Hello,
KRC4 KSS V.8.3.30 controlling a KR3
I already checked this thread and tried to recreate it but nothing is working.
http://https//www.robot-for…uch-up-problem/
my goal is create motion folds that could be touched from the pendant and then stored into an array, i.e. when the block pointer is at a particular motion and when someone touches the point, i'd like it to be saved in that array.
Here's what I did
DECL GLOBAL E6POS XPOS[2]
XPOS[1]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
XPOS[2]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
DECL GLOBAL FDAT FPOS[2]
FPOS[1] = {TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}
FPOS[2] = {TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}
DECL PDAT PPDAT1={VEL 100.000,ACC 40.0000,APO_DIST 100.000,GEAR_JERK 50.0000,EXAX_IGN 0}
Then in the .src file I created a fold
;fold PTP XPOS1
$BWDSTART=FALSE
PDAT_ACT=PPDAT1
FDAT_ACT=FPOS[1]
BAS(#CP_PARAMS,10)
PTP XPOS[1]
;ENDFOLD
When I try to touch or change i get a message saying ' invalid component'
Any suggestions?
Thnk you in advance