I am configuring a KRC4 robot and it is having errors that didn't show up on our KRC2 robot running the same programs.
I did not set up the program on the KRC2, so I am trying to understand the intent while developing the functionality.
The specific issue I would like to ask about is that in the KRC2 program an array of FRAME called TTool is being set equal to the system variable $Tool.
This throws an error in the KRC4. I am assuming this is because an array of FRAME is set equal to a FRAME object. In KRC2, does this just set the first indexed item of TTool equal to the FRAME $Tool?
DECL FRAME TTool[6]
; TTool is declared in system.dat
; TTool values are set by a loaded program
; In the ToolChange program
TTool = $Tool
; this works in KRC2 (somehow) and has an error in KRC4
; KRC4 assumed solution
TTool[toolIndex] = $Tool
; This would work in KRC4, but I want to know if KRC2 would assume the toolIndex to be 0.