I have a KR60HA robot with a KRC2 controller. The system version is 6.74.
Recently, the robot seems to have added an additional move to one of the programs.
I compared a program from two months ago to today, and there is a difference between the program from then and today.
Everyone I have talked to who could have potentially modified the program says they didn't.
Is there anything in the Kuka controller that would add lines to the program, without human interaction?
Here are the program lines that were changed
(I have included excerpts from both the .dat and .src files
(The robot application is a spindle mounted to the end of the robot, and this particular program does a tool change from one toolholder to another)
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
Toolchange.dat Two months ago
DECL BASIS_SUGG_T LAST_BASIS={POINT1[] "P0 ",POINT2[] "P0 ",CP_PARAMS[] "CPDAT0 ",PTP_PARAMS[] "PDAT0 ",CONT[] " ",CP_VEL[] "2.0 ",PTP_VEL[] " 100 "}
ENDDAT
Toolchange.dat Today
DECL BASIS_SUGG_T LAST_BASIS={POINT1[] "P1 ",POINT2[] "P1 ",CP_PARAMS[] "CPDAT1 ",PTP_PARAMS[] "PDAT0 ",CONT[] " ",CP_VEL[] "0.5 ",PTP_VEL[] " 100 "}
DECL E6POS XP1={x 964.969421,y 330.323212,z 1980.90295,a 45.4252815,b -39.5215797,c 25.8199291,s 2,t 10,e1 0.0,e2 0.0,e3 0.0,e4 0.0,e5 0.0,e6 0.0}
DECL FDAT FP1={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " "}
DECL LDAT LCPDAT1={VEL 2.0,ACC 100.0,APO_DIST 100.0,APO_FAC 50.0,ORI_TYP #VAR}
ENDDAT
Toolchange.src two months ago
;FOLD Wait for Confirm Cover Open
Wait For ReadyForToolChange == True
;ENDFOLD
Toolchange.src today
;FOLD Wait for Confirm Cover Open
Wait For ReadyForToolChange == True
;ENDFOLD
;FOLD LIN P1 Vel= 0.5 m/s CPDAT1 Tool[1]:750 Dia EM Base[0];%{PE}%R 5.2.271,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:P1, 3:, 5:0.5, 7:CPDAT1
$BWDSTART = FALSE
LDAT_ACT=LCPDAT1
FDAT_ACT=FP1
BAS(#CP_PARAMS,0.5)
LIN XP1
;ENDFOLD
