KUKA - Relative movement with a PLC variable

    Dear all,

    I need to do a relative movement with an offset declared by plc that change every time. ("Offset" Variable from a fixed point)

    I declared my INT signal in CONFIG.DAT and I m able to read his value.

    BTW I ve problems when using the LIN or LIN_REL movement and WoV says unexpeted string...

    Actually I ve tried whit these many attempts:

    LIN {Z offset_prelievo}


    LIN_REL {Z offset_prelievo}

    in both the cases WoV signal an error of unexpected string. But, if I write

    LIN {Z 100} is it ok!


    Can u give me some suggestions?

    Thanks for the support

  • MOM November 9, 2023 at 9:56 AM

    Approved the thread.

    That has been discussed many many times in this forum. Just use forum search. In KRL one can not use variables directly inside the target position. It needs to be a declared Variable so something along the lines of

    Code
    DECL FRAME myPos

myPos.X = 0.0
myPos.Y = 0.0
myPos.Z = offset_prelievo
myPos.A = 0.0
myPos.B = 0.0
myPos.C = 0.0

LIN_REL  myPos

    Fubini

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