Hi guys,
Our setup is: KR16 KRC4 (v8.3.14) With EntertainTech 1.0 + linear track
The issue is with our EntertainTech setup while using our linear track. (Everything works perfectly fine outside off EntertainTech)
We have successfully ran an .emily path without the rail. The problem arises when we integrate E1 our linear track)
When we try running our .emily path with external axis this is the error we get (Error stops the program running and happens just after going from XP1 to the path):
ERROR: EMILY_AXIS: invalid file format (KSS02885)
Here are the files from our test program we’re trying to run:
.SRC
&ACCESS RVO
&REL 2
&PARAM EDITMASK = *
&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
&PARAM DISKPATH = Program
DEF AR_Test01_track( )
INT iResult
REAL rGear
;FOLD INI
;FOLD BASISTECH INI
GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
INTERRUPT ON 3
BAS (#INITMOV,0 )
;ENDFOLD (BASISTECH INI)
;FOLD USER INI
;Make your modifications here
;ENDFOLD (USER INI)
;ENDFOLD (INI)
PTP XP1
Run_Profile("AR_Test01_track.emily")
END
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.DAT
&ACCESS RVO
&REL 2
&PARAM EDITMASK = *
&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
&PARAM DISKPATH = Program
DEFDAT AR_Test01_track
;FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P
;FOLD BASISTECH EXT;%{PE}%MKUKATPBASIS,%CEXT,%VEXT,%P
EXT BAS (BAS_COMMAND :IN,REAL :IN )
DECL INT SUCCESS
;ENDFOLD (BASISTECH EXT)
;FOLD USER EXT;%{E}%MKUKATPUSER,%CEXT,%VEXT,%P
;Make here your modifications
;ENDFOLD (USER EXT)
;ENDFOLD (EXTERNAL DECLARATIONS)
DECL BASIS_SUGG_T LAST_BASIS={POINT1[] "HOME2 ",POINT2[] "HOME2 ",CP_PARAMS[] "CPDAT0 ",PTP_PARAMS[] "PDAT2 ",CONT[] " ",CP_VEL[] "2.0 ",PTP_VEL[] "100 ",SYNC_PARAMS[] "SYNCDAT ",SPL_NAME[] "S0 ",A_PARAMS[] "ADAT0 "}
DECL E6AXIS XP1={A1 0, A2 -86.5, A3 103.9, A4 177.9, A5 21.7, A6 -178,E1 0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
DECL FDAT FP1={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}
DECL PDAT PPDAT1={VEL 100.000,ACC 100.000,APO_DIST 100.000,GEAR_JERK 50.0000}
DECL FDAT FHOME2={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}
DECL PDAT PPDAT2={VEL 100.000,ACC 100.000,APO_DIST 100.000,GEAR_JERK 50.0000}
ENDDAT
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.EMILY
[HEADER]
GEAR_NOMINAL_VEL = 1.0
CRC = 175065594
NUM_EXT_JOINTS = 1
NUM_ROB_JOINTS = 6
[RECORDS]
0.000000 -0.616060 -86.528296 103.927976 177.917160 21.771013 -178.003433 0.000000
0.125000 -0.487507 -86.529955 103.929744 178.351547 21.767799 -178.419815 5.060086
0.250000 -0.115381 -86.532578 103.932539 179.609772 21.762716 -179.625916 19.710064
0.375000 0.479987 -86.530040 103.929835 181.623032 21.767634 -181.555817 43.154525
0.500000 1.278075 -86.513630 103.912348 184.315643 21.799397 -184.136505 74.598062
0.625000 2.257981 -86.473085 103.869122 187.598251 21.877615 -187.281097 113.245244
0.750000 3.398267 -86.397544 103.788503 191.363373 22.022380 -190.884262 158.300665
0.875000 4.676861 -86.276420 103.659012 195.485107 22.251912 -194.822083 208.968910
1.000000 6.071047 -86.100198 103.470125 199.824875 22.580323 -198.958054 264.454538
1.125000 7.557573 -85.861122 103.212933 204.242035 23.015796 -203.154068 323.962189
1.250000 9.112839 -85.553768 102.880713 208.606735 23.559477 -207.283585 386.696422
1.375000 10.713178 -85.175475 102.469383 212.810989 24.205306 -211.242630 451.861823
1.500000 12.335201 -84.726623 101.977853 216.774933 24.940756 -214.955978 518.662979
1.625000 13.956151 -84.210753 101.408277 220.447540 25.748269 -218.377441 586.304475
1.750000 15.554241 -83.634530 100.766189 223.802963 26.607015 -221.485962 653.990898
1.875000 17.108950 -83.007580 100.060549 226.834534 27.494645 -224.279358 720.926833
2.000000 18.601227 -82.342212 99.303682 229.548401 28.388757 -226.767715 786.316927
2.125000 20.013594 -81.652503 98.509976 231.955627 29.267385 -228.966003 849.365641
2.250000 21.330153 -80.956289 97.700502 234.077438 30.112301 -230.897095 909.277624
2.375000 22.536476 -80.270926 96.894919 235.927025 30.904900 -232.576752 965.257462
2.500000 23.631258 -79.608182 96.107726 237.535492 31.637565 -234.035843 1017.075274
2.625000 24.753967 -78.886706 95.241657 239.123055 32.400484 -235.475853 1071.302866
2.750000 25.932755 -78.081740 94.264209 240.729996 33.212501 -236.935112 1129.454827
2.875000 27.148485 -77.198284 93.177995 242.331100 34.060134 -238.393021 1190.787461
3.000000 28.383028 -76.242980 91.987709 243.906868 34.929874 -239.834534 1254.557070
3.125000 29.619444 -75.224164 90.700420 245.442604 35.808577 -241.249069 1320.019955
3.250000 30.842131 -74.151851 89.325800 246.927330 36.683799 -242.629288 1386.432420
3.375000 32.036911 -73.037688 87.876307 248.352814 37.544058 -243.969894 1453.050768
3.500000 33.191048 -71.894870 86.367310 249.712570 38.378984 -245.266571 1519.131299
3.625000 34.293205 -70.738060 84.817190 251.001129 39.179374 -246.515015 1583.930318
3.750000 35.333370 -69.583303 83.247380 252.213379 39.937160 -247.710197 1646.704127
3.875000 36.302689 -68.447949 81.682374 253.344055 40.645298 -248.845818 1706.709027
4.000000 37.193314 -67.350580 80.149671 254.387398 41.297599 -249.913826 1763.201219
4.125000 37.998192 -66.310910 78.679607 255.336845 41.888536 -250.904282 1815.437220
4.250000 38.710838 -65.349670 77.305102 256.184914 42.413016 -251.805191 1862.673221
4.375000 39.325096 -64.488412 76.061200 256.923073 42.866162 -252.602654 1904.165527
4.500000 39.834885 -63.749234 74.984400 257.541771 43.243101 -253.281128 1939.170438
4.625000 40.233929 -63.154387 74.111730 258.030495 43.538772 -253.823822 1966.944258
4.750000 40.515469 -62.725749 73.479541 258.377899 43.747742 -254.213333 1986.743288
4.875000 40.671970 -62.484187 73.122033 258.572014 43.864039 -254.432350 1997.823832
4.875000 40.702614 -62.436607 73.051511 258.610107 43.886823 -254.475449 2000.000000
[END]
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We have looked into the the EntertainTech documentation we have (KUKA.EntertainTech 1.0 for KRC2) and everything seems to be correct.
I must be missing something but I can’t see what. Any help would be greatly appreciated.