Left side: array invalid (KSS02267)

Those values are incompatible. $ROBTRAFO is a string (technically, an Arrray of CHAR), and $POS_ACT_MES is a FRAME.

Also, $ROBTRAFO is not writable from the pendant. You would have to edit the robot config file, and I'm not sure that's accessible on KRC4s anymore. Probably, you would have to change the robot type in the WorkVisual project.

What are you trying to accomplish, here?

Quote from lekanoje

Hi,

I am trying to just touchup a pick point.

Been thinking of how best to do this?

Then why are you trying to update $ROBTRAFO[]? That's a core system variable. It has nothing to do with your Pick points.

First off, what is your array? You have a bunch of LIN {X xxx, Y yyy....} commands. Those commands are not arrays, and cannot be updated using TouchUp. You would have to create a .DAT array, and change those literal PTP/LIN commands to use the array elements.

Then, to update them, you would have to actually type the correct variable names into the Variable Display. Something like MyPointArray[1]. After that, using $POS_ACT_MES in the New Value box would work.

You can only touchup points that are created using inline forms. Your point is no inline form. If you want to change variables using Display -> Variable -> Single types must match. Difficult if your positions are no variables at all but aggregates.

The image is little bit confusing.

In the lower window the LIN (line 33) is selected.
In the upper window (variable display single) a variable (from history).

for the lower window the "Touch-up" button is not grayed out and could be used

That program line is not an inline form instruction so it cannot be touched up. To change it, you need to manually edit data in that instruction.

Beware that current robot position is not enough...! You must also set correct tool and base before you lookup current position value.