Hello,
my first post here!
We are having a problem on our robot-project that we wanted to solve by changing base and tool inside an interrupt. Hardware is KR C4 and software version 8.3.32.
Inside interrupt, we tried to use lines:
FDAT_ACT.BASE_NO = 0
FDAT_ACT.TOOL_NO = 1
BAS(#CP_PARAMS)
This to change the base and tool inside interrupt. This because we want to move to a custom home-position inside interrupt.
We are in Base 1 when the interrupt is called.
We then get error "ORI_TYPE variable write protected in module BAS, line 590" when we try to run the program.
Is this because it is not possible to change Tool and Base inside interrupt?
Thanks for all answers, please tell if there is more information needed.