"EWorkToolSwitch value invalid" error message on kuka from SWITCH statement

    Hi guys,

    I am trying to run the switch statement but getting EWorkToolSwitch value invalid message when stepping through. Can someone tell me what am I doing wrong here?

    FYI: WorkToolEnum defined at config.dat file this way

    "ENUM WorkToolEnum GetScrapTool,GetScrewTool,GetStapleTool,GetNailTool,LeaveScrapTool,LeaveScrewTool,LeaveStapleTool,LeaveCurrentTool,LeaveNailTool"

    Code:

    &ACCESS RVP


    &REL 834


    &PARAM DISKPATH = KRC:\R1\UserPrograms


    DEF  ToolChange (eWorkToolSwitch:IN )


    DECL WorkToolEnum eWorkToolSwitch


       ;FOLD INI;%{PE}


          ;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)


    GoHome()


    SWITCH eWorkToolSwitch


    ;-------------------------------------------------


      CASE #GetScrapTool


           ;CHECK IF THERE IS ANY TOOL PRESSENT AT TCU


           IF diScrewToolContact == TRUE THEN


              LeaveScrewTool()


           ENDIF


           IF diStapleToolContact == TRUE THEN


              LeaveStapleTool()


           ENDIF


           IF diNailToolContact == TRUE THEN


              LeaveNailTool()


           ENDIF


           ;TO PLC: ALARM TOOL MISSING


           WHILE (diScrapToolContact == FALSE) AND (bAllToolsDocked == FALSE)


                 Alarm(141)


           ENDWHILE


           ;CHECK IF SCRAP TOOL PRESENT AT TCU


           IF diScrapToolContact == FALSE THEN


              GetScrapTool()


           ENDIF

  • kwakisaki June 14, 2023 at 12:10 AM

    Approved the thread.
    Quote from Hes

    code is incomplete.. one case and no end switch. Move the variable declaration to dat file or make another that you can monitor. And check what the variable is when reaching the switch. Most likely error is as message states, value invalid.

    Thanks for reply. The code is pretty long that's why shared only one case, I do have multiple cases and also endswitch at the end. I can declare a new variable in dat file, but how do I use it within the switch logic to debug? If you could send a sample code, would appreciate it.

    the part of code shown looks ok. parameter is declared correctly and it looks like it is not initialized. that means call was incorrect. you need to provide parameter value. this can be done either by creating test program that calls it, or... one can also enter parameter value from menu (if manually calling the routine). finally, one can also use VARSTATE function to check if the variable is initialized.

    for example add something like this:

    Code
    IF VARSTATE("eWorkToolSwitch")<>#INITIALIZED THEN
   IF $MODE_OP==#T1 THEN
      ; display dialog and ask user to select state manually
   ELSE
     MsgNotify("eWorkToolSwitch has no value")
     RETURN
   ENDIF
ENDIF

    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

    Thanks guys. Seems like initialization was the issue as you guys mentioned. PLC is responsible for sending the initialization values as you can see on this line.

    DEF  ToolChange (eWorkToolSwitch:IN )

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