Robot arm misbehaves when used #TOOL with LIN_REL in KRL

Hello,

I am very new to KUKA Programming, therefore sorry for bad explanation. The project I am working on has requirement that my Gripper should operate relative to tool. Therefore, I have used LIN_REL with #TOOL. But sometimes the Arm misbehaves and goes downwards and collide with the ground. I don't know what mistake I have done. I am using TWINCAT for most of my logic. Only positons is given by KUKA.

Any help is very much appreciated.

My code is below:

&ACCESS RVO

DEF MoveWithLINPTPandREL ( )

DECL INT velCut

DECL E6POS zielPosition, istPosition, zielPositionRelativ

DECL FRAME zielFrame

zielPosition = {X 1000,Y -540,Z 1500}

zielPositionRelativ = {X 0,Y -200,Z 0}

;$PAL_MODE = TRUE ; schaut senkrecht runter

;FOLD PTP HOME Vel= 100 % DEFAULT;%{PE}%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:HOME, 3:, 5:100, 7:DEFAULT

$BWDSTART = FALSE

PDAT_ACT=PDEFAULT

FDAT_ACT=FHOME

BAS (#PTP_PARAMS,100 )

$H_POS=XHOME

PTP XHOME

;ENDFOLD

RelPosReached = 0

LOOP

INTERRUPT ON 1

SWITCH moveType

CASE 0 ; PTP

RelPosReached = 0

;FOLD Input Zuweisung

zielPosition.x = xEingaenge

zielPosition.Y = yEingaenge

zielPosition.Z = zEingaenge

zielPosition.A = aEingaenge / 10

zielPosition.B = bEingaenge / 10

zielPosition.C = cEingaenge / 10

;ENDFOLD

BAS(#VEL_PTP, velocity) ; in %

PTP zielPosition

CASE 1 ; LIN

RelPosReached = 0

;FOLD Input Zuweisung

zielPosition.x = xEingaenge

zielPosition.Y = yEingaenge

zielPosition.Z = zEingaenge

zielPosition.A = aEingaenge / 10

zielPosition.B = bEingaenge / 10

zielPosition.C = cEingaenge / 10

;ENDFOLD

BAS(#VEL_CP, velocity) ; in %

LIN zielPosition

CASE 2 ; LIN_REL

RelPosReached = 0

zielPositionRelativ.x = xEingaenge

zielPositionRelativ.Y = yEingaenge

zielPositionRelativ.Z = zEingaenge

zielPositionRelativ.A = aEingaenge / 10

zielPositionRelativ.B = bEingaenge / 10

zielPositionRelativ.C = cEingaenge / 10

BAS(#VEL_CP, velocity) ; in %

;RelPosReached = 0 ; nichts mehr Empfangen

LIN_REL zielPositionRelativ #TOOL

RelPosReached = 1

CASE 3 ;idle

RelPosReached = 0

DEFAULT

zielPosition.x = xEingaenge

zielPosition.Y = yEingaenge

zielPosition.Z = 2000

BAS(#VEL_CP, velocity) ; in %

LIN zielPosition

ENDSWITCH

INTERRUPT OFF 1

;FOLD IstPosition Abspeichern

istPosition = $POS_ACT_MES

xAusgaenge = istPosition.x

yAusgaenge = istPosition.y

zAusgaenge = istPosition.z

aAusgaenge = istPosition.A * 10

bAusgaenge = istPosition.B * 10

cAusgaenge = istPosition.C * 10

;ENDFOLD

ENDLOOP

Hi,

it is configured in .dat file. Anything should be changed there?

Hi hermann,

maybe it sounds dumb, as I am new in KUKA Prg. But the code I have attached is the complete one. What you asked is not there in the running programm. Do I need to do that?

also when I run the programm from the SmartPAD, there I am selecting my tool and base.

Did I correctly got your point?

Quote from SkyeFire

First: Use quoting. Especially when replying to a post over a month old.

Second: What is "configured in a .dat file"? $TOOL is not set in a .DAT file, because $TOOL is a system variable and is not part of any .DAT file. $TOOL can only be set by executable code (generally only located in .SRC files).

Inline Form (ILF) motion commands (in other words, those programmed using the pendant menus, instead of writing "raw" KRL) include code snippets to call BAS.SRC, and send it variables that set $TOOL (also $BASE, and other system variable for motion speed, approximation, acceleration, etc).

If you write a "raw" KRL program without explicitly specifying $BASE, $TOOL, and these other variables, then you have no control over what Tool/Base/etc data are active when you run your program.

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Thanks for elaboration. I will now look more into that.