Hello everyone,
I am working on a project in which I am using to Kuka robots (KRC4) in team : Robot #1 is holding the piece while Robot #2 will do some operations on that piece. In order to do that, the base of robot #2 has to be set to Base [8] : LK_Base, which makes the base of robot #2 to be the tool of robot #1, wherever it is (Roboteam function configured via WorkVisual).
When I manually set the base to 8 via the base and tool menu, my robot's base gets linked to the other robot's tool, no problem.
When I program some movements with robot #2 in the inline form using base #8 (which is my LK_Base), the robots moves according to the position of robot #1's tool, no problem.
But when I try to set the base with the following instructions (because my points are not taught, they are calculated) :
$ACT_BASE = 8
$BASE=BASE_DATA[8]
it doesn't work because BASE_DATA[8] is kind of empty. When I look at it through display->single variable I get "{}". I suppose it is because LK_Base works differently from normal bases. And when my base is set to #8 (by whichever way), $BASE = {X 0,Y 0,Z 0,A 0,B 0,C 0}... So with the instructions above, the robot moves like if I was using $nullframe...
I have also tried to use BAS(#BASE, 8), same result.
With the inline form, I understand the base is set with FDAT_ACT. I have tried to set the base with following line :
FDAT_ACT = {TOOL_NO 1,BASE_NO 8,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}
which I believe is basically the same thing as the In-line form way of setting the base, but it has gone through it without setting anything.
So, does anyone knows how to set the base when it is LK_Base / Any other way of setting a base I could try / How the In-line forms really works to set a base ?
I hope my problem is clear, 
