Write messages to KUKA.Sim Console / Output

    Hey,

    I'm currently working with KUKA.Sim 4.3.1 without KUKA.OfficeLite because it unfortunately isn't working on our computers.

    Subsequently I'm not able to access a SmartPad to see messages produced by the MsgLib module functions (if I'm not mistaken, this is my first KUKA project )

    MsgQuit() does log its messages to the output/console of the simulation but the whole simulation is being stopped aswell.

    Is there any way to log messages to the console/output without stopping the simulation?

    By 'console/output' I'm referring to the sub-window which is normally placed at the bottom center of your screen. The one displaying messages like "The simulation was paused because the interpreter has been stopped".

    I hope I've provided enough information. Thanks in advance for your support.

    Edited once, last by Verschnupft (February 26, 2024 at 3:03 PM).

  • Lemster68 February 26, 2024 at 3:03 PM

    Approved the thread.
    Quote from Verschnupft

    MsgQuit() does log its messages to the output/console of the simulation but the whole simulation is being stopped aswell.

    Is there any way to log messages to the console/output without stopping the simulation?

    MsgQuit() is a part of MsgLib.src

    and there are other message types in there as well, making the change easy.

    you just need to replace calls to MsgQuit() with MsgNotify()

    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

    In MsgLib:

    Code
    GLOBAL DEF MsgNotify(sText[]:IN, sModul[]:IN, nNumPar:IN, sTextPar[]:IN, nMsgNr:IN,MsgOpt:IN)
DECL CHAR sText[], sModul[], sTextPar[]   
DECL KrlMsg_T Msg
DECL KrlMsgParType_T MsgParType
DECL KrlMsgPar_T MsgPar[3]
DECL KrlMsgOpt_T MsgOpt ;Bool-elements: VL_Stop,Clear_P_Reset,Log_To_DB

    The Log_To_DB setting in MsgOpt should allow any message type to be logged.. As Panic says, doing this to a Notify message should allow you to log messages without stopping program execution.

    Code
    ;----------Explainations for parameters: -----------

;CHAR sText[]  message text or message DB-key (80 chars)
;CHAR sModul[] (option) modulname or key (24 char)
;INT nNumPar   (option)numeric value inserted in sText[] at the position %1
;CHAR sTextPar[] (option)text or message DB-key inserted in sText[] at the position %1 (26 char)
;MsgOpt          (option) Structure KrlMsgOpt_T  BOOL VL_Stop,Clear_P_Reset,Log_To_DB
;                (option) VL_Stop=TRUE    => Creates an advance stop | FALSE avoids this behavior
;                (option) Clear_P_Reset=TRUE (Default) deletes Messages at program reset / cancelled
;                (option) Log_To_DB=TRUE => entry into logbook => enfluence to system performance

    I've tried the following which didn't work

    Code
    MsgOpt={VL_Stop FALSE, Clear_P_Reset TRUE, Log_To_DB TRUE}
MsgNotify("text","module",,,1,MsgOpt)

    I'll try this again tomorrow. Maybe I'll need to enable something in the settings.

    As of now only error messages of the simulation in generell and the MsgQuit messages are displayed in the simulation's console : /.

    I found a solution, which isn't perfect but gets the job done. Because the function MsgQuit in MsgLib waits until the handle is destroyed, I'm using Set_KrlMsg(#Quit,...) directly.

    I guess this msg type normally expects an user input but this doesn't bother me while testing since I can't see the dialog/input anyways.

    For detecting a real controller I'm already using a variable isVirtualController. I'll just use that to either create a #QUIT or #NOTIFY message.

    Quote from SkyeFire

    Can you generate a Logbook from KSim as you would on a real KRC?

    I can't find an option for that. The only thing which might come close is an additional "RCS call output". I'll upload the output to Google Drive since I can't figure out how to upload the file here :grinning_face_with_smiling_eyes:

    RcsCallOutput

    Thise is the usual output

    Code: normal output
    KR 50 R2500 (Integriert): Set_KrlMsg QUIT msgsg
KR 50 R2500 (Integriert): MsgQuit msg

    And this is a snippet of my code

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