touch up invalid problem

  • well, you can edit point manually using variable monitor or variable overview etc.



    but ... if you want to TOUCH-UP... you need one of the two options mentioned.

    1) read pinned topic: READ FIRST...

    2) if you have an issue with robot, post question in the correct forum section... do NOT contact me directly

    3) read 1 and 2

  • I once had a similar problem with Touch-up at a site, but I deselect/disabled the Submit Interpreter at the touchup position and enabled it after. Or by OPENING (not the option select) the .src program, touch-up, save, close and then select it to run worked for me

  • i did a lot of project with fanuc and abb and kawasaki
    but its first time im working with kuka


    can you help me about "variable monitor or variable overview etc."?
    can you give me a document about those?


    thank you so much


  • I once had a similar problem with Touch-up at a site, but I deselect/disabled the Submit Interpreter at the touchup position and enabled it after. Or by OPENING (not the option select) the .src program, touch-up, save, close and then select it to run worked for me


    can you describe a litle more and with detail.



  • i found document about variable monitoring.

  • you should also see where this variable is declared and how it is initialized.
    if the variable value is calculated, you will need to apply adjustments in the program code...

    1) read pinned topic: READ FIRST...

    2) if you have an issue with robot, post question in the correct forum section... do NOT contact me directly

    3) read 1 and 2


  • you should also see where this variable is declared and how it is initialized.
    if the variable value is calculated, you will need to apply adjustments in the program code...



    in the picture i attached it for you you can see motione[1]


    some line above
    PTP motion[1] C_PTP C_VEL


    you can see
    Motion[1]=tooloffset(xppickrotor,150,0,-200,0,0,0)
    i think xppickrotor is position variable and 150,0,-200 is offset of xppickrotor
    is it correct?


    and i have to find xppickrotor in variable monitor and change that
    yes?


    thanks for your help

  • This was how I did it then: Move the robot to the position you want to teach. On the KUKA KCP picture you attached there is a green letter S button(Submit Interpreter button), stop it ans deselect it. After this cancel the current open .scr program, and then "Open" (not "Select") it. Scroll down to where you want touchup, select the Motion command and then Cmd OK. After creating it, then Touch-up. The change will be automatically changed when you close the file.

  • Who created this program?


    On KUKAs, the TouchUp button only works on points that have been created on the pendant, with the full inline-form support. Your program appears to have motions hand-programmed in "raw" KRL (using arrays of E6POS), which cannot be affected by the Change or TouchUp buttons.


    The one exception to this is to install the ExpertTech option, and create the program with placeholders that can later be set using the TouchUp button (but only once, IIRC).


    The other potential workaround would be to jog the robot to the position you desire, select the correct Tool and Base, access the position variable in DISPLAY>VARIABLE>SINGLE, and type $POS_ACT_MES into the "New Value" box and press "Set Value."

  • Created how? Details matter. If you simply have a PTP P1 command or similar in your .SRC that's not part of a complete ILF, then no, TouchUp doesn't work.

    For instance, I used robodk as a simulation program because we don't have a kuka simulator, when you export a program with robodk it gives you something like this :

    BAS (#INITMOV,0)

    BAS (#VEL_PTP,100)

    BAS (#ACC_PTP,20)

    $VEL.CP=0.2

    BAS (#TOOL,0)

    BAS (#BASE,0)

    LIN {X -211.000,Y -7671.000,Z 1485.000,A -90.000,B 0.000,C 180.000,E1 -10500.00000,E2 0.00000}


    On one of our robot I can touch-up these points and when I do it says TPEXPERT 7700 at the top which I assume is some option that Panic Mode was talking about?


    Then I tested the touch-up on the other robot next to it, which is the same robot really and it gives me the invalid module error... I'm guessing they don't have the same options.

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