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Problem with set group of outputs in KukaSIM

  • kast1337
  • May 6, 2025 at 11:41 AM
  • Thread is Unresolved
  • kast1337
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    • May 6, 2025 at 11:41 AM
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    • #1

    Hello,
    I have a strange problem with using SIGNAL declaration in Kuka SIM. In the $config.dat file I create my internal signals to use them in the program by their proper name.

    $config.dat

    Code
    SIGNAL OutSig_bBurnerSpraying $OUT[33]
    SIGNAL OutSig_bWireCutting $OUT[34]
    SIGNAL OutSig_bBurnerCleaning $OUT[35]
    SIGNAL OutSig_bAirBlow $OUT[36]
    SIGNAL OutSig_bExeVision $OUT[65]
    SIGNAL OutSig_bExeRange $OUT[66]
    SIGNAL OutSig_bPermissionCell $OUT[97]
    SIGNAL OutSig_bDone $OUT[113]
    SIGNAL OutSig_bBusy $OUT[114]
    SIGNAL OutSig_bWeldingInProcess $OUT[115]
    SIGNAL OutSig_bAckReadParam $OUT[121]
    SIGNAL OutSig_nActionNumber $OUT[129] TO $OUT[160]
    SIGNAL OutSig_nErrorID $OUT[161] TO $OUT[192]
    SIGNAL OutSig_nCurrentStep $OUT[193] TO $OUT[224]
    SIGNAL OutSig_nCurrentSpeed $OUT[225] TO $OUT[256]
    SIGNAL OutSig_nActPosAxis1 $OUT[257] TO $OUT[288]
    SIGNAL OutSig_nActPosAxis2 $OUT[289] TO $OUT[320]
    SIGNAL OutSig_nActPosAxis3 $OUT[321] TO $OUT[352]
    SIGNAL OutSig_nActPosAxis4 $OUT[353] TO $OUT[384]
    SIGNAL OutSig_nActPosAxis5 $OUT[385] TO $OUT[416]
    SIGNAL OutSig_nActPosAxis6 $OUT[417] TO $OUT[447]
    SIGNAL OutSig_nActPosAxis7 $OUT[448] TO $OUT[480]
    SIGNAL OutSig_nRowNumber $OUT[481] TO $OUT[512]
    SIGNAL OutSig_nColNumber $OUT[513] TO $OUT[544]
    SIGNAL OutSig_nBaseCheckingNum $OUT[545] TO $OUT[576]
    SIGNAL OutSig_nCurrentWeldJoint $OUT[577] TO $OUT[608]
    Display More

    The problem is in one of the variables OutSig_nActionNumber. When I try to set its value I get an error like:

    Code
    KR 150 R2700-2 (integrated) Simulation was paused due to an interpreter stop.
    KR 150 R2700-2 (integrated): The variable OutSig_nActionNumber is readonly. 

    Here is a fragment of the program where I set the variable:

    Code
       OutSig_bDone = FALSE
       OutSig_bBusy = FALSE
       OutSig_nErrorID = 2
       OutSig_nActionNumber = 7

    But when I want to set SIGNAL on the next variable OutSig_nErrorID everything is fine. Why is this happening?

    Best Regards

    Kamil

  • zteve
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    1
    • May 6, 2025 at 1:27 PM
    • New
    • #2

    On real controller a similar message occurs, when an used signal adress is already mapped by default with system variables, like $NEAR_POSRET etc..

    Have a look to STEU/Mada/$machine.dat, wether you find configured system signals with number between 129 to 160. If so, you can change them to a free adress of your choice or set them to FALSE.

    Edited once, last by zteve (May 6, 2025 at 2:10 PM).

  • kast1337
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    • May 7, 2025 at 5:58 AM
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    • #3

    I disabled the signals where the addressing matched mine. But the error still occurs.
    Which addresses should be chosen for mapping so that they do not conflict with system signals?

    Edited once, last by kast1337 (May 7, 2025 at 6:42 AM).

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    • May 7, 2025 at 2:36 PM
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    • #4

    as you were told, you have a conflict. some of the signals are already assigned to address range you are trying to use. so do as suggested, open STEU\MADA\$MACHINE.DAT and edit it...

    you do understand that output range 129 to 160 also includes outputs 138, 139, 140, don't you?

    some of them are not showing up on HMI plugin that configures AutoExternal interface so you have to edit file manually.

    as already told, you can either relocate those signals to some unused addresses (output 900 ... 950 for example) or replace assigned output with FALSE (as already done for HOME1, HOME2, HOME3... $WORKSTATE1, $WORKSTATE2...)

    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

  • kast1337
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    • May 8, 2025 at 5:55 AM
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    • #5

    I did everything you wrote after the previous answer of the colleague above. I talked to Kuka support, it turns out that the problem is that KukaSIM, despite the change in the $machine.dat file, still generates robot data and this is protected from writing. You can disable the RobotDataGeneration option and indicate the path to the folder where this file will be and check, but unfortunately this did not work either. It is most likely KukaSIM's fault, it would work in combination with OfficeLite.

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Thread Tag Cloud

  • abb
  • Backup
  • calibration
  • Communication
  • CRX
  • DCS
  • dx100
  • dx200
  • error
  • Ethernet
  • Ethernet IP
  • external axis
  • Fanuc
  • help
  • hmi
  • I/O
  • irc5
  • IRVIsion
  • karel
  • kawasaki
  • KRC2
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  • KUKA
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