Hello,
I have a question about FTCtrl in Kuka. With the mentioned option package I have found this function:
Code
GLOBAL DEF FT_SEARCH_XY(nOutIdx:IN,fVelCP:IN)
INT nOutIdx
REAL fVelCP,fVelCP_
IF (VARSTATE("fVelCP")<>#INITIALIZED) THEN
fVelCP=0.005
ENDIF
INTERRUPT DECL 11 WHEN $OUT[nOutIdx] DO IR_STOPFTSEARCH()
$OUT[nOutIdx]=FALSE
INTERRUPT ON 11
fVelCP_=$VEL.CP
FT_SEARCHXY(fVelCP)
$VEL.CP=fVelCP_
INTERRUPT OFF 11
END
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Here I did not understand for what about the nOutIdx stands for. Do I have to declare that?
Maybe anyone here have some experience with that. I would like to use that function, but
when i start the programm I get the error nOutIdx value invalid.
Thanks for any help.