Selection of default Tool and Base after powerOn/Restart

  • Hi

    I have a question: Is there a setting or a menu where i can select default tool and base after power on/ restart?


    I have KUKA KRC4 - 8.3.17, and i work on workvisual 5.0

    Robot: KUKA Roboter KR 340 R3330

    Cabinet: KRC4 SC2 EA1x X11 X51 X66 X33 NL


    I tried adding a one time bas command in the sps.sub, but that resulted with error which said that BAS command is not allowed in the SPS.


    It is strange because it worked fine previously (after restart default tool 0, base 0), but after redeployment of the project because of corrupted drive, now when KRC restarts it sets up the tool and base into ?. I tried comparing the projects but it looks like nothing has changed in the config.dat or machine.dat.

    According to our customer, the operator was annoyed that he needs to manually switch tool /base from ? to 0 on every power cycle :face_with_rolling_eyes:

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  • variables used by motion planner cannot be modified by submit. you can still read them but not write to them.

    that includes tool, base, advance run, programmed speed etc. SPS can modify override speed but not programmed speed.


    solution to your problem is to make a robot program that initializes desired parameters. such program cannot be run in SPS but it could be selected by SPS (and deselected by SPS after execution completes).


    but, why bother.... just tell operators that they do not need to do this. they just need to select and run program.

    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

  • .. It is strange because it worked fine previously (after restart default tool 0, base 0), but after redeployment of the project because of corrupted drive, now when KRC restarts it sets up the tool and base into ?.....

    Nearly can't believe that. The only possibility may be if warm boot is active, never checked that, I always use cold boot, warm boot is source of many issues.

  • i would like to see the code that used BAS() in the SPS and worked...

    i am quite certain that it never did... or at least it was not detected. most likely it was just an assumption of mistaken observation...

    perhaps using multisubmit and assuming that all submits are running because S was still green, even though one of them was failing to compile and run

    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

  • Don't think that Sar92 meant that the code in the sps.sub worked but it worked that after a boot there was selected a tool and base (it's magic :winking_face:).

    He tried to solve the 'problem' with the statements in sps.sub, without knowing how it was realized in the system before.

  • Greetings dear moderators


    I have the same problem as Sar92.


    When the robot does a startup after being shutdown, Tool and Base stay on "?"


    When I check the system variable $ACT_TOOL_C it shows me that the Tool and Current Base are at -1.


    And it also shows me an error message.


    Is there a way that when the robot restarts it stays in Tool and Base 0?

  • The answer is the same. You can do whatever you like.


    The default is that tool and base are not selected using value -1 which on HMI may be shown as "?" for 'unknown'. There are seasons for that and for example one may be the workspace monitoring after program is deselected.


    And if you want to use some tool and base, you need to select it either by program or manually (for jogging for example when no program is selected). the fact is that robot can have many programs and each program can be using different tool and base


    KUKA has no idea which tool or base you want to use as a default. Neither KUKA nor we know that the error message you see on your teach pendant. If you would like some comments on that, you may want to tell or show what the message is really about.


    If you want that YOUR default tool and base are always in every program you make on your robot, feel free to modify program template (Vorlage).

    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

  • Thanks Panic Mode


    As always, you save the day.


    I owe you a beer :winking_face:

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