KRC4 KR20 R1810-2 on workvisual V6.0.29_Build3018.

    Good Morning,

    In my Global points i have

    DECL GLOBAL E6POS gXPickClear={X -222.720,Y -1057.05,Z 1000.00,A 95.6600,B 0.730000,C 179.910,S 2,T 11,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}

    when i go to use that position in a routine and want to touchup that point or use that point in a different part of the program using the inline form it entirely makes a new point and calls it gXgXPickClear please take a look at my SPTP motion command bellow. in the manual it states that

    ‒ Point taught via an inline form in Global_Points.dat. gxP1 = {X 1700, Y 23, Z 1200, A 0, B 90, C 45}
    is there something wrong you guy notice or have come across this before?

    ;FOLD SPTP <gXPickClear> Vel=100 % pdat_fast Tool[1]:ATI EOAT Base[0] ;%{PE}


       ;FOLD Parameters ;%{h}


          ;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=True; Kuka.PointName=gXPickClear; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=pdat_fast; Kuka.VelocityPtp=100; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SPTP


       ;ENDFOLD


       SPTP gXgXPickClear WITH $VEL_AXIS[1] = SVEL_JOINT(100.0), $TOOL = STOOL2(gFgXPickClear), $BASE = SBASE(gFgXPickClear.BASE_NO), $IPO_MODE = SIPO_MODE(gFgXPickClear.IPO_FRAME), $LOAD = SLOAD(gFgXPickClear.TOOL_NO), $ACC_AXIS[1] = SACC_JOINT(Ppdat_fast), $APO = SAPO_PTP(Ppdat_fast), $GEAR_JERK[1] = SGEAR_JERK(Ppdat_fast), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0)


    ;ENDFOLD

    you are free to declare own variables using KRL naming conventions.

    but.. inline form motion instructions use specific format that is a subset of the above...

    the position variable that is to be be used in inline form instruction must have a prefix 'x'. for example xHOME. also note that prefix is to be omitted when typing variable name in the inline form editor (you would only enter HOME, not xHOME).

    on newer KSS versions one can also specify that point is a global point (global touchup must be enabled). then the point gets prefix gx instead of just x.

    you only stated robot arm hardware version and WoV version, neither of which tells if your controller is capable of using this. also you did not provide info how you typed in the point name. as mentioned, prefix is to be omitted. if you declare point as gXPickClear then in the inline form editor you need to only type PickClear

    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

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