Hello,
I 'm starting up my first Kuka robot (KRC4 -8.5.8) and have some trouble with the function $Axis_.
I have tried different things but i don't see the logic when it goes good and bad.
Shortly, I'm trying to get the last used robot Axis target point to use for calculations. When I use this code everything works fine:
XCurrentposition=$axis_ACT
XHomebetween.A1=XCurrentposition.a1
MoveJ(XHomeBetween, speedjointH, cnt100, T1, B1)
With the above code everything goes like it should but i get a program stop on the function $axis_ACT and i can not make a round movement . So I put a CONTINUE before the function and replace with $axis_FOR.
Now I thought this should work but the axis_for is not always filled in with the correct position. The $advance is on 1.
Is $axis_FOR always filled in by PTP, SPTP, LIN, SLIN, CIRC?
How can i do this without program stop?
Just if anyone asks what I do with my strange way of making the robot move. I have made some program's like moveJ, moveL and MovePTP. This is just because i like to change program's on my computer and don't like the way of inline form's KUKA uses.