BAS(#TOOL,1) vs $ACT_TOOL=1

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    Thanks for your reply. I took a peek in BAS.src and it seems that using BAS(#TOOL,1) also sets $LOAD variables according to the tool number

    Am I correct in thinking that using example 2 in my previous post would be more suitable for most cases? (eg. moving robot to a given point without using ILF)

    • Best Answer

    Using BAS is convenient, but not necessary. KUKA included BAS mostly to support Inline Form programming. As you've seen, setting the Tool with BAS automatically sets $ACT_TOOL and $LOAD, along with $TOOL. This allows Inline Form motion points to only select a Tool number and let BAS do everything else for them.

    As far as I am aware, $ACT_TOOL has no effect on the robot, it just updates the "active tool" number shown in the pendant display. If you control $TOOL directly, it's possible to forget to update $ACT_TOOL, so the pendant display will not match your actual active tool.

    OTOH, avoiding BAS lets you do things like change $LOAD when you pick/drop a payload without needing to set up duplicate Tools (Tool 1 for an empty gripper, Tool 2 for a full gripper, with identical XYZABC but different LOAD_DATA values). It's also handy if, for some reason, you don't want to use the TOOL_DATA array.

    Most of the time, BAS is the better option. But KRL allows you the flexibility to choose.

    One more question: I have a robot with an external axis (E1), and there at a certain point I want to move only that axis. I have done this with the following code:

    Code
    StartPos = $pos_act
StartPos.E1 = 30.0

;FOLD SPTP StartPos Vel=10 % PDAT1 Tool[1] Base[17] ;%{PE}
;FOLD Parameters ;%{h}
;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.PointName=StartPos; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT1; Kuka.VelocityPtp=100; Kuka.VelocityFieldEnabled=True; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SPTP
;ENDFOLD
SPTP XStartPos WITH $VEL_AXIS[1] = SVEL_JOINT(100.0), $TOOL = STOOL2(FStartPos), $BASE = SBASE(FStartPos.BASE_NO), $IPO_MODE = SIPO_MODE(FStartPos.IPO_FRAME), $LOAD = SLOAD(FStartPos.TOOL_NO), $ACC_AXIS[1] = SACC_JOINT(PPDAT1), $APO = SAPO_PTP(PPDAT1), $GEAR_JERK[1] = SGEAR_JERK(PPDAT1), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0)
;ENDFOLD

    This works fine

    This also works, but E1 is rotating extremely slow:

    Code
    StartPos = $pos_act
StartPos.E1 = 30.0

BAS(#VEL_PTP,30)
BAS(#ACC_PTP,30)
BAS(#TOOL,1)
BAS(#BASE,17)

PTP StartPos

    Is there something else I need to do to initialize speed for axis E1? Something that is happening in the inline form that I'm skipping?

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