Hi guys,
I have a KCR2sr controller and I have a problem with this. I don't move the robot, because show up this message.
Erros message: R1/Home_move linking error.
Here is the picture: 
Do you have any idea what is the problem?
I am really new the robot programming, so I am really open any idea.
If you need more information, just text me!
Thank you!
Do as suggested on the screen. The module msg.src has a syntax error. Go to this module and see what the syntax error is.
Fubini
Linking errors are normally result of either target program not compiled or missing, for example due to renaming etc.
You have bunch of programs that have red X across icons. You should focus on those...
A linking error happens when a module contains a call to another module that is either missing, or contains a syntax or linking error of its own.
In this case, you used the Error List and Display buttons to get the message that MSG.SRC contains a syntax error. MSG.SRC is a core module that comes standard with KUKA robots since KSS v5.4 or 5.6, and is used by many other modules to display messages on the pendant. So a syntax error in MSG.SRC will cause a linking error in any, and every, module that contains a call to MSG.SRC.
So you need to locate MSG.SRC, and use the ERR LIST and DISPLAY, just like you did on HOME_MOVE. That should show you the line(s) in MSG.SRC that are causing the issue.
If you have a backup of the robot from before this happened, the simplest cure is to replace MSG.SRC on the robot with the MSG.SRC from that backup. If not, then you'll need to debug MSG.SRC manually.
A linking error happens when a module contains a call to another module that is either missing, or contains a syntax or linking error of its own.
In this case, you used the Error List and Display buttons to get the message that MSG.SRC contains a syntax error. MSG.SRC is a core module that comes standard with KUKA robots since KSS v5.4 or 5.6, and is used by many other modules to display messages on the pendant. So a syntax error in MSG.SRC will cause a linking error in any, and every, module that contains a call to MSG.SRC.
So you need to locate MSG.SRC, and use the ERR LIST and DISPLAY, just like you did on HOME_MOVE. That should show you the line(s) in MSG.SRC that are causing the issue.
If you have a backup of the robot from before this happened, the simplest cure is to replace MSG.SRC on the robot with the MSG.SRC from that backup. If not, then you'll need to debug MSG.SRC manually.
Thank you for your response! I have another issue related to this: I can’t find the msg.src file anywhere. Could it be in a hidden folder? Or where can I locate this file? Thank you once again for your assistance! 🙏
Hat is not a standard file ghat robot came sith. Someone else created it...(Not Kuka). So it could be anywhere... We cannot tell you the exact path
Check past archives....
Sorry this was my fault, I didn't see it. But finally I found this file. I attached here the error message.
I open this file and I see this one. I am not expert with robot programming so do you have any idea what is wrong this file? (I attached just important part.)
;* Hinweismeldung mit (STOP)
CASE 3
jCase3:
bProgBrake = FALSE
EMPTY_MSG={MSG_T: VALID FALSE,RELEASE FALSE,TYP #QUIT,MODUL[]" ",KEY[]" ",PARAM_TYP #KEY,PARAM[]" ",DLG_FORMAT[]" ",ANSWER 0}
$MSG_T=EMPTY_MSG
$MSG_T=MELDUNG[MSG_NR]
$MSG_T.MODUL[]=MELDUNG[MSG_NR].MODUL[]
$MSG_T.TYP=#QUIT
$MSG_T.VALID=TRUE
bMldStoerung=TRUE
WHILE $MSG_T.VALID
WAIT SEC 0.1
IF eTstQuitt THEN
$MSG_T.RELEASE=TRUE
ENDIF
ENDWHILE
$MSG_T.RELEASE=FALSE
;* Programm wurde unterbrochen
IF bProgBrake THEN
GOTO jcase3
ENDIF
bMldStoerung = FALSE
WAIT SEC 1Thank you once again for your assistance! 🙏
And in which line does the compiler say the error is? The system gives you this info.
Fubini
bMldStoerung need to be declared as BOOL
The error line is 64 and 76. Do you have any idea what is the problem?
The error report also shows the actual line of code that is causing the error: bMldStoerung=TRUE. However, your screenshot shows there is another line 12 lines later that also has an error, so you will have to check both.
In the case of bMldStoerung=TRUE, that's a simple assignment of a Boolean value to a boolean variable. The error "both sides not compatible", shown in your screenshot, should only occur if the variable bMldStoerung is declared as a non-Boolean variable, or is not declared at all. Assuming that the module MSG used to work, the former explanation is unlikely. This suggests that whatever file bMldStoerung was originally declared in has been deleted, or corrupted.
The best way to attack this problem would be to open an Archive of the robot made before these errors began showing up (you made backups, yes?), and search it using a tool like BareGrep to find which module bMldStoerung was originally declared in (the syntax should look like DECL BOOL bMldStoerung), and restore that module onto the robot.
If you don't have a good pre-error Archive backup, then make one before making any changes, and save it someplace where it won't be overwritten by newer Archives. And I strongly recommend making a full hard-drive image backup immediately, because if the hard drive becomes corrupted or fails, there will probably be no way to recover the robot since KUKA no longer provides the re-install media for the operating systems on KRC2s. And KRC2s are all so old that hardware failures are very likely. Given that the MSG module, or something it depends on, has become corrupted, I strongly suspect your KRC2 hard drive may be starting to fail.
Without a pre-error Archive, probably the simplest "quick hack" fix would be to go into $CONFIG.DAT and add DECL BOOL bMldStoerung=TRUE to it. This will not fix the original problem, but may provide a usable replacement for the original variable that MSG can use.
It would be far better to locate the original declaration for bMldStoerung and fix it.
As SkyFire mentioned:
bMldStoerung=TRUE
would be ok als long as bMldStoerung is declared as BOOL.
If bMldStoerung is declared as output then you would need
bMldStoerung=$IN[1025] ; for TRUE
(in this case bMldStoerung is declared as Signal and the asignment also has to be Signal)
what...?
SIGNAL test $OUT[666]
$OUT[666]=TRUE ; this works
test = TRUE ; this works
test=$IN[1025] ; this also works
$OUT[666]=$IN[1025]; all of this works...
also if bMldStoerung is not declared, different message should be displayed.
to me it looks like it is declared but it is of wrong type or possibly it is masked by another declaration
Thanks a lot helping!
First of all I have a archive file, but in the archive file haven't msg.src file. Just on the robot, so that is why there aren't any backup.
I wrote the "DECL BOOL bMldStoerung=TRUE" in the config.dat file and the home_move is working now. That's really great!! Thank you!
I searched with BareGrep the originally declared, but unfortunately I didn't find it. I know that some file is damaged, but I don't know which file.
I really hope you can help with another problem, I have more program, but it isn't work.
Here is the picture about the problem:
Do you have idea what is the problem?
Thanks a lot!
TRIGGER WHEN DISTANCE = 1 DELAY = 0 DO AktPos=10EXECTRUE doesn't belong there
why not simply create a fresh archive?
then you can go through each file that has errors and fix them one by one (or comment that line out) until all errors are resolved. to comment line out, simply place semicolon at the line begin, that will turn the program line into a comment.
I have more program, but it isn't work.
Do you need all these programs? They appear to be leftovers from someone's previous production process. If you don't need them, you should consider just deleting them. Of course, make backups first, just in case.
I searched with BareGrep the originally declared, but unfortunately I didn't find it. I know that some file is damaged, but I don't know which file.
I'll ask again: do you have any backup of the robot from before these error occurred?
Is this a robot you've been operating for some time? Or is it a secondhand robot that came with someone else's programs already loaded?
Do you need all these programs? They appear to be leftovers from someone's previous production process. If you don't need them, you should consider just deleting them. Of course, make backups first, just in case.
I'll ask again: do you have any backup of the robot from before these error occurred?
Is this a robot you've been operating for some time? Or is it a secondhand robot that came with someone else's programs already loaded?
Yes, I need all programs and yes I have a backup before these error occurred. But when I restore this backup, the HMI write that "Restoring failed"
Yes it is work before, just something happened.
why not simply create a fresh archive?
then you can go through each file that has errors and fix them one by one (or comment that line out) until all errors are resolved. to comment line out, simply place semicolon at the line begin, that will turn the program line into a comment.
I would like to correct these errors one by one, but I believe that these errors are related.
In all programs, it displays this error (only with a different ‘AKT_POS’ value):
Both sides of the value assignment are not compatible.’ TRIGGER WHEN DISTANCE = 1 DELAY = 0 DO AktPos=10 EXEC TRUE.
I need a solution for this error. Thank you!!
