KSS 8.3 trouble with GripperTech

Quote

Hi Panic_Mode,

I am writing a personal message to you since my struggle is not that common and I just want to know if I should contact KUKA or if with some hints given I could solve the problem.

We have a KRC4 KR 360, Year of Manufacture: 2019, KSS 8.3.38 and when the robot arrived GripperSpotTech was installed but on drive D/KUKA_OPT/GripperSpotTech there were no installation files (i.e. no Setup.exe) only DOC folder and LICENSE folder. (It is very weird to me that no Setup.exe is available since the package is already installed, all the other installed package are supplied with Setup.exe file on drive D)

The first problem was that when I tried to select a program, I got a syntax error in the Grip_Func.src and more specific in line -1 (minus 1). Then I checked the folder where Grip_Func.src is located and there was a red cross on the .dat and .src files. I managed to bypass this syntax error by commenting the Grip_Func definition in the .src file. After doing that I was able to select and run a program. One more weird thing is that after editing the Grip_Func.src file, I was not able to open it again on KRC4, I had to move it to a USB and remove the commented function on the computer.

This was the introduction and the background. Now, the main problem is that in the Error List of the Grup_Func.src there are many variable and arrays that are not declared for some reason. I tried to declare some of the variables and I think it works but I am struggling with some of the structures and arrays.

I attached the Grip_Func.src file but no space for the Grip_Func.dat file, if you need it, please let me know.

Here is one of the countless array variable that are missing declaration.

I will appreciate some hints about how to approach the problem and sorry for bothering you with this stuff.

Code

;GLOBAL DEF GRPg_SetState (iGrpNo:IN, iStNo:IN) ; WHAT DOES iGrpNo:IN MEAN? I CANNOT FIND WHAT THE : OPERATOR MEANS
;call from ILF "Gripper SET" with CONT
;call from ILF "Gripper SYN SET"
;call from Func GRPg_SetStateAndCheck
  INT iGrpNo, iStNo, iGrpOut[6], iGrpVal[6], i

; MY DECLRATIONS TRIES ;  STRUC GRPg_Grp_T char Out[6]  GRPg_Grp_T GRPg_Grp[6]
; MY DECLARATION TRIES ;   BOOL bGrpGhOut[6]  IsGhostModeOn()  GRP_USR_PreSetState (iGrpNo, iStNo)    ;Read configured outputs  iGrpOut[1]=GRPg_Grp[iGrpNo].Out1  iGrpOut[2]=GRPg_Grp[iGrpNo].Out2  iGrpOut[3]=GRPg_Grp[iGrpNo].Out3  iGrpOut[4]=GRPg_Grp[iGrpNo].Out4  iGrpOut[5]=GRPg_Grp[iGrpNo].Out5  iGrpOut[6]=GRPg_Grp[iGrpNo].Out6

Best Regards

new user

Display More

Hello there

You should not ask me directly. Any robot related questions belong in forum, for everyone to participate and benefit from answers.

If you read pinned topic READ FIRST or signature below any of my posts - you would know that. So please read that first.

personal messaging is to contact familiar people or collaborate on some project or if you are trying to do something that benefits me

This should be simple - when you have a problem with a product (anything), simply contact manufacturer. KUKA is no different - just contact nearest KUKA office, give them your robot and controller serial numbers, along with your email and they will send you any software that was included with the system at the time of purchase. You can see what software was included by license stickers inside the cabinet, on the right wall. There should be one for GripperTech as well including version and your license number. If option was added later on, after robot was purchased, then referring to order number to that software would help.

The next part is about providing info when asking for help - you need to help others give you help:

You stated robot arm etc. but for GripperTech arm model is completely irrelevant.

And for GripperTech (which is one thing you have a problem with), you did not provide version number.

According to my resources, KSS8.3 supports more than one GripperTech version. Since KSS is 8.3.38, if this is really GripperTech i would guess it is the later version (V3.2).

About not finding installation executable:

Maybe it simply is not there. Many KUKA options are available in different forms. At first it was only few options that were distributed in KOP form but now, practically every KUKA option is supplied like that. GripperTech 3.2 can be in KOP form as well, not sure about 3.1.

Also are you really sure that this is GripperTech? i may be worng but to me that code sample you shared does not look like GripperTech... unless someone tried to rewrite it. it also could be something custom. Btw inline forms could also be created using UserTech. For average user GripperTech is simpler to setup but i prefer UserTech since it provides way more bang for the buck.

When passing parameters to subprogram or function, IN and OUT indicte type of parameter transfer.

IN is same as ByVar in many other programming languages.

OUT is same as ByRef in many other programming languages.

So in this case parameter "iGrpNo:IN" is simply index for gripper number.

"iGrpNo" is name used inside sub or function, while IN indicates that parameter is transfered by value.

In this case ":" is just a separator. In other places it could mean other things, namely Geometric operator and part of GOTO syntax.

; MY DECLRATIONS TRIES ; STRUC GRPg_Grp_T char Out[6] GRPg_Grp_T GRPg_Grp[6]

that cannot work, IN and OUT are keywords and therefore you cannot use them to create own variables or structure elements like OUT[6].