I'm helping a company setup a KUKA KRC2 on 5.6.10 and in the R:1 folder there isn't a CELL.SRC program and when I try to create a new program there isn't an option for a CELL program. Is there a way for me to enable it or a good way to write my own CELL program?
No CELL.SRC File
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hhinton -
June 16, 2023 at 4:33 PM -
Thread is Unresolved
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A little more information the only types of templates available are ServoFC Template, DecisionCode Template, and Main Program Template.
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panic mode
June 16, 2023 at 4:45 PM Approved the thread. -
Where this robot came from?
The absence of the cell.src can be explained by the previous setup of this robot. Cell is the recommended method to run a KUKA robot in EXT mode, but You can go on with some alternative main program, and some custom versions of KSS doesn't use it.
Take a look at sps.sub file, and search for a snippet of code that is more or less like this
If there something different than /R1/CELL(), maybe the robot was running with custom main. If You have /R1/CELL(), maybe the robot was being used in AUT mode.
Anyway, You can try to copy the cell.src from a robot that has the same KSS version and see what happens.
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A little more information the only types of templates available are ServoFC Template, DecisionCode Template, and Main Program Template.
I'm just guessing here, but this DecisionCode Template give me the impression that this would be the "cell" for this robot.
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there is no folder named R:1
CELL.SRC should be in KRC:\R1\
if not creating one from template should be available unless someone was messing with templates. oh, and one need to login as Expert in order to see other templates. without login only standard program module is available.
if you cannot find CellVorgabe.src, it should be something like this. this file hardly changed among different KSS generations
Code
Display More&ACCESS RVP &REL 0 &COMMENT HANDLER on external automatic DEF CELL ( ) ;FOLD INIT DECL CHAR DMY[3] DMY[]="---" ;ENDFOLD (INIT) ;FOLD BASISTECH INI GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( ) INTERRUPT ON 3 BAS (#INITMOV,0 ) ;ENDFOLD (BASISTECH INI) ;FOLD CHECK HOME $H_POS=XHOME IF CHECK_HOME==TRUE THEN P00 (#CHK_HOME,#PGNO_GET,DMY[],0 ) ;Testing Home-Position ENDIF ;ENDFOLD (CHECK HOME) ;FOLD PTP HOME Vel= 100 % DEFAULT;%{PE}%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:HOME, 3:, 5:100, 7:DEFAULT $H_POS=XHOME PDAT_ACT=PDEFAULT BAS (#PTP_DAT ) FDAT_ACT=FHOME BAS (#FRAMES ) BAS (#VEL_PTP,100 ) PTP XHOME ;ENDFOLD INIT () ;FOLD AUTOEXT INI P00 (#INIT_EXT,#PGNO_GET,DMY[],0 ) ; Initialize extern mode ;ENDFOLD (AUTOEXT INI) LOOP P00 (#EXT_PGNO,#PGNO_GET,DMY[],0 ) SWITCH PGNO ; Select with Programnumber CASE 1 P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request ;Example1() ; Call User-Program CASE 2 P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request ;Example2() ; Call User-Program CASE 12 P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request ;Example3() ; Call User-Program DEFAULT P00 (#EXT_PGNO,#PGNO_FAULT,DMY[],0 ) ENDSWITCH ENDLOOP END
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For whatever it's worth, OrangeEdit offers a CELL.SRC template under it's File>New menu selection.
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Sorry for taking so long to get back to this, I got pulled off to a different project for a bit.
The customer purchased this robot from GM.
Sorry I didn't mean to put the colon in R1. I was logged in as EXPERT and still never found any cell program. I copied the code you posted panic mode and I'm getting illegal or unknown block errors on &ACCESS RVP, &REL 0, and &COMMENT HANDLER on external automatic.
I also have an name not declared as subroutine error on the INIT(), should the DECL CHAR DMY[3] line be DECL INIT DMY[3]? Also thank you very much for the assistance so far, it's been very helpful.
Thank you SkyeFire for mentioning OrangeEdit, I hadn't heard of that and it's been very helpful being able to work on the code and check my syntax away from the KCP2.
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Never mind on the DECL CHAR DMY[3] question. I now understand what that line is actually doing now.
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The customer purchased this robot from GM.
That explains the lack of CELL. GM, being Special Snowflakes, insist on writing their own program that serves the same purpose. I don't recall the name offhand.
. I copied the code you posted panic mode and I'm getting illegal or unknown block errors on &ACCESS RVP, &REL 0, and &COMMENT HANDLER on external automatic.
That's odd. Are you Editing this file, or Selecting it? Also, where are these lines located? Any line that begins with '&' is not part of the executable code, and should only be at the very top of an .SRC file, before the DEF line.
One quick option to address this: On the pendant, create a new program using the menu options (there may be a CELL template, but if not, you could choose the Expert module template). Then extract that new module, edit in/out what you need in OrangeEdit (leave the & lines completely alone), then re-import the modified module into the KRC. That should ensure your & lines are valid.
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This controller doesn't even have the Expert template when you try to create a new program but I found the template in the D: and that's how I entered it and got the errors. I started digging through the D: again to find that Expert template again and this time I stumbled upon a Cell Program in D:\KRC1_CD\INTERNAT\KRC SETUP\KRC\ROBOTER\KRC\R1. I'm not getting any errors if I try save it in the programs but it doesn't have the first 4 lines Panicmode post in it. I'm planning on trying to run it and see how it acts but the customer doesn't have the test cell finished yet for me to actually move the robot.
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it doesn't have the first 4 lines Panicmode post in it
It actually might. Those lines are usually hidden from view if you looking at a module on the KCP. Try opening it "raw" in a text editor, and everything will become visible.
On the KCP, if you Edit the module (as opposed to Selecting it), there is a menu option for... ASCII mode, I think? That will actually make all the things the KUKA HMI usually hides from you visible. ASCII mode is usually more annoying that useful, but every once in a while it's what you need.
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I'm helping a company setup a KUKA KRC2 on 5.6.10 and in the R:1 folder there isn't a CELL.SRC program and when I try to create a new program there isn't an option for a CELL program. Is there a way for me to enable it or a good way to write my own CELL program?
how do u post a problem
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I found the ASCII mode it was in Configure > Miscellaneous > Editor > ASCII Mode in case anyone else wants to know how to access it. That brought up where I could see the DEF CELL( ) line and add the &ACCESS RVP, &REL 0, and &COMMENT HANDLER on external automatic lines. Once I close the program though they are no longer there but in the navigator menu it shows in the Comment column HANDLER on external automatic so it appears to have taken it.