KUKA Move in #TOOL

    Hi I have been trying to move in TOOL path, but I get a Syntax error, 2033 Message text END OF BLOCK OR COMMENT EXPECTED


    KRC V4.1.6 SP3
    KS V4.83


    KR200 Robot


    code that I tried are


    LIN_REL {Z 100} #TOOL
    if I comment ;#TOOL it works but it moves in #BASE



    I tried


    DECL E6POS Mypos
    DECL REAL Myreal


    MyReal=100


    Mypos.x=0.0
    Mypos.y=0.0
    Mypos.z=Myreal
    Mypos.a=0.0
    Mypos.b=0.0
    Mypos.c=0.0


    Lin_Rel Mypos #TOOL
    if I remove #TOOL I get no error but it moves in base.


    is this robot to old to use the #TOOL? or is there a different option?


    thanks.

    If you want to move in according to tool or base you want you can also use like this???
    $BASE = BASE_DATA[1] ;example
    $TOOL = TOOL_DATA[1] ; or choose your tool
    LIN mypose

    one should walk before trying to run. i see missing assignment of tool and base, no BCO etc.
    simply adding #TOOL after motion instruction is not enough. (what tool!?)

    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 forgot to include in the code that I run the robot to Home position, without it without it give BCO error.
    and before the code i have $TOOL=TOOL_DATA[1]


    I use the edit to write the code Select to execute the run


    as soon as I add #TOOL I get the RED X over the file.


    but the code that Skyefire suggested works good.


    LIN $POS_ACT:Mypos

Advertising from our partners