Is technology package programming a dark art?

    So just a general question.

    Using the example of the servo gun technology package irrelevant of version etc.

    Looking at servo gun tech package and all the functions, declarations, structures, enums.... it seems extremely overwhelming.

    Has anyone really fiddled in depth with these packages, changing code or reprogramming them to make it work for your particular case.

    On a project i was asked to program the background tip dressing, allowing a pedestal gun to tip dress while the robot is in a production cycle, busy.

    Reading through the variables that was given in this manual and some vague explanations about what should happen.

    I felt completely in the dark, not knowing where to start, what conditions to include in each function etc.

    Looking back at it now i am thinking should i have just copied a normal tip dressing functionality for a gun on the flange and adapt it to the pedestal and make use of these background dressing variables or completely from scratch.

    Is there an actual course or documentation to go through that will assist

    or

    does it just come down to, someone else accomplished it before so grab their example and adapt it and in so you gain your experience in what seems to me like a dark art.

    For most Tech Packages, all the KRL code is fully accessible in the R1/TP/ subdirectory specific to that package. I've spent a lot of hours "hacking" various TPs to make them work in ways they were not intended to.

    There are some TPs that involve deeper changes that aren't just KRL -- Force-Torque Control and RSI come to mind. But for most TPs, you should be able to follow every subroutine call back through the added modules.

    It's often not easy, b/c the KUKA TPs tend to be very complex, in order to support many different options, and they devote large amounts of code to strong error handling. But it's not beyond anyone who understands how programming works and is willing to devote the time to really drill deep into the TPs.

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    Reading through the variables that was given in this manual and some vague explanations about what should happen.

    I felt completely in the dark, not knowing where to start, what conditions to include in each function etc.

    i hear you, but try reading some vague forum posts, not mentioning KSS version, or tech package version, etc.

    btw. same thing can be implemented differently in different versions and some version may not even have it

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    Is there an actual course or documentation to go through that will assist

    if you have tech option, it will have the correct manual... but we don't know the version of what you have there.

    i always like to recommend reading READ FIRST... if the goal is to get an answer that resolves some issue.

    but that is not needed if the discussion is meant to be purely philosophical like "what if...", " or "is it a dark art"

    spot welding is normally done with help of tech package. not all of them will have same features and even if they do, there is no guarantee that they may be implemented the same way or documented as well. the way i think of it at the moment, background tip dressing is simply process that runs asynchronously from the robot task and should only need some I/O to control. in case of KRC4 controller, ServoGun TC tech packages before version 4.1 did not even have background tip dressing so this would be something integrator had to do from scratch. also there is more than one ServoGun tech package (TC, FC..)

    in other words if "someone else accomplished it before" may not be even comparable to what you may have there.

    1) read pinned topic: READ FIRST...

    2) if you have an issue with robot, post question in the correct forum section... do NOT contact me directly

    3) read 1 and 2

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