Thanks. Tried that but no luck. Logged in as expert and still greyed out.
Posts by Darkhorse
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Thanks panic mode.
Sorry, here it is
WV version 6.025
KSS 8.6.8
Controller KRC4
I do see lots of option on rights management but not seeing relevant parameters to change. I did try log in as admin and change the speed but same as before, it is still greyed out.
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Hi everyone,
I am trying to update XHOME speed on teach pendant and as well as on WV but both places options are greyed out, not sure why
TP: Change option greyed out only for XHOME but I can change any other inline moves
WV: "Change instruction" option greyed out but available for any other moves
Here's my move
;FOLD PTP HOME Vel= 100 % DEFAULT;%{PE}%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:HOME, 3:, 5:100, 7:DEFAULT
$BWDSTART = FALSE
PDAT_ACT=PDEFAULT
FDAT_ACT=FHOME
BAS (#PTP_PARAMS,100 )
$H_POS=XHOME
PTP XHOME
;ENDFOLD
TIA
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Thank you SkyeFire. You are awesome. I was looking exactly for that.
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Hi everyone, I am trying to implement a logic to make sure my program is not running without background program.
Below I have the code that is not working, I've 5 background program, I want to make sure all my task are running.
I've tried manually stopping one of my background program on submit interpreter screen but $PRO_STATE0 variable never changes at all and always stays #P_ACTIVE
Only changes to #P_STOP if all my submit interpreter is stopped.
IF ($PRO_STATE0 <> #P_ACTIVE) THEN
HALT
BRAKE
;BACKGROUND PROGRAM STOPPED RUNNING. PLEASE START BACKGROUND PROGRAM.
ENDIF
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Thanks Mentat. Appreciate your help, you made it easy.
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Hi everyone,
I am trying to round off values to lowest whole number. Couldn't find Floor function on workvisual.
For example :
3.1 to 3
3.6 to 3
3.9 to 3
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Thank you SkyeFire. Appreciate your help
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Thank you SkyeFire. Appreciate your help
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Hi everyone,
I am trying to move linearly with an X offset but code below not working.
LIN { X XOffset, Y 0, Z -100, A 0, B 0, C 0, E1 0} : P1 C_DIS
Please suggest an alternative approach. TIA.
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I am trying to subtract positional between 2 position P3 = P2-P1 showing error " A value of type 'E6POS' is not permissible in an expression"
My code
; P2 and P1 consists cartesian position declared inside config.dat file. P3 value is arbitrary inside config.dat (supposed to update when expression p3=p2-p1 is executed)
;DECL E6POS P1={X 57.0000,Y 1162.00,Z -104.000,A 0.0,B 0.0,C 0.0,S 22,T 51,E1 -6193.00,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
;DECL E6POS P2={X 1481.00,Y 1162.00,Z -104.000,A 0.0,B 0.0,C 0.0,S 22,T 51,E1 -6193.00,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
;DECL E6POS P3={X 1143.65,Y 506.350,Z 142.000,A 90.6036148,B 89.6457748,C -0.198897943,S 22,T 50,E1 -7856.34961,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
Part of my code:
P3 =P2-P1
Thank you in advance
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code is incomplete.. one case and no end switch. Move the variable declaration to dat file or make another that you can monitor. And check what the variable is when reaching the switch. Most likely error is as message states, value invalid.
Thanks for reply. The code is pretty long that's why shared only one case, I do have multiple cases and also endswitch at the end. I can declare a new variable in dat file, but how do I use it within the switch logic to debug? If you could send a sample code, would appreciate it.
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Hi guys,
I am trying to run the switch statement but getting EWorkToolSwitch value invalid message when stepping through. Can someone tell me what am I doing wrong here?
FYI: WorkToolEnum defined at config.dat file this way
"ENUM WorkToolEnum GetScrapTool,GetScrewTool,GetStapleTool,GetNailTool,LeaveScrapTool,LeaveScrewTool,LeaveStapleTool,LeaveCurrentTool,LeaveNailTool"
Code:
&ACCESS RVP
&REL 834
&PARAM DISKPATH = KRC:\R1\UserPrograms
DEF ToolChange (eWorkToolSwitch:IN )
DECL WorkToolEnum eWorkToolSwitch
;FOLD INI;%{PE}
;FOLD BASISTECH INI
GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
INTERRUPT ON 3
BAS (#INITMOV,0 )
;ENDFOLD (BASISTECH INI)
;FOLD USER INI
;Make your modifications here
;ENDFOLD (USER INI)
;ENDFOLD (INI)
GoHome()
SWITCH eWorkToolSwitch
;-------------------------------------------------
CASE #GetScrapTool
;CHECK IF THERE IS ANY TOOL PRESSENT AT TCU
IF diScrewToolContact == TRUE THEN
LeaveScrewTool()
ENDIF
IF diStapleToolContact == TRUE THEN
LeaveStapleTool()
ENDIF
IF diNailToolContact == TRUE THEN
LeaveNailTool()
ENDIF
;TO PLC: ALARM TOOL MISSING
WHILE (diScrapToolContact == FALSE) AND (bAllToolsDocked == FALSE)
Alarm(141)
ENDWHILE
;CHECK IF SCRAP TOOL PRESENT AT TCU
IF diScrapToolContact == FALSE THEN
GetScrapTool()
ENDIF -
Thank you!
I see it in the directory you mentioned.
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Thanks for reply.
Checked the safety configuration for Monitoring spaces, VMax is set to not used. Not sure why seeing the speed reduction while jogging in T1 mode.
Sorry, I am new to Kuka.
Where do I need to add the system variable $SR_VEL_RED and $SR_WORKSPACE_RED? in $config.dat? or need to create a new module and add there before adding position pts
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Does anyone know how to disable kuka "safe robot override reduction active". I am trying to jog the robot at 100% speed but it jogs at really slow speed for some reason with message "safe robot override reduction active".
I am using KSS 8.3,KRC4 ,SafeOp 3.2 and KUKA KL External axis.
TIA