Adjusting TOOL_DATA

martenH · Oct 28th 2021

Right now I have a program that calculates the lenght of a tool over the z axis and it loads this into a database. However I want to adjust the TCP of the tool on the XYZ and orientation location with this toollenght. This is because the toolholder is mounted to the 6 axis with around 30 degrees offset. So every new tool loaded into the program will have a different TCP because of this offset. I can calculate the needed data however I dont know how to load these coördinates into TOOL_DATA[1]. This is what i thought would work but im getting compiling errors back. So how do i adjust the TOOL_DATA[1] with new coördinates that I calculated.

Code

DEF TOOLM() ;Subroutine for toolsetter
INTERRUPT OFF 1 ;Deactivate interrupt
BRAKE ;Stop robotarm movement
Z1=$POS_INT ;Register location on the Z axis at moment of interrupt
ToolLenght_1=StartPos-Z1.z ;Calculate distance traveled on the Z axis
ToolLenght_2=ToolCorecction-ToolLenght_1 ;Subtract distance traveld on the z axis from work area
ToolLenght_1Z=Z1.z ;Safe location on Z axis
ToolLenght_1X=Z1.x ;Safe location on X axis
ToolLenght_1Y=Z1.y ;Safe location on Y axis
$OUT[1]=TRUE ;turn on output 1
;FOLD WAIT Time=1 sec;%{PE}%R 5.5.31,%MKUKATPBASIS,%CWAIT,%VWAIT,%P 2:1
WAIT SEC 1
;ENDFOLD
ToolX=COS (ToolA)*ToolLenght_2
ToolY=SIN (ToolA)*ToolLenght_2
ToolZ=ToolLenght_2
TOOL_DATA[1]={X ToolX, Y ToolY, Z ToolZ, A ToolA, B ToolB, C ToolC}
RESUME ;Continue program
END

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Code

DECL REAL StartPos=1136.21594 ;StartPosition
DECL REAL ToolLenght_1=41.0490723 ;Distance traveled
DECL REAL ToolLenght_2=220.855896 ;Measured toolenght
DECL REAL ToolCorecction=261.661926 ;Working area

DECL REAL ToolLenght_1Z=1095.16687 ;Second measurment Z axis position
DECL REAL ToolLenght_1X=13.9668493 ;Second measurment X axis position
DECL REAL ToolLenght_1Y=759.555847 ;Second measurment Y axis position

DECL REAL ToolX=0.0
DECL REAL ToolY=0.0
DECL REAL ToolZ=0.0

DECL REAL ToolA=30.14263
DECL REAL ToolB=89.8666
DECL REAL ToolC=0

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Fubini · Oct 28th 2021

You can not use variables in aggregates like this:

TOOL_DATA[1]={X ToolX, Y ToolY, Z ToolZ, A ToolA, B ToolB, C ToolC}

You need to assign them individually

TOOL_DATA[1].X = ToolX

TOOL_DATA[1].Y = ToolY

...

And btw but probably not my business: why not using the geometric operator ":" for your tool shifts?

Fubini

martenH · Oct 28th 2021

Aaaah ofcourse! thankyouuu. I wasnt aware that those exist im still quite new to KLR programming. however when I use ":" it gives me the error message that "=" is expected... And when i use "=" it gives me the error that there is no structure data type...

Code

&ACCESS RVP
&REL 42
&PARAM EDITMASK = *
DEF toolsetter_measure_TCP_1( )
;FOLD INI
  ;FOLD BASISTECH INI
    GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
    INTERRUPT ON 3 
    BAS (#INITMOV,0 )
  ;ENDFOLD (BASISTECH INI)
   
  ;FOLD USER INI
    ;Make your modifications here

  ;ENDFOLD (USER INI)
;ENDFOLD (INI)
$TOOL=TOOL_DATA[1]
;FOLD PTP HOME Vel=30 % DEFAULT;%{PE}%R 5.5.31,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:HOME, 3:, 5:30, 7:DEFAULT
$BWDSTART=FALSE
PDAT_ACT=PDEFAULT
FDAT_ACT=FHOME
BAS(#PTP_PARAMS,30)
$H_POS=XHOME
PTP XHOME 
;ENDFOLD
;FOLD PTP P1 Vel=30 % PDAT1 Tool[0] Base[0];%{PE}%R 5.5.31,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:P1, 3:, 5:30, 7:PDAT1
$BWDSTART=FALSE
PDAT_ACT=PPDAT1
FDAT_ACT=FP1
BAS(#PTP_PARAMS,30)
PTP XP1 
;ENDFOLD
ST=$POS_ACT ;Gather robotcoördinates 
StartPos=ST.z ;Safe location on the Z axis as starting position
ToolLenght_2Z=ST.z ;Safe location on Z axis
ToolLenght_2X=ST.x ;Safe location on X axis
ToolLenght_2Y=ST.y ;Safe location on Y axis
INTERRUPT DECL 1 WHEN $IN[1]==TRUE DO TOOLM() ;Declare interrupt 
MOVEZ() ;Start Z axis movement
INTERRUPT OFF 1 ;Turn off interrupt
;FOLD PTP HOME Vel=30 % DEFAULT;%{PE}%R 5.5.31,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:HOME, 3:, 5:30, 7:DEFAULT
$BWDSTART=FALSE
PDAT_ACT=PDEFAULT
FDAT_ACT=FHOME
BAS(#PTP_PARAMS,30)
$H_POS=XHOME
PTP XHOME 
;ENDFOLD
$OUT[1]=FALSE ;Deactivate output 1
END
DEF MOVEZ() ;Moving the robot from position 1 to position 2 on the Z axis 
INTERRUPT ON 1 ;Activate interrupt 
;FOLD LIN P3 Vel=0.5 m/s CPDAT1 Tool[0] Base[0];%{PE}%R 5.5.31,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:P3, 3:, 5:0.5, 7:CPDAT1
$BWDSTART=FALSE
LDAT_ACT=LCPDAT1
FDAT_ACT=FP3
BAS(#CP_PARAMS,0.5)
LIN XP3 
;ENDFOLD
;FOLD WAIT Time= 0.0 sec;%{PE}%R 8.3.22,%MKUKATPBASIS,%CWAIT,%VWAIT,%P 2:0.0
WAIT SEC 0.0
;ENDFOLD ;Wait for interrupt
END
DEF TOOLM() ;Subroutine for toolsetter
INTERRUPT OFF 1 ;Deactivate interrupt
BRAKE ;Stop robotarm movement
Z1=$POS_INT ;Register location on the Z axis at moment of interrupt
ToolLenght_1=StartPos-Z1.z ;Calculate distance traveled on the Z axis
ToolLenght_2=ToolCorecction-ToolLenght_1 ;Subtract distance traveld on the z axis from work area
ToolLenght_1Z=Z1.z ;Safe location on Z axis
ToolLenght_1X=Z1.x ;Safe location on X axis
ToolLenght_1Y=Z1.y ;Safe location on Y axis
$OUT[1]=TRUE ;turn on output 1
;FOLD WAIT Time=1 sec;%{PE}%R 5.5.31,%MKUKATPBASIS,%CWAIT,%VWAIT,%P 2:1
WAIT SEC 1
;ENDFOLD
ToolX=COS (ToolA)*ToolLenght_2
ToolY=SIN (ToolA)*ToolLenght_2
ToolZ=ToolLenght_2
TOOL_DATA[1].X=ToolX
TOOL_DATA[1].Y=ToolY
TOOL_DATA[1].Z=ToolZ
TOOL_DATA[1].A=ToolA
TOOL_DATA[1].B=ToolB
TOOL_DATA[1].C=ToolC
RESUME ;Continue program
END

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Code

&ACCESS RVP
&REL 42
&PARAM EDITMASK = *
DEFDAT toolsetter_measure_TCP_1
;FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P
;FOLD BASISTECH EXT;%{PE}%MKUKATPBASIS,%CEXT,%VEXT,%P
EXT  BAS (BAS_COMMAND  :IN,REAL  :IN )
DECL INT SUCCESS
;ENDFOLD (BASISTECH EXT)
;FOLD USER EXT;%{E}%MKUKATPUSER,%CEXT,%VEXT,%P
;Make here your modifications

;ENDFOLD (USER EXT)
;ENDFOLD (EXTERNAL DECLARATIONS)
DECL E6POS XP1={X 13.9723101,Y 759.556091,Z 1136.21594,A 0.812798977,B 33.6138611,C -89.4931488,S 6,T 19,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
DECL BASIS_SUGG_T LAST_BASIS={POINT1[] "P5                      ",POINT2[] "P5                      ",CP_PARAMS[] "CPDAT0                  ",PTP_PARAMS[] "PDAT6                   ",CONT[] "                        ",CP_VEL[] "0.5                     ",PTP_VEL[] "30                      ",SYNC_PARAMS[] "SYNCDAT                 ",SPL_NAME[] "S0                      "}
DECL FDAT FP1={TOOL_NO 0,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}
DECL PDAT PPDAT1={VEL 100.0,ACC 100.0,APO_DIST 100.0}
DECL E6POS XP2={X 1175.51001,Y 66.8519516,Z 1534.073,A -83.5087433,B 33.6255913,C -89.470047,S 6,T 51,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
DECL FDAT FP2={TOOL_NO 0,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}
DECL PDAT PPDAT2={VEL 100.0,ACC 100.0,APO_DIST 100.0}
DECL E6POS XP3={X 13.9367199,Y 759.557007,Z 858.341125,A 0.834757924,B 33.607151,C -89.4694672,S 6,T 19,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
DECL FDAT FP3={TOOL_NO 0,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}
DECL PDAT PPDAT3={VEL 100.0,ACC 100.0,APO_DIST 100.0}
DECL PDAT PPDAT4={VEL 100.0,ACC 100.0,APO_DIST 100.0}
DECL E6POS XP4={X 1339.78796,Y -287.258301,Z 1390.67798,A 94.3873367,B -33.7286797,C -75.4515076,S 6,T 51,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
DECL FDAT FP4={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}
DECL PDAT PPDAT5={VEL 100.0,ACC 20.0,APO_DIST 100.0}

DECL REAL StartPos=1136.21594 ;StartPosition
DECL REAL ToolLenght_1=41.0490723 ;Distance traveled
DECL REAL ToolLenght_2=220.855896 ;Measured toolenght
DECL REAL ToolCorecction=261.661926 ;Working area

DECL REAL ToolLenght_1Z=1095.16687 ;Second measurment Z axis position
DECL REAL ToolLenght_1X=13.9668493 ;Second measurment X axis position
DECL REAL ToolLenght_1Y=759.555847 ;Second measurment Y axis position

DECL REAL ToolLenght_2Z=1136.21594 ;First measurment Z axis position
DECL REAL ToolLenght_2X=13.9723101 ;First measurment X axis position
DECL REAL ToolLenght_2Y=759.556091 ;First measurment Y axis position

DECL REAL ToolX=0.0
DECL REAL ToolY=0.0
DECL REAL ToolZ=0.0

DECL REAL ToolA=30.14263
DECL REAL ToolB=89.8666
DECL REAL ToolC=0

DECL LDAT LCPDAT1={VEL 2.0,ACC 100.0,APO_DIST 100.0,APO_FAC 50.0,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0}
DECL E6POS XP5={X 13.9723101,Y 759.556091,Z 1136.21594,A 0.812798977,B 33.6138611,C -89.4931488,S 6,T 19,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
DECL FDAT FP5={TOOL_NO 0,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}
DECL PDAT PPDAT6={VEL 100.0,ACC 100.0,APO_DIST 100.0}

DECL REAL TOOL_DATA[1]


ENDDAT

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Fubini · Oct 28th 2021

Quote

however when I use ":" it gives me the error message that "=" is expected... And when i use "=" it gives me the error that there is no structure data type...

Probably as before just a syntax issue. Did you use it like e.g. this

NewFrame = OldFrame : {X 0, Y 0, Z 0, A 0, B 0, C 60}

It rotates X-Axis by 60 degrees. Of course if you have variables you still need to assign them individually. Then its something like this

myVal = 60.0

Shift.X = 0

Shift.Y= 0

Shift.Z= 0

Shift.A = 0

Shift.B= 0

Shift.C= myVal

NewFrame = OldGrame : Shift

Fubini

martenH · Oct 29th 2021

I have applied it like the second methode. I have checked multiple times for spelling mistakes however i still get the error message "OldFrame invalid value" when i try to run the code and it reaches: "Tool_Data1=OldFrame:AdjustedTool.

I have declared: Tool_Data1, AdjustedTool and OldFrame. In the USER INI section as shown below. I just cant seem to find out why its not uploading the data to: Tool_Data1, AdjustedTool and OldFrame....

Code

DEF toolsetter_measure_TCP_3( )
;FOLD INI
  ;FOLD BASISTECH INI
    GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
    INTERRUPT ON 3 
    BAS (#INITMOV,0 )
  ;ENDFOLD (BASISTECH INI)
   
  ;FOLD USER INI
Tool_Data1 = {X 0, Y 0, Z 0, A 0, B 0, C 0}
AdjustedTool = {X 0, Y 0, Z 0, A 0, B 0, C 0}
OldFrame = {X 0, Y 0, Z 0, A 0, B 0, C 0}
; User modifications

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Code

DEF TOOLM() ;Subroutine for toolsetter
INTERRUPT OFF 1 ;Deactivate interrupt
BRAKE ;Stop robotarm movement
Z1=$POS_INT ;Register location on the Z axis at moment of interrupt
ToolLenght_1=StartPos-Z1.z ;Calculate distance traveled on the Z axis
ToolLenght_2=ToolCorecction-ToolLenght_1 ;Subtract distance traveld on the z axis from work area
ToolLenght_1Z=Z1.z ;Safe location on Z axis
ToolLenght_1X=Z1.x ;Safe location on X axis
ToolLenght_1Y=Z1.y ;Safe location on Y axis
$OUT[1]=TRUE ;turn on output 1
;FOLD WAIT Time=1 sec;%{PE}%R 5.5.31,%MKUKATPBASIS,%CWAIT,%VWAIT,%P 2:1
WAIT SEC 1
;ENDFOLD
ToolX=COS (ToolA)*ToolLenght_2
ToolY=SIN (ToolA)*ToolLenght_2
ToolZ=TAN (25.136)*ToolLenght_2
AdjustedTool.X=ToolX
AdjustedTool.Y=ToolY
AdjustedTool.Z=ToolZ
AdjustedTool.A=ToolA
AdjustedTool.B=ToolB
AdjustedTool.C=ToolC
Tool_Data1=OldFrame:AdjustedTool
RESUME ;Continue program
END

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Fubini · Oct 29th 2021

Quote

Code

Tool_Data1 = {X 0, Y 0, Z 0, A 0, B 0, C 0}

AdjustedTool = {X 0, Y 0, Z 0, A 0, B 0, C 0}

OldFrame = {X 0, Y 0, Z 0, A 0, B 0, C 0}

You are missing to specify the type of these variables. You should use FRAME type. Try what happens if you use

Code

FRAME Tool_Data1 = {X 0, Y 0, Z 0, A 0, B 0, C 0}
...

Not sure what the default data type in KRL is. In older KRC version it was possible to declare a variable without specifying the type. But still its bad practice and was removed in newer version afaik.

Also in KRL declarations have to be added before any code so you should move the declaration before the INI fold.

Code

DEF ...
FRAME Tool_Data1 
INI ...
Tool_Data1 = {X 0, Y 0, Z 0, A 0, B 0, C 0}

Fubini

Fubini · Oct 29th 2021

Oh sorry. Mist on your usage in another subroutine. Where exactly are the variables declared? They need either to be global if used in multiple subroutines or you need to pass them as paramatersto your subroutine.

Every variable has a scope where it is valid. This scope depends on where it is declared.

martenH · Oct 29th 2021

Thankyou for you advise, i have adjusted it so that I have my decelrations above my INI and I give their values in the INI. And now i have a error that is i presume connected to your last message . The error that I get is: "Runtime data of the main program cannot be used". I assume that in my DAT. file I have to declare them as global?

I have adjusted my DAT. file and added global valuables as such however I still get the same error notfication.

I tried declaring them in Convig.dat but that didnt do anything

Code

DECL GLOBAL REAL ToolX=0.0
DECL GLOBAL REAL ToolY=0.0
DECL GLOBAL REAL ToolZ=0.0

DECL GLOBAL REAL ToolA=30.14263
DECL GLOBAL REAL ToolB=89.8666
DECL GLOBAL REAL ToolC=0.0

Fubini · Oct 29th 2021

Just to be sure could you share your current version of src and dat file. I suspect you have them declared multiple times now. Once in dat once in src and maybe also still in $config.dat.

Btw you should try to read system integrators manual where all of this we talked about by now is explained.

Fubini

martenH · Oct 29th 2021

Thankyou for checking, I dont think I have tho.... I deleted them from the CONFIG.dat again so that shouldent be a problem anymore. I have the expert manual infront of me but I just cant work it out what im doing wrong it all looks like its correct...

Code

&ACCESS RVP
&REL 42
&PARAM EDITMASK = *
DEF toolsetter_measure_TCP_4( )
FRAME Tool_Data1
FRAME AdjustedTool
FRAME OldFrame

;FOLD INI
  ;FOLD BASISTECH INI
    GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
    INTERRUPT ON 3 
    BAS (#INITMOV,0 )
  ;ENDFOLD (BASISTECH INI)
   
  ;FOLD USER INI
Tool_Data1 = { X 0, Y 0, Z 0, A 0, B 0, C 0}
AdjustedTool = { X 0, Y 0, Z 0, A 0, B 0, C 0}
OldFrame = { X 0, Y 0, Z 0, A 0, B 0, C 0}
; User modifications

  ;ENDFOLD (USER INI)
;ENDFOLD (INI)AdjustedTool : {X 0, Y 0, Z 0, A 0, B 0, C 0}AdjustedTool : {X 0, Y 0, Z 0, A 0, B 0, C 0}
;FOLD PTP HOME Vel=30 % DEFAULT;%{PE}%R 5.5.31,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:HOME, 3:, 5:30, 7:DEFAULT
$BWDSTART=FALSE
PDAT_ACT=PDEFAULT
FDAT_ACT=FHOME
BAS(#PTP_PARAMS,30)
$H_POS=XHOME
PTP XHOME 
;ENDFOLD
;FOLD PTP P1 Vel=30 % PDAT1 Tool[0] Base[0];%{PE}%R 5.5.31,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:P1, 3:, 5:30, 7:PDAT1
$BWDSTART=FALSE
PDAT_ACT=PPDAT1
FDAT_ACT=FP1
BAS(#PTP_PARAMS,30)
PTP XP1 
;ENDFOLD
ST=$POS_ACT ;Gather robotcoördinates 
StartPos=ST.z ;Safe location on the Z axis as starting position
ToolLenght_2Z=ST.z ;Safe location on Z axis
ToolLenght_2X=ST.x ;Safe location on X axis
ToolLenght_2Y=ST.y ;Safe location on Y axis
INTERRUPT DECL 1 WHEN $IN[1]==TRUE DO TOOLM() ;Declare interrupt 
MOVEZ() ;Start Z axis movement
INTERRUPT OFF 1 ;Turn off interrupt
;FOLD PTP HOME Vel=30 % DEFAULT;%{PE}%R 5.5.31,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:HOME, 3:, 5:30, 7:DEFAULT
$BWDSTART=FALSE
PDAT_ACT=PDEFAULT
FDAT_ACT=FHOME
BAS(#PTP_PARAMS,30)
$H_POS=XHOME
PTP XHOME 
;ENDFOLD
$OUT[1]=FALSE ;Deactivate output 1
END
DEF MOVEZ() ;Moving the robot from position 1 to position 2 on the Z axis 
INTERRUPT ON 1 ;Activate interrupt 
;FOLD LIN P3 Vel=0.5 m/s CPDAT1 Tool[0] Base[0];%{PE}%R 5.5.31,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:P3, 3:, 5:0.5, 7:CPDAT1
$BWDSTART=FALSE
LDAT_ACT=LCPDAT1
FDAT_ACT=FP3
BAS(#CP_PARAMS,0.5)
LIN XP3 
;ENDFOLD
;FOLD WAIT Time= 0.0 sec;%{PE}%R 8.3.22,%MKUKATPBASIS,%CWAIT,%VWAIT,%P 2:0.0
WAIT SEC 0.0
;ENDFOLD ;Wait for interrupt
END
DEF TOOLM() ;Subroutine for toolsetter
INTERRUPT OFF 1 ;Deactivate interrupt
BRAKE ;Stop robotarm movement
Z1=$POS_INT ;Register location on the Z axis at moment of interrupt
ToolLenght_1=StartPos-Z1.z ;Calculate distance traveled on the Z axis
ToolLenght_2=ToolCorecction-ToolLenght_1 ;Subtract distance traveld on the z axis from work area
ToolLenght_1Z=Z1.z ;Safe location on Z axis
ToolLenght_1X=Z1.x ;Safe location on X axis
ToolLenght_1Y=Z1.y ;Safe location on Y axis
$OUT[1]=TRUE ;turn on output 1
;FOLD WAIT Time=1 sec;%{PE}%R 5.5.31,%MKUKATPBASIS,%CWAIT,%VWAIT,%P 2:1
WAIT SEC 1
;ENDFOLD
ToolX=COS (ToolA)*ToolLenght_2
ToolY=SIN (ToolA)*ToolLenght_2
ToolZ=TAN (25.136)*ToolLenght_2
AdjustedTool.X= ToolX
AdjustedTool.Y= ToolY
AdjustedTool.Z= ToolZ
AdjustedTool.A= ToolA
AdjustedTool.B= ToolB
AdjustedTool.C= ToolC
Tool_Data1=OldFrame:AdjustedTool
RESUME ;Continue program
END

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Code

&ACCESS RVP
&REL 42
&PARAM EDITMASK = *
DEFDAT toolsetter_measure_TCP_4
;FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P
;FOLD BASISTECH EXT;%{PE}%MKUKATPBASIS,%CEXT,%VEXT,%P
EXT  BAS (BAS_COMMAND  :IN,REAL  :IN )
DECL INT SUCCESS
;ENDFOLD (BASISTECH EXT)
;FOLD USER EXT;%{E}%MKUKATPUSER,%CEXT,%VEXT,%P
;Make here your modifications

;ENDFOLD (USER EXT)
;ENDFOLD (EXTERNAL DECLARATIONS)
DECL E6POS XP1={X 13.9723101,Y 759.556091,Z 1136.21594,A 0.812798977,B 33.6138611,C -89.4931488,S 6,T 19,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
DECL BASIS_SUGG_T LAST_BASIS={POINT1[] "P5                      ",POINT2[] "P5                      ",CP_PARAMS[] "CPDAT0                  ",PTP_PARAMS[] "PDAT6                   ",CONT[] "                        ",CP_VEL[] "0.5                     ",PTP_VEL[] "30                      ",SYNC_PARAMS[] "SYNCDAT                 ",SPL_NAME[] "S0                      "}
DECL FDAT FP1={TOOL_NO 0,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}
DECL PDAT PPDAT1={VEL 100.0,ACC 100.0,APO_DIST 100.0}
DECL E6POS XP2={X 1175.51001,Y 66.8519516,Z 1534.073,A -83.5087433,B 33.6255913,C -89.470047,S 6,T 51,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
DECL FDAT FP2={TOOL_NO 0,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}
DECL PDAT PPDAT2={VEL 100.0,ACC 100.0,APO_DIST 100.0}
DECL E6POS XP3={X 13.9367199,Y 759.557007,Z 858.341125,A 0.834757924,B 33.607151,C -89.4694672,S 6,T 19,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
DECL FDAT FP3={TOOL_NO 0,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}
DECL PDAT PPDAT3={VEL 100.0,ACC 100.0,APO_DIST 100.0}
DECL PDAT PPDAT4={VEL 100.0,ACC 100.0,APO_DIST 100.0}
DECL E6POS XP4={X 1339.78796,Y -287.258301,Z 1390.67798,A 94.3873367,B -33.7286797,C -75.4515076,S 6,T 51,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
DECL FDAT FP4={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}
DECL PDAT PPDAT5={VEL 100.0,ACC 20.0,APO_DIST 100.0}

DECL REAL StartPos=1136.21594 ;StartPosition
DECL REAL ToolLenght_1=41.0490723 ;Distance traveled
DECL REAL ToolLenght_2=220.855896 ;Measured toolenght
DECL REAL ToolCorecction=261.661926 ;Working area

DECL REAL ToolLenght_1Z=1095.16687 ;Second measurment Z axis position
DECL REAL ToolLenght_1X=13.9668493 ;Second measurment X axis position
DECL REAL ToolLenght_1Y=759.555847 ;Second measurment Y axis position

DECL REAL ToolLenght_2Z=1136.21594 ;First measurment Z axis position
DECL REAL ToolLenght_2X=13.9723101 ;First measurment X axis position
DECL REAL ToolLenght_2Y=759.556091 ;First measurment Y axis position

DECL GLOBAL REAL ToolX=0.0
DECL GLOBAL REAL ToolY=0.0
DECL GLOBAL REAL ToolZ=0.0

DECL GLOBAL REAL ToolA=30.1426296
DECL GLOBAL REAL ToolB=89.9666
DECL GLOBAL REAL ToolC=0.0


DECL LDAT LCPDAT1={VEL 2.0,ACC 100.0,APO_DIST 100.0,APO_FAC 50.0,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0}
DECL E6POS XP5={X 13.9723101,Y 759.556091,Z 1136.21594,A 0.812798977,B 33.6138611,C -89.4931488,S 6,T 19,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
DECL FDAT FP5={TOOL_NO 0,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}
DECL PDAT PPDAT6={VEL 100.0,ACC 100.0,APO_DIST 100.0}


ENDDAT

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Fubini · Oct 29th 2021

Code

FRAME Tool_Data1

FRAME AdjustedTool

FRAME OldFrame

Still Not global and used in your main program and in a subroutine where they are unknown. Move declaration to dat file.

martenH · Oct 29th 2021

I have made the adjustments and moved them over to the Dat file now it says Datalist not public. i have declared them as;

FRAME GLOBAL Tool_Data1

FRAME GLOBAL AdjustedTool

FRAME GLOBAL OldFrame

After this I added public to the header of my Dat file and now it geves me multiple random errors in my sub routinne.... such as:

dual decleration (got rid of this one)

name expected (gor rid of this one)

instruction not in instruction section (got rid of this one)

It only gives me a "name expected" on my declecration in the DAT.file

Code

FRAME GLOBAL Tool_Data1

FRAME GLOBAL AdjustedTool

FRAME GLOBAL OldFrame

changed it to DECL GLOBAL FRAM etc. that seems to do the trick

martenH · Oct 29th 2021

I now only have a "datalist not PUBLIC" error. this is my current code I have declared in my DAT.file that it is public but it still doesnt recognize it.

Code

&ACCESS RVP
&REL 42
&PARAM EDITMASK = *
DEF toolsetter_measure_TCP_7( )

;FOLD INI
  ;FOLD BASISTECH INI
    GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
    INTERRUPT ON 3 
    BAS (#INITMOV,0 )
  ;ENDFOLD (BASISTECH INI)
   
  ;FOLD USER INI
Tool_Data1 = { X 0, Y 0, Z 0, A 0, B 0, C 0}
AdjustedTool = { X 0, Y 0, Z 0, A 0, B 0, C 0}
OldFrame = { X 0, Y 0, Z 0, A 0, B 0, C 0}
; User modifications

  ;ENDFOLD (USER INI)
;ENDFOLD (INI)AdjustedTool : {X 0, Y 0, Z 0, A 0, B 0, C 0}AdjustedTool : {X 0, Y 0, Z 0, A 0, B 0, C 0}
;FOLD PTP HOME Vel=30 % DEFAULT;%{PE}%R 5.5.31,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:HOME, 3:, 5:30, 7:DEFAULT
$BWDSTART=FALSE
PDAT_ACT=PDEFAULT
FDAT_ACT=FHOME
BAS(#PTP_PARAMS,30)
$H_POS=XHOME
PTP XHOME 
;ENDFOLD
;FOLD PTP P1 Vel=30 % PDAT1 Tool[0] Base[0];%{PE}%R 5.5.31,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:P1, 3:, 5:30, 7:PDAT1
$BWDSTART=FALSE
PDAT_ACT=PPDAT1
FDAT_ACT=FP1
BAS(#PTP_PARAMS,30)
PTP XP1 
;ENDFOLD
ST=$POS_ACT ;Gather robotcoördinates 
StartPos=ST.z ;Safe location on the Z axis as starting position
ToolLenght_2Z=ST.z ;Safe location on Z axis
ToolLenght_2X=ST.x ;Safe location on X axis
ToolLenght_2Y=ST.y ;Safe location on Y axis
INTERRUPT DECL 1 WHEN $IN[1]==TRUE DO TOOLM() ;Declare interrupt 
MOVEZ() ;Start Z axis movement
INTERRUPT OFF 1 ;Turn off interrupt
;FOLD PTP HOME Vel=30 % DEFAULT;%{PE}%R 5.5.31,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:HOME, 3:, 5:30, 7:DEFAULT
$BWDSTART=FALSE
PDAT_ACT=PDEFAULT
FDAT_ACT=FHOME
BAS(#PTP_PARAMS,30)
$H_POS=XHOME
PTP XHOME 
;ENDFOLD
$OUT[1]=FALSE ;Deactivate output 1
END
DEF MOVEZ() ;Moving the robot from position 1 to position 2 on the Z axis 
INTERRUPT ON 1 ;Activate interrupt 
;FOLD LIN P3 Vel=0.5 m/s CPDAT1 Tool[0] Base[0];%{PE}%R 5.5.31,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:P3, 3:, 5:0.5, 7:CPDAT1
$BWDSTART=FALSE
LDAT_ACT=LCPDAT1
FDAT_ACT=FP3
BAS(#CP_PARAMS,0.5)
LIN XP3 
;ENDFOLD
;FOLD WAIT Time= 0.0 sec;%{PE}%R 8.3.22,%MKUKATPBASIS,%CWAIT,%VWAIT,%P 2:0.0
WAIT SEC 0.0
;ENDFOLD ;Wait for interrupt
END
DEF TOOLM() ;Subroutine for toolsetter
INTERRUPT OFF 1 ;Deactivate interrupt
BRAKE ;Stop robotarm movement
Z1=$POS_INT ;Register location on the Z axis at moment of interrupt
ToolLenght_1=StartPos-Z1.z ;Calculate distance traveled on the Z axis
ToolLenght_2=ToolCorecction-ToolLenght_1 ;Subtract distance traveld on the z axis from work area
ToolLenght_1Z=Z1.z ;Safe location on Z axis
ToolLenght_1X=Z1.x ;Safe location on X axis
ToolLenght_1Y=Z1.y ;Safe location on Y axis
$OUT[1]=TRUE ;turn on output 1
;FOLD WAIT Time=1 sec;%{PE}%R 5.5.31,%MKUKATPBASIS,%CWAIT,%VWAIT,%P 2:1
WAIT SEC 1
;ENDFOLD
ToolX=COS (ToolA)*ToolLenght_2
ToolY=SIN (ToolA)*ToolLenght_2
ToolZ=TAN (25.136)*ToolLenght_2
AdjustedTool.X= ToolX
AdjustedTool.Y= ToolY
AdjustedTool.Z= ToolZ
AdjustedTool.A= ToolA
AdjustedTool.B= ToolB
AdjustedTool.C= ToolC
Tool_Data1=OldFrame:AdjustedTool
RESUME ;Continue program
END

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Code

&ACCESS RVP
&REL 42
&PARAM EDITMASK = *
DEFDAT toolsetter_measure_TCP_7 PUBLIC
;FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P
;FOLD BASISTECH EXT;%{PE}%MKUKATPBASIS,%CEXT,%VEXT,%P
EXT  BAS (BAS_COMMAND  :IN,REAL  :IN )
DECL INT SUCCESS
;ENDFOLD (BASISTECH EXT)
;FOLD USER EXT;%{E}%MKUKATPUSER,%CEXT,%VEXT,%P
;Make here your modifications

;ENDFOLD (USER EXT)
;ENDFOLD (EXTERNAL DECLARATIONS)
DECL E6POS XP1={X 13.9723101,Y 759.556091,Z 1136.21594,A 0.812798977,B 33.6138611,C -89.4931488,S 6,T 19,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
DECL BASIS_SUGG_T LAST_BASIS={POINT1[] "P5                      ",POINT2[] "P5                      ",CP_PARAMS[] "CPDAT0                  ",PTP_PARAMS[] "PDAT6                   ",CONT[] "                        ",CP_VEL[] "0.5                     ",PTP_VEL[] "30                      ",SYNC_PARAMS[] "SYNCDAT                 ",SPL_NAME[] "S0                      "}
DECL FDAT FP1={TOOL_NO 0,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}
DECL PDAT PPDAT1={VEL 100.0,ACC 100.0,APO_DIST 100.0}
DECL E6POS XP2={X 1175.51001,Y 66.8519516,Z 1534.073,A -83.5087433,B 33.6255913,C -89.470047,S 6,T 51,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
DECL FDAT FP2={TOOL_NO 0,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}
DECL PDAT PPDAT2={VEL 100.0,ACC 100.0,APO_DIST 100.0}
DECL E6POS XP3={X 13.9367199,Y 759.557007,Z 858.341125,A 0.834757924,B 33.607151,C -89.4694672,S 6,T 19,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
DECL FDAT FP3={TOOL_NO 0,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}
DECL PDAT PPDAT3={VEL 100.0,ACC 100.0,APO_DIST 100.0}
DECL PDAT PPDAT4={VEL 100.0,ACC 100.0,APO_DIST 100.0}
DECL E6POS XP4={X 1339.78796,Y -287.258301,Z 1390.67798,A 94.3873367,B -33.7286797,C -75.4515076,S 6,T 51,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
DECL FDAT FP4={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}
DECL PDAT PPDAT5={VEL 100.0,ACC 20.0,APO_DIST 100.0}

DECL REAL StartPos=1136.21594 ;StartPosition
DECL REAL ToolLenght_1=41.0490723 ;Distance traveled
DECL REAL ToolLenght_2=220.855896 ;Measured toolenght
DECL REAL ToolCorecction=261.661926 ;Working area

DECL REAL ToolLenght_1Z=1095.16687 ;Second measurment Z axis position
DECL REAL ToolLenght_1X=13.9668493 ;Second measurment X axis position
DECL REAL ToolLenght_1Y=759.555847 ;Second measurment Y axis position

DECL REAL ToolLenght_2Z=1136.21594 ;First measurment Z axis position
DECL REAL ToolLenght_2X=13.9723101 ;First measurment X axis position
DECL REAL ToolLenght_2Y=759.556091 ;First measurment Y axis position

DECL REAL ToolX=0.0
DECL REAL ToolY=0.0
DECL REAL ToolZ=0.0

DECL REAL ToolA=30.1426296
DECL REAL ToolB=89.9666
DECL REAL ToolC=0.0

DECL GLOBAL FRAME Tool_Data1
DECL GLOBAL FRAME AdjustedTool
DECL GLOBAL FRAME OldFrame


DECL LDAT LCPDAT1={VEL 2.0,ACC 100.0,APO_DIST 100.0,APO_FAC 50.0,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0}
DECL E6POS XP5={X 13.9723101,Y 759.556091,Z 1136.21594,A 0.812798977,B 33.6138611,C -89.4931488,S 6,T 19,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
DECL FDAT FP5={TOOL_NO 0,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}
DECL PDAT PPDAT6={VEL 100.0,ACC 100.0,APO_DIST 100.0}


ENDDAT

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**panic mode** · Oct 29th 2021

Defdat myGlobals PUBLIC

DECL GLOBAL FRAME Tool_Data1

DECL GLOBAL FRAME AdjustedTool

DECL GLOBAL FRAME OldFrame

ENddat

martenH · Oct 29th 2021

thankyou for you reply I have added your suggestion to the bottom of my Dat.file however it still gives me the error "datalist not PUBLIC"

Code

DECL E6POS XP1={X 13.9723101,Y 759.556091,Z 1136.21594,A 0.812798977,B 33.6138611,C -89.4931488,S 6,T 19,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
DECL BASIS_SUGG_T LAST_BASIS={POINT1[] "P5                      ",POINT2[] "P5                      ",CP_PARAMS[] "CPDAT0                  ",PTP_PARAMS[] "PDAT6                   ",CONT[] "                        ",CP_VEL[] "0.5                     ",PTP_VEL[] "30                      ",SYNC_PARAMS[] "SYNCDAT                 ",SPL_NAME[] "S0                      "}
DECL FDAT FP1={TOOL_NO 0,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}
DECL PDAT PPDAT1={VEL 100.0,ACC 100.0,APO_DIST 100.0}
DECL E6POS XP2={X 1175.51001,Y 66.8519516,Z 1534.073,A -83.5087433,B 33.6255913,C -89.470047,S 6,T 51,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
DECL FDAT FP2={TOOL_NO 0,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}
DECL PDAT PPDAT2={VEL 100.0,ACC 100.0,APO_DIST 100.0}
DECL E6POS XP3={X 13.9367199,Y 759.557007,Z 858.341125,A 0.834757924,B 33.607151,C -89.4694672,S 6,T 19,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
DECL FDAT FP3={TOOL_NO 0,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}
DECL PDAT PPDAT3={VEL 100.0,ACC 100.0,APO_DIST 100.0}
DECL PDAT PPDAT4={VEL 100.0,ACC 100.0,APO_DIST 100.0}
DECL E6POS XP4={X 1339.78796,Y -287.258301,Z 1390.67798,A 94.3873367,B -33.7286797,C -75.4515076,S 6,T 51,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
DECL FDAT FP4={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}
DECL PDAT PPDAT5={VEL 100.0,ACC 20.0,APO_DIST 100.0}

DECL REAL StartPos=1136.21594 ;StartPosition
DECL REAL ToolLenght_1=41.0490723 ;Distance traveled
DECL REAL ToolLenght_2=220.855896 ;Measured toolenght
DECL REAL ToolCorecction=261.661926 ;Working area

DECL REAL ToolLenght_1Z=1095.16687 ;Second measurment Z axis position
DECL REAL ToolLenght_1X=13.9668493 ;Second measurment X axis position
DECL REAL ToolLenght_1Y=759.555847 ;Second measurment Y axis position

DECL REAL ToolLenght_2Z=1136.21594 ;First measurment Z axis position
DECL REAL ToolLenght_2X=13.9723101 ;First measurment X axis position
DECL REAL ToolLenght_2Y=759.556091 ;First measurment Y axis position

DECL REAL ToolX=0.0
DECL REAL ToolY=0.0
DECL REAL ToolZ=0.0

DECL REAL ToolA=30.1426296
DECL REAL ToolB=89.9666
DECL REAL ToolC=0.0


DECL LDAT LCPDAT1={VEL 2.0,ACC 100.0,APO_DIST 100.0,APO_FAC 50.0,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0}
DECL E6POS XP5={X 13.9723101,Y 759.556091,Z 1136.21594,A 0.812798977,B 33.6138611,C -89.4931488,S 6,T 19,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
DECL FDAT FP5={TOOL_NO 0,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}
DECL PDAT PPDAT6={VEL 100.0,ACC 100.0,APO_DIST 100.0}


ENDDAT

DEFDAT myGlobals PUBLIC
DECL GLOBAL FRAME Tool_Data1
DECL GLOBAL FRAME AdjustedTool
DECL GLOBAL FRAME OldFrame
ENDAT

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**panic mode** · Oct 29th 2021

because that is not a valid KRL file.

first line MUST contain

DEFDAT MODULENAME

or

DEFDAT MODULENAME PUBLIC

see the word "PUBLIC" in thre?

and the last line MUST be:

ENDDAT

moreover, file cannot have more than one DEFDAT or ENDDAT

martenH · Oct 29th 2021

Sorry for the miss understanding, I tried to just write PUBLIC behind the DAT.file however it still doesnt recognize the datalist. So i thought to just add it to the end but that doenst do anything different. This is my current DAT.file. Or do I add your "myGlobal" separated from my main DAT.file?

Code

&ACCESS RVP

&REL 42

&PARAM EDITMASK = *

DEFDAT toolsetter_measure_TCP_7 PUBLIC

;FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P

;FOLD BASISTECH EXT;%{PE}%MKUKATPBASIS,%CEXT,%VEXT,%P

EXT BAS (BAS_COMMAND :IN,REAL :IN )

DECL INT SUCCESS

;ENDFOLD (BASISTECH EXT)

;FOLD USER EXT;%{E}%MKUKATPUSER,%CEXT,%VEXT,%P

;Make here your modifications



;ENDFOLD (USER EXT)

;ENDFOLD (EXTERNAL DECLARATIONS)



DECL GLOBAL FRAME Tool_Data1

DECL GLOBAL FRAME AdjustedTool

DECL GLOBAL FRAME OldFrame





DECL E6POS XP1={X 13.9723101,Y 759.556091,Z 1136.21594,A 0.812798977,B 33.6138611,C -89.4931488,S 6,T 19,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}

DECL BASIS_SUGG_T LAST_BASIS={POINT1[] "P5 ",POINT2[] "P5 ",CP_PARAMS[] "CPDAT0 ",PTP_PARAMS[] "PDAT6 ",CONT[] " ",CP_VEL[] "0.5 ",PTP_VEL[] "30 ",SYNC_PARAMS[] "SYNCDAT ",SPL_NAME[] "S0 "}

DECL FDAT FP1={TOOL_NO 0,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}

DECL PDAT PPDAT1={VEL 100.0,ACC 100.0,APO_DIST 100.0}

DECL E6POS XP2={X 1175.51001,Y 66.8519516,Z 1534.073,A -83.5087433,B 33.6255913,C -89.470047,S 6,T 51,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}

DECL FDAT FP2={TOOL_NO 0,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}

DECL PDAT PPDAT2={VEL 100.0,ACC 100.0,APO_DIST 100.0}

DECL E6POS XP3={X 13.9367199,Y 759.557007,Z 858.341125,A 0.834757924,B 33.607151,C -89.4694672,S 6,T 19,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}

DECL FDAT FP3={TOOL_NO 0,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}

DECL PDAT PPDAT3={VEL 100.0,ACC 100.0,APO_DIST 100.0}

DECL PDAT PPDAT4={VEL 100.0,ACC 100.0,APO_DIST 100.0}

DECL E6POS XP4={X 1339.78796,Y -287.258301,Z 1390.67798,A 94.3873367,B -33.7286797,C -75.4515076,S 6,T 51,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}

DECL FDAT FP4={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}

DECL PDAT PPDAT5={VEL 100.0,ACC 20.0,APO_DIST 100.0}



DECL REAL StartPos=1136.21594 ;StartPosition

DECL REAL ToolLenght_1=41.0490723 ;Distance traveled

DECL REAL ToolLenght_2=220.855896 ;Measured toolenght

DECL REAL ToolCorecction=261.661926 ;Working area



DECL REAL ToolLenght_1Z=1095.16687 ;Second measurment Z axis position

DECL REAL ToolLenght_1X=13.9668493 ;Second measurment X axis position

DECL REAL ToolLenght_1Y=759.555847 ;Second measurment Y axis position



DECL REAL ToolLenght_2Z=1136.21594 ;First measurment Z axis position

DECL REAL ToolLenght_2X=13.9723101 ;First measurment X axis position

DECL REAL ToolLenght_2Y=759.556091 ;First measurment Y axis position



DECL REAL ToolX=0.0

DECL REAL ToolY=0.0

DECL REAL ToolZ=0.0



DECL REAL ToolA=30.1426296

DECL REAL ToolB=89.9666

DECL REAL ToolC=0.0



DECL LDAT LCPDAT1={VEL 2.0,ACC 100.0,APO_DIST 100.0,APO_FAC 50.0,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0}

DECL E6POS XP5={X 13.9723101,Y 759.556091,Z 1136.21594,A 0.812798977,B 33.6138611,C -89.4931488,S 6,T 19,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}

DECL FDAT FP5={TOOL_NO 0,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}

DECL PDAT PPDAT6={VEL 100.0,ACC 100.0,APO_DIST 100.0}





ENDDAT

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martenH · Oct 29th 2021

I got it to work! however it doesnt upload new coördinates to my:

Tool_Data1

AdjustedTool

OldFrame

Ill try to figure it out, any tips are more then welcome! thanks for the help!!

**panic mode** · Oct 29th 2021

Quote from martenH

however it doesnt upload new coördinates to my:
Tool_Data1
AdjustedTool
OldFrame

what does that mean?

are you saying there are also someone else's variables with same names?

martenH · Oct 29th 2021

Noo it is a place where is store the xyz abc coordinates i added this to the DAT.file, and now it uploads new calculated files :

Code

DECL GLOBAL FRAME Tool_Data1 = { X 0, Y 0, Z 0, A 0, B 0, C 0}
DECL GLOBAL FRAME AdjustedTool = { X 0, Y 0, Z 0, A 0, B 0, C 0}
DECL GLOBAL FRAME OldFrame = { X 0, Y 0, Z 0, A 0, B 0, C 0}

Apperently I was getting errors because of old Dat files that for som reason gave me duplication errors... very annoying. when i deleted all the files and had only one file on the KR2C it worked

Adjusting TOOL_DATA

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