I just went through to make sure and no I don't have those locally declared in any of the programs. Is there something I'm missing in my program to let it know they are both 32 bit integers?
Posts by hhinton
-
-
Sorry about that miss type, I have signals for both so I have a PartPick and PartPlace set of signals in the programs that are reading from different inputs and outputs. I'll edit my initial post.
-
I'm trying to send position data from a PLC to the robot and then echo the data back to make sure it has the update position in a KRC2 5.6.10. I have the following signals written in the $config file.
CodeSIGNAL PartPlace_X $IN[385] TO $IN[416] SIGNAL PartPlace_Y $IN[417] TO $IN[448] SIGNAL PartPlace_Z $IN[449] TO $IN[480] SIGNAL PartPlace_C $IN[481] TO $IN[512] SIGNAL PartPlace_X_CHECK $OUT[385] TO $OUT[416] SIGNAL PartPlace_Y_CHECK $OUT[417] TO $OUT[448] SIGNAL PartPlace_Z_CHECK $OUT[449] TO $OUT[480] SIGNAL PartPlace_C_CHECK $OUT[481] TO $OUT[512]
Then in my program in the initialization section I have the following code which is giving me the error "Both sides of the value assignment are not compatible". I've looked through the System Integrator and Expert Programming manuals but can't find anything on setting a signal value with variable, all of the examples are shown with constants. Thank you for any help you can give.
-
I found the ASCII mode it was in Configure > Miscellaneous > Editor > ASCII Mode in case anyone else wants to know how to access it. That brought up where I could see the DEF CELL( ) line and add the &ACCESS RVP, &REL 0, and &COMMENT HANDLER on external automatic lines. Once I close the program though they are no longer there but in the navigator menu it shows in the Comment column HANDLER on external automatic so it appears to have taken it.
-
This controller doesn't even have the Expert template when you try to create a new program but I found the template in the D: and that's how I entered it and got the errors. I started digging through the D: again to find that Expert template again and this time I stumbled upon a Cell Program in D:\KRC1_CD\INTERNAT\KRC SETUP\KRC\ROBOTER\KRC\R1. I'm not getting any errors if I try save it in the programs but it doesn't have the first 4 lines Panicmode post in it. I'm planning on trying to run it and see how it acts but the customer doesn't have the test cell finished yet for me to actually move the robot.
-
Never mind on the DECL CHAR DMY[3] question. I now understand what that line is actually doing now.
-
Sorry for taking so long to get back to this, I got pulled off to a different project for a bit.
The customer purchased this robot from GM.
Sorry I didn't mean to put the colon in R1. I was logged in as EXPERT and still never found any cell program. I copied the code you posted panic mode and I'm getting illegal or unknown block errors on &ACCESS RVP, &REL 0, and &COMMENT HANDLER on external automatic.
I also have an name not declared as subroutine error on the INIT(), should the DECL CHAR DMY[3] line be DECL INIT DMY[3]? Also thank you very much for the assistance so far, it's been very helpful.
Thank you SkyeFire for mentioning OrangeEdit, I hadn't heard of that and it's been very helpful being able to work on the code and check my syntax away from the KCP2.
-
A little more information the only types of templates available are ServoFC Template, DecisionCode Template, and Main Program Template.
-
I'm helping a company setup a KUKA KRC2 on 5.6.10 and in the R:1 folder there isn't a CELL.SRC program and when I try to create a new program there isn't an option for a CELL program. Is there a way for me to enable it or a good way to write my own CELL program?