hello .I want to control my kuka kr 16 robot via Ethernet, after installing EthernetKRL and having a successful connection with my pc ,when I run the program below , it shows me 2 error messages:
-EKI01280 Limit of elementstorage reached
-KSS01442 sequence of instructions that cannot be approximated
Code
&ACCESS RVO
&REL 62
&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
&PARAM EDITMASK = *
DEF kukakey( )
;FOLD Declaration
INT i
DECL EKI_STATUS RET
CHAR Bytes[64]
DECL POS POSITION_VAR
;ENDFOLD
;FOLD INI
;FOLD BASISTECH INI
BAS (#INITMOV,0 )
;ENDFOLD (BASISTECH INI)
;FOLD USER INI
;Make your modifications here
;ENDFOLD (USER INI)
;ENDFOLD (INI)
;FOLD Initialize sample data
FOR i=(1) TO (64)
Bytes[i]=0
ENDFOR
;ENDFOLD
;FOLD PTP HOME Vel= 100 % DEFAULT;%{PE}%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:HOME, 3:, 5:100, 7:DEFAULT
$BWDSTART = FALSE
PDAT_ACT=PDEFAULT
FDAT_ACT=FHOME
BAS (#PTP_PARAMS,100 )
$H_POS=XHOME
PTP XHOME
;ENDFOLD
RET=EKI_Init("BinaryStream")
RET=EKI_Open("BinaryStream")
LOOP
POSITION_VAR=$POS_ACT
WAIT FOR $FLAG[998]
RET=EKI_GetString("BinaryStream","Buffer",Bytes[])
IF StrComp(Bytes[2],"x",#CASE_SENS)==TRUE THEN
IF StrComp(Bytes[3],"-",#CASE_SENS)==TRUE THEN
POSITION_VAR.X=$POS_ACT.X -10
else
POSITION_VAR.X=$POS_ACT.X +10
endif
else
if StrComp(Bytes[2],"y",#CASE_SENS)==TRUE THEN
IF StrComp(Bytes[3],"-",#CASE_SENS)==TRUE THEN
POSITION_VAR.Y=$POS_ACT.Y -10
else
POSITION_VAR.Y=$POS_ACT.Y +10
endif
else
if StrComp(Bytes[2],"z",#CASE_SENS)==TRUE THEN
IF StrComp(Bytes[3],"-",#CASE_SENS)==TRUE THEN
POSITION_VAR.Z=$POS_ACT.Z -10
else
POSITION_VAR.Z=$POS_ACT.Z +10
endif
endif
endif
ENDIF
$FLAG[998]=FALSE
PTP POSITION_VAR C_PTP
;WAIT SEC 1
ENDLOOP
RET=EKI_Close("BinaryStream")
RET=EKI_Clear("BinaryStream")
;FOLD PTP HOME Vel= 100 % DEFAULT;%{PE}%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:HOME, 3:, 5:100, 7:DEFAULT
$BWDSTART = FALSE
PDAT_ACT=PDEFAULT
FDAT_ACT=FHOME
BAS (#PTP_PARAMS,100 )
$H_POS=XHOME
PTP XHOME
;ENDFOLD
END
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