Kuka Ready2_animate - Str value invalid

I'll say it before someone else does.. Robot model, KSS version and tech pack versions?

are you sure structure element .STR[] is initialized?

it does not matter if code is generated or not...

important part is that code works correctly and all the time.

clearly it does not do that which is why you got the message.

so if you want it to work correctly all the time, you need to trace the problem and fix the code.

you assume that some sample code you are provided with is bullet proof. but likely reality is that code you run is just a proof of concept.

The first thing to check, when this error occurs, is the value of R2A$_PT_REG[I].STR. This will be a bit difficult, since I is a local variable, and thus not accessible from the VarCor.

If R2A$_PT_REG[] is declared in a .DAT file, then you can check its contents by filling in the index by hand, but that's a rough check. Your best option is to move the DECL INT I from the .SRC to the .DAT file and give it an initial value. Hopefully R2A$... is declared similarly. Then, when this error recurs, take an Archive before doing anything else, and the Archive will capture the status of the variables at that moment in time.

local variables can be monitored from VarCor (single variable monitor) but downside is that this requires pausing robot program before advance run pointer reaches end of subroutine.

complication here is checking of STR[] is initialized since it is not just an element of a structure but also that structure is an array element. in other words index value is changing and cannot be hardcoded. to check if variable is initialized one need to use function VARSTATE which expects string variable as a parameter. so the proper way is to first use SWRITE before calling VARSTATE. this is not the only option but it is an example of what could/should be done. but this is only the first step... to catch the problem. more work is needed to see if array is properly bound etc. so clearly this is not robust code yet.

another option is to simply check string length. this is not the same as checking if character array is initialized but it would be simpler to add and it should work.

for example insert following code between lines 96 and 97

DECL INT n
n=StrLen(R2A$_PT_REG[I].Str[])
if n<=0 then
  MsgQuit("Problem found...Now you need to deal with it. I=%1",,I)
endif