HI,
I have machine with 36 station and everyones have differend position and i use for this 5 programs which will be exchange on this stations so i try use for this BASE_DATA[] to teach this position of station. I got 37 BASE_DATA in config.dat and then i taugh this BASE in 3-point method. I use CELL to automatically change programs and for 36 CASES(between P00 and my program) i got BASE_DATA[1]=BASE_DATA[STATION_NR]. My program i made using BASE_DATA[1] and TOOL_DATA[1] which i set in edit point -> FRAME. When robot start work, BASE_DATA[1] is overwrite in config.dat but robot perform my program in not right position.Maybe is any other method to do this or maybe i made something wrong
Please help.
KUKA KRC2 - base_data changing
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tomek_arcoba -
November 8, 2017 at 3:49 PM -
Thread is marked as Resolved.
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Hello,
In this case I would create the main program and subprogram for all the positions. At the beginning of each of the subprograms the actual base data will be assigned to the base_data number before the move instructions. -
are you sure motions in your program is using base 1?
are you sure base1 has correct coordinates when you are teaching points? -
When the robot is moving improperly, what are the values of:
$BASE
$ACT_BASE
BASE_DATA[1] -
Thankyou for Yours answear, i've been changed my idea for this aplication, and now i use BASE_DATA[1] =BASE_DATA[STATION_NUMBER], but i don't use CELL for change program automatically now. My superviser wannts change programs when machine work so i created program list in CONFIGMON.INI . In $config.dat i declared variables like this
DECL CHAR PROGRAM1[8]
PROGRAM1[]="pr. name"
for all stations on my machine
and in SPS.SUB
CASE 1
SWRITE(SELPROG[],STAT,OFFSET,PROGRAM1[],0)
SWRITE(SELPROG[],STAT,OFFSET,"()",0)
CASE 2
SWRITE(SELPROG[],STAT,OFFSET,PROGRAM2[],0)
SWRITE(SELPROG[],STAT,OFFSET,"()",0)
...
...
IF $IN[10]==TRUE THEN
CWRITE($CMD,STAT,MODE,SELPROG[])
ENDIFIF(WYJSCIE==TRUE) THEN
CWRITE($CMD,STAT,MODE,"STOP 1")
CWRITE($CMD,STAT,MODE,"CANCEL 1")
ENDIFSo i can now change programs in CONFIGMON when i wannt but when program is finish and command CWRITE start new program a have message 1460 :Deleting trace, no backward motion possible.
Maybe You now what i schould change because i have to much messages now:)
Thanks