KUKA.Sim Pro 3 Position as Variable

    Hello;

    I'm new at KUKA.Sim and KRL. I'm trying to make an palletising program with Kuka.Sim. I'll send my drop positions from PLC (via Beckhoff ADS). I tried to declare a local position variable for robot in KUKA.Sim Job Map but failed according to output window. We don't have OfficeLite yet. I am sharing how I tried to declare variable and the output window.

    So; is it possible to make this without OfficeLite? If possible, how must i declare the variable? And lastly do i need to declare signals for getting position data from plc in KUKA.Sim?

    Variable Declaration:

    Code
    DECL E6POS Drop_point
Drop_point.x=X_Pos
Drop_point.y=Y_Pos
Drop_point.z=Z_Pos
Drop_point.a=0
Drop_point.b=0
Drop_point.c=C_Pos
LIN Drop_point Vel=2m/s

    Output window:


    Code
    KR 120 R3200 PA::Executor::Pozisyon_Hesapla:Unable to assign value to Drop_point.x, property does not exist
KR 120 R3200 PA::Executor::Pozisyon_Hesapla:Unable to assign value to Drop_point.y, property does not exist
KR 120 R3200 PA::Executor::Pozisyon_Hesapla:Unable to assign value to Drop_point.z, property does not exist
KR 120 R3200 PA::Executor::Pozisyon_Hesapla:Unable to assign value to Drop_point.a, property does not exist
KR 120 R3200 PA::Executor::Pozisyon_Hesapla:Unable to assign value to Drop_point.b, property does not exist
KR 120 R3200 PA::Executor::Pozisyon_Hesapla:Unable to assign value to Drop_point.c, property does not exist

    Thanks in advance for your help.

    any time you want to access variable from outside... it must be declared a global.

    local and runtime variables are only accessible from the module.

    so move "DECL E6POS Drop_point" to $config.dat or to local DAT file. if you choose local DAT file, make it PUBLIC and add GLOBL keyword in declaration.

    1) read pinned topic: READ FIRST...

    2) if you have an issue with robot, post question in the correct forum section... do NOT contact me directly

    3) read 1 and 2

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