BasisTech Functions in SPS.sub

Hi Everyone !

I work as a medical robotics engineer. I currently use a KUKA KR 160 R1570 nano, with a KRC 8.7.5 and I use WV 6.0.

When I took over the company's existing project, I came across 2 functions that I can't find any mention of in the manuals on KukaXpert (Handbooks, Manuals...). The same goes for the forums.

The functions are BasisTech_PLC_INIT() and BasisTech_PLC_LOOP() in the SPS.sub subroutine.

The system works with an external Siemens PLC.

I don't really undertsand the name of the functions, why ‘PLC’ here ? When I look into the functions it seems there is nothing to do with the PLC...

Here is the content of the functions, defined in System/bas.src :

GLOBAL DEF BasisTech_PLC_LOOP()
DECL KRLMSG_T MSG
DECL KRLMSGPAR_T MsgPar[4]
DECL KRLMSGOPT_T Opt
DECL BOOL bDummy
  
MSG.Nr = 6789
MSG.MODUL[] = "TechHandler"
MSG.MSG_TXT[] = "EasyTeachKeepOriWarning"
Opt = {VL_STOP FALSE, CLEAR_P_RESET FALSE, LOG_TO_DB TRUE}

IF EasyTeachKeepOriWarning THEN
IF EasyTeachKeepOriHandle == 0 THEN
EasyTeachKeepOriHandle = SET_KRLMSG(#State,MSG,MsgPar[],Opt)
ENDIF
ELSE
IF EasyTeachKeepOriHandle > 0 THEN
bDummy=Clear_KrlMsg(EasyTeachKeepOriHandle)
IF bDummy THEN
EasyTeachKeepOriHandle = 0
ENDIF
ENDIF
ENDIF
END

And

GLOBAL DEF BasisTech_PLC_INIT()
UpdateLoadModes ( )
InitHomePositions ( )   
END

Does anyone have a description of these functions ? Are they mandatory ?

Thanks in advance for any help,

Sincerly,

Jeulin.

Quote from panic mode

in case of KRL some variable declarations can be seen in various files, others are not (compiled into KSS).
this is so called basis package...

also, more variables can be introduced by installing additional tech packages (software options).
but as with any program, declared variables need initialization.

in SRC file there is an INI fold where robot program related variables get initialized.
when options are installed, they insert their own initialization into INI fold.

the same goes for Submit interpreter...
so things that need initialization are processed by call to BasisTech_PLC_INIT() which of course is only done once.

but... Submit is background process that runs all the time. and things that need continuous processing is placed in BasisTech_PLC_LOOP()

anything named BasisTech is internal to KSS and best left alone. never needed to look into it.

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Hi ! Thanks for your answer ! (Big fan here )

I understand that I should not dive into it but since I'm working in a medical field we have to follow several standards (here IEC 62304). And this standard requires us to describe in documentations all the SOUP (Softwares Of Unknown Provenance) we have in the code and why we use it. That's why I was wondering about a description for those. I'll try to check for the packages, maybe I can find more informations there.

Thanks again,

Sincerely,

Jeulin.

Quote from SkyeFire

This is a translation artefact. "SPS" is an abbreviation for a German term for PLC -- basically, the SPS is the "background PLC" for a KRC. Whoever wrote the BasisTech_PLC routines was probably using English terminology. So these routines are probably completely internal (possibly part of a specific Tech Package, check your KRC's installed options for "Easy Teach" or "Keep Ori"), and despite the name, have nothing to do with your extrenal PLC.

Hi ! Thanks for the answer too ! (So many famous people here)

That's insane ! I didn't know about the meaning of SPS :o :o :o !

I'll check theses packages and tell you what I found !

Sincerely,

Jeulin.