KUKA ROBOT - THE MEANING OF :IN , :OUT IN DEFINE

Zin1701 · Mar 22nd 2023

Hi experts !

Code

GLOBAL DEF WRITE_CM_SETTING(SETTING_IDX:IN, VALUES[]:OUT)
  INT SETTING_IDX
  INT VALUES[]
  INT I

  IF ((SETTING_IDX < 1) OR (SETTING_IDX > NUM_COLLMON_SETTINGS)) THEN
    RETURN
  ENDIF

  FOR I = 1 TO 12
    IF (VALUES[I] < 0) THEN
      COLLMON_SETTING[SETTING_IDX,I] = 0
    ELSE
      IF VALUES[I] > 500 THEN
        COLLMON_SETTING[SETTING_IDX,I] = 500
      ELSE
        COLLMON_SETTING[SETTING_IDX,I] = VALUES[I]
      ENDIF
    ENDIF
  ENDFOR
END

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Hi experts!

i see many "DEF" is created with variables :IN or :OUT

i really tried to find out about them. but still not understand

plz explain it to me, many thanks

Mentat · Mar 22nd 2023

This is definitely explained in the expert programming manual.

:IN - passes by value

:OUT - passes by reference

Birch8101 · Mar 22nd 2023

Also that program is not called "DEF", its WRITE_CM_SETTING.

GLOBAL allows the program to be called from outside that file

DEF/END is the start and end of the program

WRITE_CM_SETTING is the name of the program which u can call with WRITE_CM_SETTING(*,*) Replace * with actual variables

SETTINGS_IDX:IN is the integer you want to send into the program.

VALUES[]:OUT is the integer array you return with that program

All of this can easily be found in Kuka Operating and Programming Manual

Zin1701 · Mar 23rd 2023

i got it, thanks so much

KUKA ROBOT - THE MEANING OF :IN , :OUT IN DEFINE

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kwakisaki Mar 22nd 2023

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