Hi, I was studying the robot kuka like 2 months and I have some questions in the programming (KRL) (I studied with KRC4 and KUKA KR 20-3)
(sorry if my english is bad)
My doubts are:
1. If I declare a variable in '.dat' (Example: DECL POS A1) , Can I use it in a local subprogram? or I have to declare the variable again.
2. Continuing with the variable declared in '.dat', If I designate a value to the variable in the principal program (A1=XP1 , A1.Z=A1.Z+100), when I use the same variable in a local subprogram, the variable still has the same value or I have to designate again a value.
- I wanted to use a POS variable declared in the principal program, in a local subprogram.
3. In a local sub_program, the first movement instruction has to be a PTP? or initiate with a PTP is just for the principal program.
4. In case I have to initiate with PTP in the sub_program but I want to use a LIN, I though about use the PTP with the same position of the last move, so the robot will not move when the PTP is executed and after the PTP I add a LIN with the real position that I wanted to move. (Ex.: Principal program: ... LIN XP2, subprogram() / In subprogram: PTP XP2 , LIN XP3)
5. Thinking about the PTP after LIN with the same position, when the robot is executing the PTP, is it going to move a little? or the robot will just pass fastly to the next instruccion.
Thanks.