Kuka Krc2 v5.5.16 - Arrays TouchUp

tomek_arcoba · Apr 4th 2020

Hi,

i have in company Kuka Kr30 with KRC2 v5.5.16 and i have installed ExpertTech. I try to TouchUp points which i have declared in .dat file as E6POS arrays, and when i select this point in .src file and put TouchUp button i get message "unknown module". But when i write some values for this point in dat file i can move robot to this points in src. Maybe know You what i do wrong ??

( i use the same function in older robot v 4.2 and everythings works fine)

e.g

DEFDAT PROG1

DECL E6POS POINT[5]

POINT[1]={X 0.0, Y 0.0, Z 0.0, A 0.0, B 0.0 , C 0.0, S 0, T 0, E1 0.0, E2 0.0, E3 0.0, E4 0.0, E5 0.0 E6 0.0}

POINT[2]={X 0.0, Y 0.0, Z 0.0, A 0.0, B 0.0 , C 0.0, S 0, T 0, E1 0.0, E2 0.0, E3 0.0, E4 0.0, E5 0.0 E6 0.0}

POINT[3]={X 0.0, Y 0.0, Z 0.0, A 0.0, B 0.0 , C 0.0, S 0, T 0, E1 0.0, E2 0.0, E3 0.0, E4 0.0, E5 0.0 E6 0.0}

POINT[4]={X 0.0, Y 0.0, Z 0.0, A 0.0, B 0.0 , C 0.0, S 0, T 0, E1 0.0, E2 0.0, E3 0.0, E4 0.0, E5 0.0 E6 0.0}

POINT[5]={X 0.0, Y 0.0, Z 0.0, A 0.0, B 0.0 , C 0.0, S 0, T 0, E1 0.0, E2 0.0, E3 0.0, E4 0.0, E5 0.0 E6 0.0}

ENDDAT

DEF PROG1()

INI

......

PTP XHOME

PTP POINT[1]

PTP POINT[2]

PTP POINT[3]

END

**panic mode** · Apr 4th 2020

you are trying to use array

**SkyeFire** · Apr 6th 2020

Points declared in an array don't work with the Inline Forms on the pendant. So the TouchUp button cannot be used that way.

tomek_arcoba · Apr 7th 2020

hi,

thanks for you replies. Yes i tried use arrays as end point for robot move and in older version( like krc v.4.1) in src file when i select line where is this point i can overwrite it using touchup button and everytngs work fine. I have reinstaled ExperTech again and now i don't get "unknown module" fault again, but when i use touchup button nothing is happend, no messages and no point data changes

tomek_arcoba · Apr 7th 2020

i don't use inline form for create a new point , i write program offline and overwrite position data using touchup function only

tomek_arcoba · Apr 7th 2020

here is part of working fine program in krc v4.1

Code

DEF p001( )
INTERRUPT DECL 10 WHEN $IN[13]==FALSE DO ROB_STOP1()
INTERRUPT ON 10




IF OFFSET_POINT_ON==TRUE THEN
GOTO OFFSETS
ENDIF
;FOLD INI;%{PE}%V3.2.0,%MKUKATPBASIS,%CINIT,%VCOMMON,%P
;FOLD BAS INI;%{E}%V3.2.0,%MKUKATPBASIS,%CINIT,%VINIT,%P
GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
INTERRUPT ON 3
BAS (#INITMOV,0 )
;ENDFOLD (BAS INI)
;FOLD A20 INI;%{E}%V3.2.0,%MKUKATPA20,%CINIT,%VINIT,%P
IF ARC20==TRUE THEN
A20 (ARC_INI)
INTERRUPT DECL 6 WHEN $CYCFLAG[3]==FALSE DO A20(TECH_STOP2)
ENDIF
;ENDFOLD (A20 INI)
;FOLD A10 INI;%{E}%V3.2.0,%MKUKATPARC,%CINIT,%VINIT,%P
IF A10_OPTION==#ACTIVE THEN
INTERRUPT DECL 4 WHEN $CYCFLAG[2]==FALSE DO A10 (#APPL_ERROR)
INTERRUPT DECL 7 WHEN A_ARC_SWI==#ACTIVE DO A10 (#ARC_SEAM)
INTERRUPT DECL 5 WHEN A_FLY_ARC==TRUE DO A10 (#HPU_ARC)
INTERRUPT  ON 5
A10_INI ( )
ENDIF
;ENDFOLD (A10 INI)
;FOLD GRIPPER INI;%{E}%V3.2.0,%MKUKATPGRIPPER,%CINIT,%VINIT,%P
USER_GRP(0,DUMMY,DUMMY,GDEFAULT)
;ENDFOLD (GRIPPER INI)
;FOLD SPOT INI;%{E}%V3.2.0,%MKUKATPSPOT,%CINIT,%VINIT,%P
USERSPOT(#INIT)
;ENDFOLD (SPOT INI)
;FOLD TOUCHSENSE INI;%{E}%V3.2.0,%MKUKATPTS,%CINIT,%VINIT,%P
IF H70_OPTION THEN
INTERRUPT DECL 15 WHEN $MEAS_PULSE[TOUCH_I[TOUCH_ACTIVE].IN_NR] DO H70 (6,CD0 )
INTERRUPT DECL 16 WHEN $ZERO_MOVE DO H70 (7,CD0 )
INTERRUPT DECL 17 WHEN $TECHPAR_C[FG_TOUCH,8]>0.5 DO H70 (8,CD0)
H70 (1,CD0 )
ENDIF
;ENDFOLD (TOUCHSENSE INI)
;ENDFOLD (INI)
$TOOL=TOOL_DATA[5]
$BASE=$WORLD
$IPO_MODE=#BASE
$APO.CDIS=50;dokladnosc dojechania do punktu dla LIN [°]
$APO.CPTP=70;dokladnosc dojechania do punktu dla PTP [%]
FOR I=1 TO 6
$VEL_AXIS[I]=100;predkosc glowna dla programu
ENDFOR
PTP XHOME3; pozycja HOME - pozwolenie na obrot
$OUT[9]=FALSE;przelaczenie vacuum na narzedziu
WAIT FOR $IN[7]==FALSE
WAIT FOR $IN[7]==TRUE;pozycja stolu
$OUT[4]=TRUE;prasa ON
LIN POINT[1]C_DIS;pozycja przed pobraniem pianki
WAIT FOR $IN[11]==TRUE;pauza
$OUT[2]=TRUE;vacuum ON
LIN POINT[2];pozycja pobrania pianki
WAIT SEC PAUSE[1];czas pobrania pianki (OFFSET - pauza 1)
WAIT FOR $IN[11]==TRUE;pauza przy pobieraniu pianki
LIN POINT[1]C_DIS; pozycja po pobraniu pianki
CONTINUE
$OUT[5]=TRUE;silownik klejarki zamkniety
PTP POINT[4] C_PTP;pozycja dojazdu do klejarki
CONTINUE
LIN POINT[5];pozycja przed walkiem klejarki
WAIT FOR $IN[11]==TRUE;pauza przed walkiem
WAIT FOR ($IN[5]==TRUE)OR($IN[2]==TRUE);czeka na zamkniecie silownika
$VEL.CP=SPEED[2];predkosc nad walkiem (OFFSET-predkosc 2)
LIN POINT[6]; pozycja za walkiem klejarki
WAIT FOR $IN[11]==TRUE;pauza za klejarka
IF (($IN[1]==TRUE)OR(DRUGA_WARSTWA==TRUE))AND ($IN[12]==FALSE) THEN;druga warstwa bez kontroli 1
$VEL.CP=SPEED[1];predkosc glowna dla LIN i CIRC (OFFSET- predkosc 1)
CIRC POINT[12],POINT[5];ruch kolowy powrotny przed walek klejarki
WAIT FOR ($IN[5]==TRUE)OR($IN[2]==TRUE);czeka na zamkniecie silownika
$VEL.CP=SPEED[2];predkosc nad walkiem
LIN POINT[6];pozycja za walkiem
WAIT FOR $IN[11]==TRUE;pauza przed walkiem, druga warstwa
DRUGA_WARSTWA=FALSE
IF ($IN[12]==TRUE)THEN;kontrola kleju druga warstwa
PTP POINT[11];pozycja kontroli kleju
WAIT SEC 1
WAIT FOR $IN[11]==TRUE;pauza przy kontroli klejenia
$FLAG[2]=TRUE
ENDIF
ENDIF
................


DEFDAT  P001 PUBLIC
;FOLD EXTERNAL DECLARATIONS;%{PE}%V3.2.0,%MKUKATPBASIS,%CEXT,%VCOMMON,%P
;FOLD BAS EXT;%{PE}%V3.2.0,%MKUKATPBASIS,%CEXT,%VEXT,%P
EXT  BAS (BAS_COMMAND  :IN,REAL  :IN )
DECL INT SUCCESS
;ENDFOLD
;FOLD A10 EXT;%{E}%V3.2.0,%MKUKATPARC,%CEXT,%VEXT,%P
EXT  A10 (A_CMD_T  :IN,A_STRT_T  :IN,A_WELD_T  :IN,A_END_T  :IN,INT  :IN )
;ENDFOLD
;FOLD A20 EXT;%{E}%V3.2.0,%MKUKATPA20,%CEXT,%VEXT,%P
EXT  A20 (INT  :IN,WELD_ST  :IN,WELD_FI  :IN,INT  :IN )
;ENDFOLD
;FOLD GRIPPER EXT;%{E}%V3.2.0,%MKUKATPGRIPPER,%CEXT,%VEXT,%P
EXT  H50 (INT  :IN,INT  :IN,INT  :IN,GRP_TYP  :IN )
;ENDFOLD
;FOLD SPOT EXT;%{E}%V3.2.0,%MKUKATPSPOT,%CEXT,%VEXT,%P
EXT  USERSPOT (S_COMMAND  :IN,SPOT_TYPE  :IN )
;ENDFOLD
;FOLD TOUCHSENSE EXT;%{E}%V3.2.0,%MKUKATPTS,%CEXT,%VEXT,%P
EXT  H70 (INT  :IN,SRCH_TYP_2  :OUT,E6POS  :IN,SRCH_TYP_3  :IN,SRCH_TYP_2  :IN,SRCH_TYP_2  :IN,SRCH_TYP_2  :IN,SRCH_TYP_2  :IN,SRCH_TYP_2  :IN,INT  :IN )
;ENDFOLD
;FOLD USER EXT;%{E}%V3.2.0,%MKUKATPUSER,%CEXT,%VEXT,%P
;Make here your modifications
;ENDFOLD
;ENDFOLD


DECL BASIS_SUGG_T LAST_BASIS={POINT1[] "P2                      ",POINT2[] "P2                      ",CP_PARAMS[] "CPDAT9                  ",PTP_PARAMS[] "PDAT16                  ",CONT[] "C_PTP                   ",CP_VEL[] "2                       ",PTP_VEL[] "100                     "}


DECL INT I
DECL REAL SPEED[40]
SPEED[1]=2.0
SPEED[2]=0.270000011
SPEED[3]=0.0399999991
DECL REAL PAUSE[40]
PAUSE[1]=0.200000003
PAUSE[2]=0.100000001
PAUSE[3]=0.5
PAUSE[4]=0.5
PAUSE[5]=0.5
DECL FRAME POINT[40]
POINT[1]={x 1475.21997,y 93.8600006,z 370.910004,a 178.880005,b -1.48000002,c 0.870000005}
POINT[2]={x 1475.20996,y 93.8600006,z 329.660004,a 178.880005,b -1.48000002,c 0.870000005}
POINT[3]={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0}
POINT[4]={x 1005.40997,y -392.200012,z 551.450012,a 178.880005,b -1.48000002,c 0.870000005}
POINT[5]={x 906.26001,y -500.380005,z 432.179993,a 178.880005,b -0.829999983,c 0.850000024}
POINT[6]={x 1256.12,y -500.380005,z 432.179993,a 178.880005,b -0.829999983,c 0.850000024}
POINT[7]={x 1475.20996,y -36.8699989,z 370.919983,a 178.880005,b -1.49000001,c 0.870000124}
POINT[8]={x 1475.19995,y -36.8600006,z 328.660004,a 178.880005,b -1.49000001,c 0.870000124}
POINT[9]={x 1465.20996,y -37.8600006,z 415.920013,a 178.880005,b -1.49000001,c 0.870000124}
POINT[10]={x 1479.75,y 99.3300018,z 401.809998,a 177.25,b -0.819999993,c 0.0700000003}
POINT[11]={x 1272.79004,y 603.159973,z 896.669983,a 175.850006,b 4.67000008,c -43.7200012}
POINT[12]={x 1054.60999,y -500.390015,z 477.329987,a 178.880005,b -0.829999983,c 0.850000024}
POINT[13]={x 887.099976,y -323.109985,z 807.469971,a 148.080002,b 4.05000019,c 53.3499985}
POINT[14]={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0}
POINT[15]={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0}
POINT[16]={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0}
POINT[17]={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0}
POINT[18]={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0}
POINT[19]={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0}
POINT[20]={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0}
POINT[21]={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0}
POINT[22]={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0}
POINT[23]={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0}
POINT[24]={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0}
POINT[25]={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0}
POINT[26]={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0}
POINT[27]={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0}
POINT[28]={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0}
POINT[29]={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0}
POINT[30]={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0}
POINT[31]={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0}
POINT[32]={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0}
POINT[33]={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0}
POINT[34]={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0}
POINT[35]={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0}
POINT[36]={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0}
POINT[37]={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0}
POINT[38]={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0}
POINT[39]={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0}
POINT[40]={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0}




ENDDAT

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and when i try use the same way in krc 5.5.16 its not working

**SkyeFire** · Apr 8th 2020

Well, how does it "not work"? Details matter. What error message do you get, on what line of that program?

tomek_arcoba · Apr 8th 2020

when i try create simply program like only few end points like e.g.

src file

DEF PROGRAM1()

INI

$TOOL=TOOL_DATA[1]

$BASE=$WORLD

$IPO_MODE=#BASE

$APO.CDIS=30

$APO.CPTP=90

FOR I=1 TO 6

$VEL_AXIS[I]=50

ENDFOR

PTP XHOME

PTP POINT[1]

PTP POINT[2]

PTP POINT[3]

PTP XHOME

END

DAT FILE

DEFDAT PROGRAM1()

DECL E6POS POINT[5]

POINT[1]={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0, S 0, T , E1 0.0, E2 0.0, E3 0.0, E4 0.0, E5 0.0, E6 0.0}

POINT[2]={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0, S 0, T , E1 0.0, E2 0.0, E3 0.0, E4 0.0, E5 0.0, E6 0.0}

POINT[3]={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0, S 0, T , E1 0.0, E2 0.0, E3 0.0, E4 0.0, E5 0.0, E6 0.0}

POINT[4]={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0, S 0, T , E1 0.0, E2 0.0, E3 0.0, E4 0.0, E5 0.0, E6 0.0}

POINT[5]={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0, S 0, T , E1 0.0, E2 0.0, E3 0.0, E4 0.0, E5 0.0, E6 0.0}

ENDDAT

Earlier when i selected any line with end point in src file, when i pushed TouchUp button i got "unknow module" message . But now after i reinstalled ExpertTech when i select the same lines in program and try overwrite it using TouchUp button i don't get any error messages and and nothing happen

no DIALOG QUERIES as a "do you really want to touch up point[1]" or something like this;/ and data of point are not overwrited

tomek_arcoba · Apr 8th 2020

and when i declare any position data ( different than 0) in dat file i can move robot to this position, but i can't overwrite it using TouchUp button

**SkyeFire** · Apr 9th 2020

I honestly don't recall ever seeing TouchUp work with array points. I know it never worked on any robot of mine. But, I never had ExpertTech.

Is the version of ET on your new robot correct for KSS 5.5? Or did you copy the ET installer from KSS 4?

tomek_arcoba · Apr 9th 2020

HI,

in KSS 4 i don't need ExpertTech, everything working without it, for KSS 5.5.16 i got it from integrator who sold this robot to the company where i work.

**panic mode** · Apr 9th 2020

That integrator may be engaging in software piracy

tomek_arcoba · Apr 10th 2020

hi ,

in this photo You can see in which way i can overwrite data of point in robot whith KSS 4.1 , and i can't do it in the same way in KSS 5.5.16.

In KSS 5.5 i don't get this message and point stays without changes ;/

hermann · Apr 10th 2020

And You see the line: TPEXERT Do you want to .....

So "Expert Tech" is installed.

tomek_arcoba · Apr 11th 2020

yes I see it here, but when i open HELP-> FUNCTION You can see what additional function You have installed in robot. And in KSS 4.1 this window is empty and in KSS 5.5 i see what i have installed earlier. I think (but im not sure) in older KSS you don't need install these all function, everything is there as a standard.

So, why if i have installed ExpertTech in KSS 5.5 i can't do that in the same way?

tomek_arcoba · Apr 18th 2020

HI,

today i'm going back to my problem And i'm seeing something weird (for me). I have installed Expert tech in my Kuka KSS 5.5 but when i try touch up any endpoint in src file i don't see TPEXPERT in messages (as in KSS 4.1) , everytimes i see TPBASIS. Can i change it maybe?

tomek_arcoba · Apr 18th 2020

Here is second photo

DannyDJ · Apr 18th 2020

Quote from tomek_arcoba

HI,
today i'm going back to my problem And i'm seeing something weird (for me). I have installed Expert tech in my Kuka KSS 5.5 but when i try touch up any endpoint in src file i don't see TPEXPERT in messages (as in KSS 4.1) , everytimes i see TPBASIS. Can i change it maybe?

That is because your are touch-uping INLINE form... Points in RED use TPBASIS... ExpertTech is used for points in raw KRL (black) ...

Do you have any other version of ExpertTech and try with that... Maybe KUKA forgot to include that function for the arrays from KSS v4.1.7 SP08 on Win95 in newer ExpertTech packages...

tomek_arcoba · Apr 18th 2020

Hi,

i have only one version with experttech, i have tried to unistall it but this function doesn't work i don't know why because i do everything in the same way as in manual

tomek_arcoba · Apr 18th 2020

I have installed other version of Expert Tech and now everythings work:)

Thanks for Your help guys

Kuka Krc2 v5.5.16 - Arrays TouchUp

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