hi guys,
I'm working with krc5 and KR16 R1610-2 robot and trying to give offset for pick and approachmant points.
But I'm having "Variable not declared" error on these lines:
....X=...X-185
Related lines are 24, 25, 31, 32 on the part of a code down below.
I declared the J and K on globaldat file like that:
DECL GLOBAL INT k=0
DECL GLOBAL INT j=0
I dont think the problem is just because of that but just wanted to let you know more about the code.
i think the problem would be fixed if i declare the CEKMECE_2_YAKLASMA and CEKMECE_2_ALMA. but I'm not sure if I can declare a point. I'm stil so new at robotics. How can I solve this error? Thanks
here's a part of the src file :
Code
;//////// PTP CEKMECE_2_ALMA_UST ////////////
;//////// PTP CEKMECE_2_ALMA_UST ////////////
;//////// PTP CEKMECE_2_ALMA_UST ////////////
FOR k=0 to 21
FOR j=0 to 3
;//// PTP CEKMECE_2_ALMA_YAKLASMA //////
;//// PTP CEKMECE_2_ALMA_YAKLASMA //////
;//// PTP CEKMECE_2_ALMA_YAKLASMA //////
;//// LIN CEKMECE_2_ALMA ////
;//// LIN CEKMECE_2_ALMA ////
;//// LIN CEKMECE_2_ALMA ////
UseGripper(TRUE,FALSE)
WAIT SEC 0.5
;//// LIN CEKMECE_2_ALMA_YAKLASMA ///
;//// LIN CEKMECE_2_ALMA_YAKLASMA ///
;//// LIN CEKMECE_2_ALMA_YAKLASMA ///
CEKMECE_2_ALMA_YAKLASMA.X = CEKMECE_2_ALMA_YAKLASMA.X + 185
CEKMECE_2_ALMA.X = CEKMECE_2_ALMA.X + 185
j = j + 1
ENDFOR
j = 0
k = k + 1
CEKMECE_2_ALMA_YAKLASMA.Y = CEKMECE_2_ALMA_YAKLASMA.Y + 38
CEKMECE_2_ALMA.Y = CEKMECE_2_ALMA.Y +38
ENDFOR
k=0
;FOLD OUT 74 'Cekmece_2_Parca_ALindi' State=TRUE
PULSE (Cekmece_2_Parca_ALindi, TRUE , 0.5)
;ENDFOLD
;//////// PTP CEKMECE_2_ALMA_UST////////////
;//////// PTP CEKMECE_2_ALMA_UST////////////
;//////// PTP CEKMECE_2_ALMA_UST////////////
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