is not available as standard.
- I would speculate that it is used in conjunction with BLOCK Programming or may be intermediate programming language before AS was used.I would ask distributor for more information, would be interested to hear any details you can obtain from them...........
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Yes it seems an instruction.
I found in program example as belowKI99[ "SPOT 25" ]
JOINT SPEED9 ACCU1 TIMER0 TOOL1 WORK0 CLAMP1 (ON,1,1,1) OX=65 WX= CL1=0.000,0.0,0.0,0.0,0.0,0.0,0.0 #[-60.132,51.303,-22.363,-91.221,-104.84,-84.125,4.8912] ;
JOINT SPEED9 ACCU3 TIMER0 TOOL1 WORK0 CLAMP1 (OFF,0,1,1) OX=-65 WX= CL1=0.000,0.0,0.0,0.0,0.0,0.0,0.0 #[-60.076,51.605,-22.204,-91.238,-104.83,-83.977,69.503] ;
JOINT SPEED9 ACCU3 TIMER0 TOOL1 WORK0 CLAMP1 (OFF,0,1,1) OX=-41 WX= CL1=0.000,0.0,0.0,0.0,0.0,0.0,0.0 #[-67.053,47.75,-20.771,-82.782,-101.54,-89.242,100] ;
JOINT SPEED9 ACCU3 TIMER0 TOOL1 WORK0 CLAMP1 (OFF,0,1,1) OX=3 WX= CL1=0.000,0.0,0.0,0.0,0.0,0.0,0.0 #[-72.797,56.243,-2.4548,-67.898,-114.26,-94.653,100] ;
JOINT SPEED9 ACCU3 TIMER0 TOOL1 WORK0 CLAMP1 (OFF,0,1,1) OX= WX= CL1=0.000,0.0,0.0,0.0,0.0,0.0,0.0 #[-45.953,3.0842,-4.3598,2.8755,-75.283,-134.92,100] ;
JOINT SPEED9 ACCU3 TIMER0 TOOL1 WORK0 CLAMP1 (OFF,0,1,1) OX= WX= CL1=0.000,0.0,0.0,0.0,0.0,0.0,0.0 #[-45.648,-11.159,-17.286,0.19424,-77.145,20.1,100] ;
KI23[ 164,I3 ]
KI23[ 163,I4 ]
KI20[ 160 ] -
Your post sparked my curiosity a little, so I've used KROSET to obtain some further details.
- It does look like KI Instructions are some sort of built in 'macro' functions where the specific code no. relates to a specific operation.
- For instance, K199["Comment"] appears to just be a commentSee the 2 attached images, not much to go on, but maybe you can link the 2nd image of the KI[] no.s listed to your programs.
- May offer some relevant information for you.Hope it helps................
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Well noted.
Its helpful.