Hello Team,

I am very new in Kuka Robot use and I want to understand programming from the base. So with a VKRC2 Controller and many VW specials I wrote this program as .src . On running it will stop at the PTP command with the comment Axesspeed not programed E1. This I dont understand .

Could someone can give me the base of working with the manual and this comment!

&ACCESS RV

&REL 4

&PARAM TPVW_VERSION = 5.4.13

DEF vorgabe1( )

INT J

$VEL_AXIS[1]= 100

$VEL_AXIS[2]= 100

$VEL_AXIS[3]= 100

$VEL_AXIS[4]= 100

$VEL_AXIS[5]= 100

$VEL_AXIS[6]= 100

$ACC_AXIS[1]=100

$ACC_AXIS[2]=100

$ACC_AXIS[3]=100

$ACC_AXIS[4]=100

$ACC_AXIS[5]=100

$ACC_AXIS[6]=100

PTP {A1 0,A2 -90,A3 90,A4 0,A5 0,A6 0}

FOR J=1 to 5

PTP {A1 45}

PTP {A2 -70,A3 50}

PTP {A1 0 , A2 -90, A3 90}

ENDFOR

PTP {A1 0,A2 -90,A3 90,A4 0,A5 0,A6 0}

END

Maybe I must have another manual?

Christoph

Thank you