Hi there,
hi have this piece of code in my main program to change tools and load the respective milling programs.
Code
;
;****************1° PROCESS******************
; pick tool in position #1
$OUT[9] = TRUE ;com led on
WAIT SEC 3
PT0101() ;load tool
$OUT[9] = FALSE ;com led off
; call CAM program to execute
ALO_BCT_A()
$advance = 1
; release tool in position #1
$OUT[9] = TRUE ;com led on
WAIT SEC 3
RT0101() ;release tool
$OUT[9] = FALSE ;com led off
bla, bla, bla ---follows the same pattern for all other tools in the garage
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However, sometimes the subprograms that are supposed to change the tool are not loaded. Sometimes, after the first milling, the kuka starts immediately the second program without changing the tool, sometime after the second ... There is no consistency in this erratic behaviour, so I do not understand where this issue is coming from. Any suggestion on how I can fix this? I thought it was a problem with the advance parameter but I'm not sure. Any help is gonna be really appreciated.
Best,
Marco