Approximated points

Hi all,

I'm new to KRL (I worked with a Panasonic before) and I'm having notification messages that I'm trying to resolve but I'm not successful so far.

System used:

KR3 R540 C4SR

KSS 8.3.38

Prog 'dprd576_0003'

; GRIPPER APPROCH
;FOLD SPTP P6 Vel=3 % PDAT4 Tool[2]:dprd-576_centergripper Base[1]:dprd-576_basegripper;%{PE}%R 8.3.48,%MKUKATPBASIS,%CSPLINE,%VSPTP_SB,%P 1:SPTP_SB, 2:P6, 3:, 5:3, 7:PDAT4
SPTP XP6 WITH $VEL_AXIS[1]= SVEL_JOINT( 3), $TOOL= STOOL2( FP6), $BASE= SBASE( FP6.BASE_NO),$IPO_MODE= SIPO_MODE( FP6.IPO_FRAME), $LOAD= SLOAD( FP6.TOOL_NO), $ACC_AXIS[1]= SACC_JOINT( PPDAT4), $GEAR_JERK[1]= SGEAR_JERK( PPDAT4)
;ENDFOLD

…going though different points/commands

; SAFE POSITION
;FOLD SPTP P1 CONT Vel=25 % PDAT1 Tool[2]:dprd-576_centergripper Base[1]:dprd-576_basegripper;%{PE}%R 8.3.48,%MKUKATPBASIS,%CSPLINE,%VSPTP_SB,%P 1:SPTP_SB, 2:P1, 3:C_DIS, 5:25, 7:PDAT1
SPTP XP1 WITH $VEL_AXIS[1]= SVEL_JOINT( 25), $TOOL= STOOL2( FP1), $BASE= SBASE( FP1.BASE_NO),$IPO_MODE= SIPO_MODE( FP1.IPO_FRAME), $LOAD= SLOAD( FP1.TOOL_NO), $ACC_AXIS[1]= SACC_JOINT( PPDAT1), $APO= SAPO_PTP( PPDAT1), $GEAR_JERK[1]= SGEAR_JERK( PPDAT1) C_SPL
;ENDFOLD

Prog 'dprd576_0004'

 ; SAFE POSITION
;FOLD SPTP P14 Vel=25 % PDAT5 Tool[2]:dprd-576_centergripper Base[1]:dprd-576_basegripper;%{PE}%R 8.3.48,%MKUKATPBASIS,%CSPLINE,%VSPTP_SB,%P 1:SPTP_SB, 2:P14, 3:, 5:25, 7:PDAT5
SPTP XP14 WITH $VEL_AXIS[1]= SVEL_JOINT( 25), $TOOL= STOOL2( FP14), $BASE= SBASE( FP14.BASE_NO),$IPO_MODE= SIPO_MODE( FP14.IPO_FRAME), $LOAD= SLOAD( FP14.TOOL_NO), $ACC_AXIS[1]= SACC_JOINT( PPDAT5), $GEAR_JERK[1]= SGEAR_JERK( PPDAT5)
;ENDFOLD

…going though different points/commands

   ; SAFE POSITION
;FOLD SPTP P14 CONT Vel=25 % PDAT5 Tool[2]:dprd-576_centergripper Base[1]:dprd-576_basegripper;%{PE}%R 8.3.48,%MKUKATPBASIS,%CSPLINE,%VSPTP_SB,%P 1:SPTP_SB, 2:P14, 3:C_DIS, 5:25, 7:PDAT5
SPTP XP14 WITH $VEL_AXIS[1]= SVEL_JOINT( 25), $TOOL= STOOL2( FP14), $BASE= SBASE( FP14.BASE_NO),$IPO_MODE= SIPO_MODE( FP14.IPO_FRAME), $LOAD= SLOAD( FP14.TOOL_NO), $ACC_AXIS[1]= SACC_JOINT( PPDAT5), $APO= SAPO_PTP( PPDAT5), $GEAR_JERK[1]= SGEAR_JERK( PPDAT5) C_SPL
;ENDFOLD

Those 2 programs are subprograms of this program 'dprd576_0000':

FOR counter = 1 TO 2
      
   ; PICKING SUBPROGRAM
      dprd576_0001()
      
   ;FOLD ; LASER CHECK
      dprd576_0002()
      IF $IN[1]==TRUE THEN
         GOTO end_peeling
      ENDIF
   ;ENDFOLD

   ; PEELING SUBPROGRAM
      dprd576_0003()
   
   ; DROPPING SUBPROGRAM
      dprd576_0004()

   end_peeling:
      ; SAFE POSITION
;FOLD SPTP P1 Vel=25 % PDAT1 Tool[2]:dprd-576_centergripper Base[1]:dprd-576_basegripper;%{PE}%R 8.3.48,%MKUKATPBASIS,%CSPLINE,%VSPTP_SB,%P 1:SPTP_SB, 2:P1, 3:, 5:25, 7:PDAT1
SPTP XP1 WITH $VEL_AXIS[1]= SVEL_JOINT( 25), $TOOL= STOOL2( FP1), $BASE= SBASE( FP1.BASE_NO),$IPO_MODE= SIPO_MODE( FP1.IPO_FRAME), $LOAD= SLOAD( FP1.TOOL_NO), $ACC_AXIS[1]= SACC_JOINT( PPDAT1), $GEAR_JERK[1]= SGEAR_JERK( PPDAT1)
;ENDFOLD

ENDFOR

;FOLD SPTP HOME Vel=25 % DEFAULT Tool[2]:dprd-576_centergripper Base[1]:dprd-576_basegripper;%{PE}%R 8.3.48,%MKUKATPBASIS,%CSPLINE,%VSPTP_SB,%P 1:SPTP_SB, 2:HOME, 3:, 5:25, 7:DEFAULT
SPTP XHOME WITH $VEL_AXIS[1]= SVEL_JOINT( 25), $TOOL= STOOL2( FHOME), $BASE= SBASE( FHOME.BASE_NO),$IPO_MODE= SIPO_MODE( FHOME.IPO_FRAME), $LOAD= SLOAD( FHOME.TOOL_NO), $ACC_AXIS[1]= SACC_JOINT( PDEFAULT), $GEAR_JERK[1]= SGEAR_JERK( PDEFAULT)
;ENDFOLD

When I'm running the program dprd576_0000 in T1 (or T2) GO mode, I get the following notification:

"Approximated positioning not possible (module dprd576_0003, block#)(=>1442)"

followed by "Sequence of instructions that cannot be approximated (module dprd576_0004, block#)"

In fact I have those notifications too between sub prog 0001 and 0002 but not between sub prog 0002 and 0003.

I tried many things such as:

- removing the CONT when I had it

- using PTP instead SPTP

- adding an advance run stop with a WAIT SEC 0

- removing APO_MODE=C_DIS in the dat files

None of this worked.

So here are my questions:

1. Any idea why it's trying to approximate these points even though its not requested in the code?

2. What the number after "block" is referring too? obviously not the line number because it doesn't correspond (for example notification would say block86 but I have only 50 lines)

Thanks in advance

Quote from panic mode

1. can't see actual code, only few selected instructions. there must be something trying to use approximation and not succeeding due program structure in fact you complain about message poping up when program transitions from sub 0001 to sub 0002 but you only show code for subs 0000, 0003 and 004. are you kidding or this is accidental?

I didn't include the INI part of the code because it is as per default when creating a new module and in my user INI I have the initialisation of my counter and outputs but otherwise what I showed here is literally the 1st line after the INI and the last line before END.

I didn't include the sub 0001 and 0002 because these are similar to 0003 and 0004 just moving to difference points so I assumed if someone could answer on those programs it will be the solution for all programs and in READ FIRST it is clearly specify to keep "brief(!) code sample". Sorry for trying to follow your rules!

Anyway, this will not answer to my question so see attached the full code (src + dat) of all programs!

Quote from panic mode

2. it is not only 50 lines. line number mentioned in messages is correct only if you open ALL folds. or if working offline and you open file in plain text editor such as Notepad or Notepad++ just add number of header lines (prefix &) to line number mentioned in message. that will take you to line of interest.

Yes that's what I thought too but I checked using WorkVisual to compare and it doesn't correspond.

Quote from fuzzy_l

After making sure that the robot performs all the movements safely, you can connect WV5 and in debug mode (T2) see where the green arrow meets the yellow one.

Thanks fuzzy, I'll try that.

Quote from hermann

In your provided files still are some movements with approximation: f.e. dprd576_0001(): SPTP P1 CONT Vel=25%....

Yes I know, I tried with no CONT movement at all but I still got the notifications.

Quote from SBDP_4.0

When I'm running the program dprd576_0000 in T1 (or T2) GO mode, I get the following notification:

"Approximated positioning not possible (module dprd576_0003, block#)(=>1442)"

followed by "Sequence of instructions that cannot be approximated (module dprd576_0004, block#)"

Just in case I wasn't clear, I'm getting these messages when transiting from sub0003 to sub0004 (and sub0001 to sub0002 respectively) - so in T1 Motion mode, last line of sub0003 there is no message but when reaching sub0004 first motion line those 2 messages appears simultaneously.

The code I sent were the version I had on my PC so not the latest - sorry about that - but you were right, I had forget one CONT in my code.

Thanks

Quote from panic mode

in fact you stated that 0003 and 004 did NOT have an issue

Nope I stated that between 0002 and 0003 there was no issue.

The message of the notification was stating 0003 and 0004 that's why said that I had those notifications too between 0001 and 0002.

Sorry to tell you that but your answers are very agressive… I'm sure you are very proficient in KRL but not everybody are - we are all glad that expert like you can help people like me - so a little of indulgence would be appreciated.

Quote from panic mode

also you did not state that those are global subroutines

Would a local subroutine have change something? Can you have a CONT motion as a last point if the subroutine is local rather than global?