Create subprogram & use it globally

    Hello,

    Excuse my newbie question. I have been looking for an answer everywhere but no success.

    What I'm trying to achieve:

    I would like to create multiple routines (startWelding, stopWelding etc) and use them globally in any file.I would like to, if possible, have all these routines in one single file

    My questions:

    1. Should it be a module, a function or an expert module?
    2. How can I define these routines globally to be used in any file?
    3. How can I access and use the subprogram from another file?
    4. How to debug a project that couldn't be deployed on to the controller(for example error in a .src file that stopped the deployment)?

    Looking forward for your answers.

    Zaid

    1. This depends on what is Your objective. Functions, for example, can return a value. But on most cases, a module will suffice.

    2. On some cases You need declare the routine as global, as GLOBAL DEF MyRoutine (). On other cases, You can just declare it normally, DEF MyRoutine()

    3. On other program, You just write MyRoutine ()

    4) Open the defective file on WorkVisual and see the error messages. KRL editor is going better with newer versions, so it probably will warn You on the right spot.

    And, about Your other questions, yes, You can have all Your subroutines on the same file, and on some scenarios, this is the best way to proceed, since You will have a single library to manage.

    KSS 8.7 on a KRC5 micro.

    The robot complains that this Syntax is a problem and does not even let me open the file. Not even outside the KRC:\R1 folder


    When I try to copy the file to R1 folder, it says

    "File format not correct (header syntax).... "
    Originator: ReadHeader()

    I delete the GLOBAL and everything is fine.

    Code
    GLOBAL DEF OpenGrip ( )
PULSE (PleaseOpenGripper, TRUE, 3600)
WAIT FOR GripperOpen
PleaseOpenGripper = FALSE
END


    So how do I create small programs that can be called from larger programs globally?

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