KSS v8.7 Missing Functions

    Hello,

    I am trying to implement a Wiest AG RotoLab TCP Calibrator on my robot. This is a KR50R2500 running on a KRC5 Controller using KSS v8.7. (V8.7 is a "functional twin" of v8.6 - v8.6 is for KRC4 controllers and v8.7 is for KRC5) One of their programs that is provided using the functions "SQRT()" and "INV_POS()". Both of these state, "The declaration of the function 'SQRT' was not found." I have looked in the manual, KSS_86_SI_en.pdf, and inside the manual, both functions are mentioned. However, even after copying the manual's examples, I come up with the same error on WV. My current version of WV is 6.0.27. Am I missing something? Did KUKA dump these functions moving from KRC4 to KRC5? How do I get these functions to be recognized by the robot? Is this an additional package option? Such as "Advanced Math Functions Packages" or something?

  • Nation August 22, 2023 at 1:30 AM

    Approved the thread.

    Recognized by the robot or by WorkVisual? You want SQRT to be recognized by the robot but your description seems that it is only not recognized in WorkVisual. Did you try to call it on the robot controller? As you said 8.6 and 8.7 are digital twins. SQRT is definitely implemented in the RTOS. You need nothing special to use it.

    WoV 6.0.27 is quite old try to upgrade to a newer version.

    Fubini

    I believe the latest wv version is 6.0.27

    I do not know if it is a side effect. But if i do eg go to declaration on similar standard functions wv will throw alot of red errors that the function or module cannot be found. Restarting wv works every time (wv stops complaining atleast) and no robot controller has ever complained. But doing the above will set it off.

    I've come to believe this is a quirk with kuka and wv

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