KRC_ReadActualPosition does not read either the Tool or the Base

    Hi, experts!!

    We are starting up a Kuka robot with the mxAutomation library and we can't understand why the block KRC_ReadActualPosition doesn't read either the Tool or the Base of the robot and returns an IPOMode of -1.

    For example, here we are in Tool 2 and Base 2:

    Now we change to Tool 3 and Base 3:

    The part of the PLC program that controls the robot comes serialised from other machines and we never touched anything. Could someone give us some guidelines to follow in order to solve the problem?

    Thank you very much.

    Best regards.

    There are actually more problems:

    Tool 2 and Base 2:
    right Window shows for Tool and Base 0 (instead of 2 and 2)

    Tool 3 and Base 3:
    right Window shows for Tool and Base 0 (instead of 3 and 3)

    You are just changing $TOOL and $BASE.

    You also should change $ACT_TOOL and $ACT_BASE
    (at the moment $ACT_TOOL = 0 and $ACT_BASE = 0)

    MOM has it. The issue here is that in KRL, it's entirely possible to alter $TOOL or $BASE (which are FRAME type XYZABC variables) without altering $ACT_TOOL or $ACT_BASE (which are simple INT variables).

    If you want to do this, and you're not using ILF programs, you need to ensure that whenever you change $TOOL or $BASE you also change the $ACT_ variables. Note: if/when you're using a $TOOL or $BASE that's not a match for one of the members of BASE_DATA[] or TOOL_DATA[], this becomes a problem.

    Quote from MOM

    There are actually more problems:

    Tool 2 and Base 2:
    right Window shows for Tool and Base 0 (instead of 2 and 2)

    Tool 3 and Base 3:
    right Window shows for Tool and Base 0 (instead of 3 and 3)

    You are just changing $TOOL and $BASE.

    Yes, the problem that I have is that I can't read the actual Tool & Base because the KRC block doesn't send me the right number.

    Quote

    You also should change $ACT_TOOL and $ACT_BASE
    (at the moment $ACT_TOOL = 0 and $ACT_BASE = 0)

    How can I change the $ACT_TOOL and the $ACT_BASE?

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