Function with loop, is it possible to update IN value?

    Hi, i am fairly new til Kuka and i am trying to write a function in the robot that will take "samples" of a sensor input and avg it out afterwords.

    I have marked the Input i would like to get updated in every "loop cycle" of the FOR loop with RED

    The Controller is KRC5
    Robot: KR70
    WorkVisual: 6.0.29

    the Codes is this:

    DEF Measure_Sampling (Samples:IN , rSampleTime:IN , rInput :IN , rCalValue:IN , rOutput:OUT )
    ;-----------------------;
    ; Declarations ;
    ;-----------------------;

    DECL INT Samples ;Amount of desired samples
    DECL INT N1 ;For Loop Interpretor
    DECL REAL SamplesReal ;Amount of desired samples as REAL for Math
    DECL REAL rInput ;Input signal in REAL
    DECL REAL rSampleBuffer ;Temp buffer for calculation
    DECL REAL rSampleTime ;Sample time pr sample SEC
    DECL REAL rCalValue ;Calibration Value Input
    DECL REAL rOutput ;Result

    ;-----------------------;
    ; Function ;
    ;-----------------------;

    rSampleBuffer = 0 ;Reset Sample Buffer
    SamplesReal = Samples

    WAIT FOR $ROB_STOPPED
    WAIT SEC 0.1
       FOR N1 = 1 TO Samples
    rSampleBuffer = rSampleBuffer + rInput
    WAIT SEC rSampleTime
       ENDFOR
    WAIT SEC 0.1
    rOutput = ((rSampleBuffer / SamplesReal) + rCalValue ) ;Output

    WAIT FOR TRUE
    END


    Thanks in Advance :thumbs_up:

    Edited once, last by Robomatech (October 9, 2024 at 1:14 PM).

  • 95devils October 7, 2024 at 11:32 AM

    Approved the thread.
    • Best Answer

    parameter using "IN" type transfer is a runtime variable (local). and it is given separate memory. this memory is only initialized when sub or function is called. so any later changes will remain local and never be transferred back to external variable that was used to initialize it.

    since the value is only initialized once when sub/function is called, it has another characteristic - it no longer cares about the external variable. so if you are using it in for example in a WAIT FOR statement, later changes in value of external variable are not seen so it would wait forever.

    so if you do not like such behavior, change transfer to "OUT" type. this is actually "IN_OUT" but i guess it was prefered to call it "OUT" since it is shorter. transfer parameter using this type of transfer does not get separate memory - this is pointer always looking at memory location of external variable. so if you make changes to such variable inside sub or function, value change is applied to that external memory location - which is what you want in this case.

    but you will find out that there are some other things that go with that... you cannot initialize it using some literal. so when calling sub or function, this parameter MUST be a variable.

    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

  • Robomatech October 8, 2024 at 8:49 AM

    Selected a post as the best answer.

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