Hi,
KRC4
KSS 8.5.7
KR60-3 Robot with DKP 400-40 2 axis manipulator
I'm running into an issue, that seems to be stemming from passing ENUM data type to a sub routine. I have a routine to set the robot speed. This was previously used to only set the CP TCP velocity, and it worked fine, but now I'd like it to also be able to set axis velocities. So I have modified the routine to accept an ENUM of "moveType".
GLOBAL DEF setSpeed(R_velocity:IN,MOVE:IN)
;===================================================
DECL REAL R_velocity
DECL moveType MOVE
DECL REAL PTP_Percent
DECL INT i
...
END
In a .dat file I use to store global variables, I have a created the ENUM moveType so you can choose whether you are setting the LIN speed, or the PTP speed, and in my main file, I'm simply trying to call the above routine.
GLOBAL ENUM moveType LINMOVE,PTPMOVE
DECL GLOBAL moveType lin_move=#LINMOVE
DECL GLOBAL moveType ptp_Move=#PTPMOVE
However, any instance of setSpeed throws back the error 2135 "Name not declared as subprogram" .
Uuhhh pardon me kuka, but I declared it globally. I have tried calling setSpeed every different way I can think of, but nothing works.
Does anyone know why this is happening?